CN110550034A - two-gear AMT comprehensive gear shifting method for pure electric vehicle - Google Patents

two-gear AMT comprehensive gear shifting method for pure electric vehicle Download PDF

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CN110550034A
CN110550034A CN201910799053.7A CN201910799053A CN110550034A CN 110550034 A CN110550034 A CN 110550034A CN 201910799053 A CN201910799053 A CN 201910799053A CN 110550034 A CN110550034 A CN 110550034A
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gear shifting
gear
acceleration
optimal
formula
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王再宙
张春香
宋强
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Hebei Normal University
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Hebei Normal University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/19—Improvement of gear change, e.g. by synchronisation or smoothing gear shift
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the vehicle
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

the invention discloses a two-gear AMT comprehensive gear shifting method for a pure electric vehicle, and belongs to the technical field of new energy vehicle power systems. According to the invention, firstly, an optimal dynamic gear shifting rule and an optimal economic gear shifting rule are provided according to the whole vehicle performance requirement of the pure electric vehicle; on the basis of the two optimal gear shifting rules, the speed and the gear shifting delay amount of a gear shifting point are used as optimization variables, and the difference value of the energy consumption of the whole vehicle and the acceleration of the gear shifting point is used as a target function, so that a comprehensive performance gear shifting rule optimization model considering both economy and dynamic performance is established; and finally, solving the optimization model by using an NSGA-II genetic algorithm to obtain the comprehensive performance gear shifting rule.

Description

two-gear AMT comprehensive gear shifting method for pure electric vehicle
Technical Field
The invention belongs to the technical field of new energy automobile power systems, and particularly relates to a two-gear AMT comprehensive gear shifting method for a pure electric automobile.
Background
The gear shifting rule is a core technology of an AMT control theory, determines the performance degree of a power transmission system, and influences the acceleration performance and driving range of the pure electric vehicle, so that the development of the AMT gear shifting rule applicable to the pure electric vehicle is one of key technologies for improving the power performance and the economical efficiency of the electric vehicle. Through years of development, the gear shifting rules are from an initial single-parameter gear shifting rule, to a widely-applied double-parameter gear shifting rule, to a three-parameter gear shifting rule basically conforming to the dynamic process of a vehicle, and to a comprehensive gear shifting control strategy integrating various intelligent control algorithms and control theories on the basis of various basic gear shifting rules. In order to maximally increase the driving range of the pure electric vehicle, the comprehensive control of the gear shifting rule becomes a subsequent development trend.
in the aspect of a traditional gear shifting rule, Zhou Bao Hua and the like in Chongqing university formulate a gear shifting curve of a pure electric vehicle based on two parameters of an opening degree of an accelerator pedal and a vehicle speed, taking an intersection point of an acceleration curve as a dynamic target and taking motor efficiency as an economic target, and show that a two-gear AMT scheme is obviously superior to a fixed-gear reducer scheme through modeling simulation and hardware experiment comparison; meanwhile, based on the characteristics, the Qinda and Chen Xietijiang and the like, a two-gear AMT gear shifting curve of the pure electric vehicle with both dynamic property and economy is provided, the load of the whole vehicle is taken as a demarcation point, an economical gear shifting curve is adopted at medium and low loads, and a dynamic gear shifting curve is adopted above medium and high loads; the TangYogqi uses the running speed, the acceleration and the position of an accelerator pedal of a pure electric vehicle as control parameters, and develops a dynamic gear shifting rule and an economic gear shifting rule which are suitable for the electric vehicle.
The comprehensive gear shifting rule is an optimal gear shifting rule based on multi-control variable input and multi-driving condition correction of a basic gear shifting rule. The driving state of the vehicle is recognized through the input of each control parameter, the driving state is divided into working conditions such as rapid acceleration, normal acceleration, vehicle speed maintenance, normal braking, emergency braking, SOC state and the like, and then the basic gear shifting rule is corrected by using intelligent algorithms such as fuzzy control, neural network technology and the like according to the characteristics of different working conditions, so that the optimal gear is output.
In the aspect of comprehensive gear shifting rules, Zhayu researches the gear shifting rules of the pure electric vehicle, respectively analyzes and designs the optimal dynamic property and the optimal economic property gear shifting rules of the pure electric vehicle, researches a load identification technology, analyzes the influence of load change on the gear shifting rules, and provides the AMT comprehensive gear shifting rules of the pure electric vehicle based on the working condition identification on the basis; considering that the maximum continuous discharge power of the battery pack cannot meet the constant power output requirement of a driving motor designed in the text, Jiang Qing Hua and the like of Hunan university establish the optimal dynamic property and optimal economic gear shifting rule of the pure electric vehicle by using the numerical value of the SOC of the battery pack and four parameters of the opening degree, the speed and the acceleration of an accelerator pedal, and simulation experiments show that the specified gear shifting rule is superior to the traditional single-parameter or double-parameter gear shifting rule; liu dawn et al have established driver model and shift logic judgment model through analysis driver's intention, adopt fuzzy control theory on the basis of basic shift schedule, and the simulation result shows that dynamic property satisfies electric automobile's requirement, when analyzing driver's intention, only considered accelerator pedal, do not consider the braking state.
disclosure of Invention
According to the method, a pure electric two-gear AMT is taken as a research object, the energy consumption of the whole vehicle and the acceleration difference value of a gear shifting point are taken as target functions, the speed of the gear shifting point and the gear shifting delay are selected as optimization variables, and a comprehensive gear shifting rule optimization model considering both economy and dynamic performance is established, so that the economy and dynamic performance of the electric vehicle are improved.
in order to solve the technical problems, the technical scheme adopted by the invention is as follows: a pure electric vehicle two-gear AMT comprehensive gear shifting method comprises the following steps:
step 1: according to the performance requirements of the pure electric vehicle, an optimal dynamic gear shifting rule and an optimal economic gear shifting rule are provided;
Step 2, on the basis of the optimal dynamic gear shifting rule and the optimal economic gear shifting rule, selecting the speed of a gear shifting point and the gear shifting delay amount as optimization variables by taking the energy consumption of the whole vehicle and the acceleration difference value of the gear shifting point as objective functions, and establishing a comprehensive gear shifting rule optimization model considering both the dynamic property and the economic property;
And step 3: solving the optimization model by using an NSGA-II genetic algorithm;
And 4, step 4: and (4) obtaining the comprehensive performance gear shifting rule of the two-gear AMT of the pure electric vehicle according to the result of the step (3).
in the step 1, the optimal dynamic gear shifting rule is as follows:
making an optimal dynamic gear shifting rule by using a maximum acceleration method; first, defining a hundred kilometers acceleration time as an acceleration time, the formula is shown in formula (1):
neglecting factors such as vehicle speed change before and after gear shifting, ramp resistance and the like, wherein t is hundred kilometers of acceleration time, u 1 is the vehicle speed at the gear shifting point, a 1 is the acceleration during first gear, a 2 is the acceleration during second gear, and the running dynamic equation of the pure electric vehicle during the gear shifting process is as follows:
Ft＝Ff+Fw+Fj (2)
Wherein F t is vehicle driving force, F f is road resistance, F w is air resistance, F j is acceleration resistance, and the formula (3) can be obtained through the derivation of automobile theory:
the control method comprises the following steps of A, obtaining a driving motor output torque T tq, obtaining a transmission ratio of a certain gear of a transmission i g, obtaining a main reducer transmission ratio i 0, obtaining mechanical transmission efficiency eta t, obtaining rolling radius of r wheels, obtaining vehicle mass m, obtaining gravity acceleration g, obtaining a road resistance coefficient f, obtaining a wind resistance coefficient C D, obtaining a windward area of the pure electric vehicle, obtaining an instantaneous speed of the vehicle u, and obtaining a rotating mass conversion coefficient of the vehicle delta, wherein the coefficient is as follows:
wherein I W is the rotational inertia of the wheel, and I f is the rotational inertia of the flywheel;
the acceleration equation (5) of the pure electric vehicle can be obtained from equation (3):
the output torque T tp of the driving motor can be expressed as a quadratic difference function T between the accelerator opening α and the driving motor speed n, as shown in equation (6):
Ttq＝T(α,n) (6)
The rotating speed of the driving motor and the vehicle speed have the following relationship:
combining formulas (5), (6), (7) to obtain formula (8):
in order to ensure that the power interruption time is short and the acceleration time is minimum during gear shifting, the pure electric vehicle needs to shift when the first gear acceleration and the second gear acceleration are equal or the second gear acceleration is greater than the first gear acceleration, and a gear shifting equation (9) can be obtained by equation (8):
And substituting the relevant parameters into the corresponding optimal dynamic upshift schedule curve. In order to avoid cyclic shifts, the downshift speed difference takes 2-8 km/h. And obtaining an optimal power downshift law curve according to the optimal power upshift law so as to obtain an optimal power shift law.
in the step 1, the optimal economical gear shifting rule is as follows:
if the motor speed and the torque before gear shifting are respectively n 1 and T 1, and the motor speed and the torque after gear shifting are respectively n 2 and T 2, the motor efficiency before and after gear shifting is shown as a formula (10) and a formula (11):
ηm1＝η(T1,n1) (10)
ηm2＝η(T2,n2) (11)
wherein eta m1 is the motor efficiency before shifting and eta m2 is the motor efficiency after shifting.
due to the short shift time, the vehicle speed and the output torque of the motor remain unchanged before shifting, i.e.:
u1＝u2，T1＝T2 (12)
The rotating speed of the driving motor and the vehicle speed have the following relationship:
substituting the formula (13) into the formula (12) to obtain the relationship between the motor rotating speed before and after gear shifting as follows:
n1:n2＝ig1:ig2 (14)
Wherein i g1 is the gear ratio of the transmission before shifting and i g2 is the gear ratio of the transmission after shifting.
By bringing formula (14) into formula (11), the motor efficiency after shifting can be found to be:
the optimal economic gear shifting rule ensures that the motor always works in a high-efficiency area, and the relational expression (16) of the efficiency of the driving motor, the vehicle speed, the transmission ratio of the transmission and the accelerator opening is obtained through the united vertical type (6), (10), (11) and (13).
in order to ensure that the driving motor works in a high-efficiency area after gear shifting, the working efficiency of the motor after gear shifting is more than or equal to the working efficiency before gear shifting, and the formula (16) can be used as formula (17):
carrying in related parameters of the pure electric vehicle, and taking the same value of the motor efficiency of the first gear and the second gear under different accelerator opening degrees as an optimal economy rule upshift point to obtain an optimal economy upshift rule curve; and obtaining an optimal economical downshift law curve on the basis of the optimal economical upshift law curve by reasonably determining the downshift speed difference, and finally obtaining an optimal economical shift law.
The method for establishing the comprehensive gear shifting law optimization model considering both dynamic property and economical efficiency in the step 2 comprises the following steps:
1) optimizing variables: the speed of the gear shift point and the gear shift delay amount are optimized variables
X＝[v1,v2,v3,v4,v5,v6,v7,v8,v9,v10,Δv] (18)
wherein v 1, v 2, v 3, v 4, v 5, v 6, v 7, v 8, v 9 and v 10 are respectively 0 percent, 20 percent, … … and the speed of a shift point under 100 percent of accelerator opening, and delta v is the delay quantity of the equal delay shift law;
2) an objective function: the difference value of the energy consumption and the acceleration of the whole vehicle is taken as a target function
Taking the energy consumption of the whole pure electric vehicle under the NEDC circulation working condition as an economic target function, as shown in formula (19):
In the formula, T b is the torque of the driving motor under the power generation working condition, eta m is the efficiency of the driving motor, and eta e is the efficiency of the battery.
taking the acceleration difference value under the conditions of first gear and second gear during gear shifting as a dynamic target function, wherein a specific expression is shown as a formula (20):
wherein a 1 is the first gear acceleration value during gear shifting, a 2 is the second gear acceleration value during gear shifting, a 1 is shown as formula (21), and a 2 is shown as formula (22).
3) constraint conditions
And respectively taking the optimal power up/down shift curve and the optimal economical up/down shift curve as the upper limit and the lower limit of the vehicle speed of the up/down shift point of the comprehensive performance shift law under different accelerator opening degrees.
the technical progress obtained by adopting the technical scheme is as follows: under the NEDC circulation working condition, after the optimization by the method, the whole vehicle energy consumption under the comprehensive performance gear shifting rule is reduced, namely the economic index is improved; the acceleration difference is obviously changed, and the dynamic performance can be improved by 46.15%. Therefore, under the comprehensive performance gear shifting rule, the energy consumption of the whole vehicle is basically unchanged, the acceleration difference value is greatly changed, namely, the gear shifting rule is optimized through the method, so that the economy is basically unchanged, the dynamic property is greatly improved, and the effect is better.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a graph of acceleration time per hundred kilometers versus vehicle speed at different shift speeds;
FIG. 3 is a drive motor load characteristic curve;
FIG. 4 best dynamics shift schedule curve;
Figure 5100% throttle opening degree lower efficiency curve of each gear;
FIG. 6 best economy shift schedule curve;
FIG. 7 is a flow chart of the NSGA-II algorithm;
FIG. 8 is a diagram of an integrated optimization model calculation process;
FIG. 9 is a diagram of energy consumption variation of the whole vehicle;
FIG. 10 acceleration difference sum plots;
FIG. 11 is a graphical representation of a performance shift schedule.
Detailed Description
as shown in fig. 1, a two-gear AMT comprehensive gear shifting method for a pure electric vehicle includes the following steps:
step 1: according to the performance requirements of the pure electric vehicle, an optimal dynamic gear shifting rule and an optimal economic gear shifting rule are provided;
(1) The optimal dynamic shift schedule is determined as follows:
The acceleration time is one of the evaluation indexes of the dynamic property of the pure electric vehicle, and the size of the acceleration time is related to the selection of the gear shifting point. Acceleration time is defined herein as a hundred kilometers acceleration time: the pure electric vehicle starts at a first gear, gear shifting is carried out according to a certain determined gear shifting point, the required time is 100km/h when the vehicle speed reaches, and the formula (1) shows that:
t is hundred kilometers of acceleration time, u 1 is the speed at the gear shifting point, a 1 is the acceleration at the first gear, a 2 is the acceleration at the second gear, different gear shifting points lead to different hundred kilometers of acceleration time, in order to further explain the influence of the gear shifting points on the power performance of the pure electric vehicle, 2 different gear shifting speeds under the maximum accelerator pedal opening are set in table 1, and fig. 2 is the corresponding hundred kilometers of acceleration time.
two-group gear shifting vehicle speed under 1100% accelerator pedal opening of meter
As can be seen from fig. 2, the hundred kilometers acceleration time is 21.9s for a shift speed of u a and 20.7s for a shift speed of u b, which is 5.48% faster than the former, which is sufficient to illustrate that proper shift points must be considered when establishing a dynamic shift schedule.
the optimal dynamic gear shifting rule is to exert the driving capability or the backup power of the driving motor to the maximum so that the motor is in a high-load state, thereby meeting the dynamic requirement of the whole vehicle. There are currently two methods for determining the optimal dynamic shift schedule: one method adopts the principle of maximum acceleration, namely the acceleration value after gear shifting is larger than or equal to the acceleration value of the gear before gear shifting; another method is to ensure that the vehicle obtains a driving force after the shift that is greater than or equal to the driving force of the gear before the shift. Because the rotational inertia of the transmission system under each gear is different, the acceleration of the whole vehicle is possibly smaller when the driving force is larger. Therefore, the maximum acceleration method is adopted to make the optimal dynamic gear shifting rule. For the purpose of analysis, the following assumptions are made about the operating state of the vehicle during a shift:
The power interruption time in the gear shifting process is short, and the change of the vehicle speed before and after gear shifting is ignored;
the vehicle runs on a straight road, and changes of ramp resistance and road resistance are ignored;
neglecting the influence of the oil stirring resistance of the gearbox and only considering the mechanical transmission efficiency;
Neglect the influence that the drive motor and power battery efficiency change at the moment of shifting.
then, the driving dynamics equation of the pure electric vehicle during the gear shifting process is expressed as formula (2):
Ft＝Ff+Fw+Fj (2)
Wherein F t is vehicle driving force, F f is road resistance, F w is air resistance, F j is acceleration resistance, and the formula (3) can be obtained through the derivation of automobile theory:
The method comprises the following steps of A, obtaining a driving motor, T tq, i g, i 0, eta t, r wheel rolling radius, f, a road resistance coefficient, C D, A, delta, and delta, wherein T tq is output torque of the driving motor, i g is a transmission ratio of a certain gear of a transmission, i 0 is a transmission ratio of a main speed reducer, eta t is mechanical transmission efficiency, r wheel rolling radius, f is a road resistance coefficient, C D is a wind resistance coefficient, A is a windward area of a:
Wherein I W is the rotational inertia of the wheel, and I f is the rotational inertia of the flywheel;
the acceleration equation of the pure electric vehicle can be obtained by the formula (3), which is shown in the formula (5):
fig. 3 is a load characteristic curve of the driving motor, and as can be seen from fig. 3, the output torque of the driving motor can be expressed as a function of a second-order difference between the accelerator opening α and the rotation speed n of the driving motor, as shown in equation (6):
Ttq＝T(α,n) (6)
The rotating speed of the driving motor and the vehicle speed have the following relationship:
Combining formulas (5), (6), (7) to obtain formula (8):
In order to ensure that the power interruption time is short and the acceleration time is minimum during gear shifting, the pure electric vehicle needs to shift gears when the first-gear acceleration and the second-gear acceleration are equal or the second-gear acceleration is greater than the first-gear acceleration, and the gear shifting equation obtained by the formula (8) is shown as the formula (9):
and utilizing MATLAB to assign the accelerator opening alpha to 0: 0.1:1 (range is 0 to 1, and the change step length is 0.1), and then relevant pure electric vehicle parameters are introduced to a corresponding optimal dynamic upshift law curve. In order to avoid cyclic shifts, the downshift speed difference is typically 2-8 km/h. By reasonably determining the downshift speed difference (the downshift speed difference is taken as 6km/h), the optimal power downshift law curve can be easily obtained on the basis of the optimal power upshift law curve, so that the optimal power shift law is obtained, as shown in fig. 4.
(2) the process of the optimal economic shift schedule is:
In order to analyze the influence of the gear shifting point on the economic performance of the pure electric vehicle, the motor speed and the torque before gear shifting are respectively n 1 and T 1, and the motor speed and the torque after gear shifting are respectively n 2 and T 2, so that the motor efficiency before and after gear shifting is shown as a formula (10) and a formula (11):
ηm1＝η(T1,n1) (10)
ηm2＝η(T2,n2) (11)
Wherein eta m1 is the motor efficiency before shifting and eta m2 is the motor efficiency after shifting.
Due to the short shift time, the vehicle speed and the output torque of the motor remain unchanged before shifting, i.e.:
u1＝u2，T1＝T2 (12)
the rotating speed of the driving motor and the vehicle speed have the following relationship:
Formula (13) is substituted into formula (12), and the relationship of the motor rotating speed before and after gear shifting is obtained after arrangement:
n1:n2＝ig1:ig2 (14)
wherein i g1 is the gear ratio of the transmission before shifting and i g2 is the gear ratio of the transmission after shifting.
by substituting formula (14) for formula (11), the motor efficiency after gear shifting can be obtained as follows:
as can be seen from equation (15), a change in the gear ratio after a shift will result in a change in the motor efficiency, and this must be taken into account when making an optimal economic shift schedule.
In order to improve the economy of the pure electric vehicle and improve the energy utilization rate, the economic shift rule is established to ensure that the motor always works in a high-efficiency region, and the joint-vertical type (6), (10), (11) and (13) obtain an equation (16) of the efficiency eta of the driving motor, the vehicle speed a, the transmission ratio i g and the accelerator opening alpha:
In order to ensure that the driving motor works in a high-efficiency area after gear shifting, the working efficiency of the motor after gear shifting is more than or equal to the working efficiency before gear shifting, so that the formula (16) can be converted into an equation (17):
and (3) assigning the accelerator opening alpha to be 0.1:0.1:1 (the range is 0.1 to 1, the change step length is 0.1) by using MATLAB, then substituting related pure electric vehicle parameters, calculating motor efficiency values of the first gear and the second gear under different accelerator openings, and calculating an intersection point of the motor efficiency values, namely the optimal economic law upshift point. For example, when α is 1, the motor efficiency curves of the first gear and the second gear are shown in fig. 5. The vehicle speeds at the time of shifting at each accelerator opening determined by this method are shown in table 2.
TABLE 2 optimal economy Shift schedule Shift Point vehicle speed
And drawing the obtained gear shifting points through interpolation calculation to obtain an optimal economic upshift rule curve, and obtaining the optimal economic downshift rule curve on the basis of the optimal economic upshift rule curve by reasonably determining downshift speed difference to finally obtain the optimal economic shift rule, wherein the optimal economic shift rule is shown in fig. 6.
Step 2, on the basis of the optimal dynamic gear shifting rule and the optimal economic gear shifting rule, selecting the speed of a gear shifting point and the gear shifting delay amount as optimization variables by taking the energy consumption of the whole vehicle and the acceleration difference value of the gear shifting point as objective functions, and establishing a comprehensive gear shifting rule optimization model considering both the dynamic property and the economic property;
The specific method comprises the following steps:
1) Optimizing variables: under the condition that parameters of a driving motor and other finished vehicles are given, the parameters which finally affect the dynamic property and the economical efficiency of the pure electric vehicle are the speed of a gear shifting point under different accelerator opening degrees and the gear shifting delay amount of an equal delay gear shifting rule. The optimization variables herein are therefore:
X＝[v1,v2,v3,v4,v5,v6,v7,v8,v9,v10,Δv] (18)
In the formula, v 1, v 2, v 3, v 4, v 5, v 6, v 7, v 8, v 9 and v 10 are respectively 10 percent, 20 percent, … … and the shift point vehicle speed under 100 percent of accelerator opening, and delta v is the shift delay amount of the equal delay shift law.
2) An objective function: the invention takes the difference value between the energy consumption of the whole vehicle and the acceleration of a gear shifting point as a target function.
The energy consumption of the whole pure electric vehicle under the NEDC circulation working condition is used as an economic target function, and the expression of the energy consumption is shown as a formula (19). The energy consumption of the whole vehicle consists of two parts, namely the energy consumed by the driving motor in an electric working condition state; the other part is the energy recovered by the driving motor under the power generation working condition, and the energy consumption of the whole vehicle is obtained by subtracting the energy recovered by the driving motor and the energy recovered by the driving motor.
in the formula, T b is the torque of the driving motor under the power generation working condition, eta m is the efficiency of the driving motor, and eta e is the efficiency of the battery.
In the optimization process, the smaller the energy consumption of the whole vehicle is, the better the energy consumption is.
due to the fact that the formulation principle of the gear shifting rule is inconsistent, the vehicle speed of the gear shifting point under the economical efficiency and the dynamic performance is often inconsistent. In order to ensure the minimum power attenuation under the condition of meeting the economical efficiency, the objective function for evaluating the requirement of meeting the power performance under the comprehensive gear shifting law is provided. Under the NEDC driving condition, more than one shift point is provided, so that the acceleration difference value under the conditions of first gear and second gear during shifting is taken as a dynamic target function, and the smaller the value is, the better the value is. The specific expression is shown as formula (20).
wherein a 1 is the first-gear acceleration value during gear shifting, a 2 is the second-gear acceleration value during gear shifting, a 1 is shown as formula (21), a 2 is shown as formula (22):
3) constraint conditions are as follows:
generally, the dynamic shift point vehicle speed is lower than the economic shift point vehicle speed when the gear is shifted up or down under the same accelerator opening. Obviously, within a certain vicinity of the shift point, the difference between dynamics and economy is small. Therefore, in order to reduce the optimization computation amount, obtain the optimal solution quickly, and improve the optimization efficiency, the optimal dynamic upshift curve and the optimal economic upshift curve are respectively used as the upper limit and the lower limit of the vehicle speed at the integrated shift schedule upshift point (the optimal dynamic upshift curve is the upper limit, and the optimal economic upshift curve is the lower limit) under different accelerator opening degrees by the integrated shift schedule upshift curve, as shown in table 3, where the shift delay Δ v is [4,8 ].
TABLE 3 constraint Upper and lower limits for respective optimization variables
and step 3: solving the optimization model by using an NSGA-II genetic algorithm;
The basic process of the NSGA-II algorithm is that firstly, after design variables are coded, an initial population P 0 with the size of N is randomly generated in the feasible region of the design variables X, a first generation subgroup Q 0 is obtained through basic operation of a genetic algorithm, two populations are combined into a population F 0 with the size of 2N, then, fast non-dominated sorting and crowding degree calculation are carried out on the population F 0, appropriate individuals are selected to form a new parent population P t through comparison of crowding degree values and non-dominated sorting levels, finally, selection, variation and intersection are carried out on the new parent population P t to obtain a new subgroup Q t, the P t and the Q t are combined to form a new population F t, and the operation is repeated until the algorithm termination condition is met.
The iSIGHT is intelligent multidisciplinary optimization software and can be integrated with other analysis software to solve a complex multi-objective optimization problem. The invention utilizes iSIGHT to carry out model optimization.
firstly, establishing an economic and dynamic objective function model of the pure electric vehicle by using MATLAB/Simulink software; and then, performing joint simulation optimization by calling an objective function model built in MATLAB/Simulink by adopting iSIGHT optimization software. The optimization algorithm adopts the NSGA-II genetic algorithm provided by iSIGHT, and the integrated optimization flow is shown in figure 8.
in the optimization process, the iSIGHT automatically calls MATLAB software, assigns an input variable in an MATLAB objective function model, drives the MATLAB to calculate an economic and dynamic objective function value of the pure electric vehicle, finally judges whether the objective function value is optimal or not, if so, the optimization is finished, otherwise, the optimization calculation process is carried out again.
The method is characterized in that the NEDC circulation working condition is selected as the simulation working condition of the pure electric vehicle, the NSGA-II genetic algorithm is adopted, and the economic and dynamic objective function values tend to be stable through iterative optimization of iSIGHT software.
FIG. 9 is a diagram of the change of the entire energy consumption of a sample vehicle of a pure electric vehicle along with the number of iterations under the NEDC cycle condition; FIG. 10 is a graph of dynamic objective function values as a function of iteration number for a prototype vehicle under the NEDC cycle conditions.
and 4, step 4: and (4) obtaining the comprehensive performance gear shifting rule of the two-gear AMT of the pure electric vehicle according to the result of the step (3).
And finally, carrying out NEDC circulation working condition simulation optimization on main technical parameters of a pure electric vehicle model and an example sample vehicle based on MATLAB/Simulink, wherein the gear shifting delay amount of the optimized comprehensive gear shifting rule is 5.13km/h, and the gear shifting speeds under different accelerator opening degrees are shown in a table 4.
TABLE 4 vehicle speed at various shift points for combination property shift schedule
The best overall performance shift schedule curve of the present invention can be obtained from the above data, as shown in fig. 11.
and table 5 is a comparison table of the performance indexes of the whole vehicle under different gear shifting rules.
TABLE 5 comparison table of vehicle performance indexes before and after optimization
As shown in table 5, under the NEDC cycle condition, the overall energy consumption under the economic shift schedule and the dynamic shift schedule is 1.8229kw · h and 1.8336kw · h, respectively, before optimization, and after optimization, the overall energy consumption under the comprehensive performance shift schedule is 1.8234kw · h. After optimization, compared with a dynamic gear shifting rule, the whole vehicle energy consumption under the comprehensive performance gear shifting rule is reduced, namely the economic index is improved.
In Table 5, before optimization, the acceleration difference under the economic shift schedule is 1.2769m/s 2, and the acceleration difference under the dynamic shift schedule is 0.6793m/s 2, after optimization, under the comprehensive performance shift schedule, the acceleration difference is 0.6876m/s 2, and after optimization, compared with the economic shift schedule, the dynamic performance is improved by 46.15%.
from the above data it can be derived: under the comprehensive performance gear shifting rule, the energy consumption of the whole vehicle is basically unchanged, and the acceleration difference value is greatly changed. The method optimizes the gear shifting rule, so that the economy is basically unchanged, the dynamic property is greatly improved, and the effect is better.
According to the method, the pure electric two-gear AMT is taken as a research object, the energy consumption of the whole vehicle and the acceleration difference value of the gear shifting point are taken as target functions, the speed of the gear shifting point and the gear shifting delay are selected as optimization variables, an optimization model of a comprehensive gear shifting rule giving consideration to both economy and dynamic performance is established, and double improvement of economy and dynamic performance of the pure electric vehicle is achieved.

Claims (4)

1. a pure electric vehicle two-gear AMT comprehensive gear shifting method is characterized by comprising the following steps:
step 1: according to the performance requirements of the pure electric vehicle, an optimal dynamic gear shifting rule and an optimal economic gear shifting rule are provided;
Step 2, on the basis of the optimal dynamic gear shifting rule and the optimal economic gear shifting rule, selecting the speed of a gear shifting point and the gear shifting delay amount as optimization variables by taking the energy consumption of the whole vehicle and the acceleration difference value of the gear shifting point as objective functions, and establishing a comprehensive gear shifting rule optimization model considering both the dynamic property and the economic property;
and step 3: solving the optimization model by using an NSGA-II genetic algorithm;
and 4, step 4: and (4) obtaining the comprehensive performance gear shifting rule of the two-gear AMT of the pure electric vehicle according to the result of the step (3).
2. The two-gear AMT comprehensive gear shifting method of the pure electric vehicle according to claim 1, wherein the optimal dynamic gear shifting law in step 1 is as follows:
making an optimal dynamic gear shifting rule by using a maximum acceleration method; first, defining a hundred kilometers acceleration time as an acceleration time, the formula is shown in formula (1):
Neglecting factors such as vehicle speed change before and after gear shifting, ramp resistance and the like, wherein t is hundred kilometers of acceleration time, u 1 is the vehicle speed at the gear shifting point, a 1 is the acceleration during first gear, a 2 is the acceleration during second gear, and the running dynamic equation of the pure electric vehicle during the gear shifting process is as follows:
Ft＝Ff+Fw+Fj (2)
Wherein F t is vehicle driving force, F f is road resistance, F w is air resistance, F j is acceleration resistance, and the formula (3) can be obtained through the derivation of automobile theory:
the control method comprises the following steps of A, obtaining a driving motor output torque T tq, obtaining a transmission ratio of a certain gear of a transmission i g, obtaining a main reducer transmission ratio i 0, obtaining mechanical transmission efficiency eta t, obtaining rolling radius of r wheels, obtaining vehicle mass m, obtaining gravity acceleration g, obtaining a road resistance coefficient f, obtaining a wind resistance coefficient C D, obtaining a windward area of the pure electric vehicle, obtaining an instantaneous speed of the vehicle u, and obtaining a rotating mass conversion coefficient of the vehicle delta, wherein the coefficient is as follows:
Wherein I W is the rotational inertia of the wheel, and I f is the rotational inertia of the flywheel;
the acceleration equation (5) of the pure electric vehicle can be obtained from equation (3):
the output torque T tp of the driving motor can be expressed as a quadratic difference function T between the accelerator opening α and the driving motor speed n, as shown in equation (6):
Ttq＝T(α,n) (6)
The rotating speed of the driving motor and the vehicle speed have the following relationship:
combining formulas (5), (6), (7) to obtain formula (8):
In order to ensure that the power interruption time is short and the acceleration time is minimum during gear shifting, the pure electric vehicle needs to shift when the first gear acceleration and the second gear acceleration are equal or the second gear acceleration is greater than the first gear acceleration, and a gear shifting equation (9) can be obtained by equation (8):
and substituting the relevant parameters into the corresponding optimal dynamic upshift schedule curve. In order to avoid cyclic shifts, the downshift speed difference takes 2-8 km/h. And obtaining an optimal power downshift law curve according to the optimal power upshift law so as to obtain an optimal power shift law.
3. The pure electric vehicle two-gear AMT comprehensive gear shifting method according to claim 1 or 2, characterized in that in step 1, the optimal economic gear shifting law is as follows:
if the motor speed and the torque before gear shifting are respectively n 1 and T 1, and the motor speed and the torque after gear shifting are respectively n 2 and T 2, the motor efficiency before and after gear shifting is shown as a formula (10) and a formula (11):
ηm1＝η(T1,n1) (10)
ηm2＝η(T2,n2) (11)
Wherein eta m1 is the motor efficiency before shifting and eta m2 is the motor efficiency after shifting.
Due to the short shift time, the vehicle speed and the output torque of the motor remain unchanged before shifting, i.e.:
u1＝u2，T1＝T2 (12)
the rotating speed of the driving motor and the vehicle speed have the following relationship:
Substituting the formula (13) into the formula (12) to obtain the relationship between the motor rotating speed before and after gear shifting as follows:
n1:n2＝ig1:ig2 (14)
wherein i g1 is the gear ratio of the transmission before shifting and i g2 is the gear ratio of the transmission after shifting.
by bringing formula (14) into formula (11), the motor efficiency after shifting can be found to be:
The optimal economic gear shifting rule ensures that the motor always works in a high-efficiency area, and the relational expression (16) of the efficiency of the driving motor, the vehicle speed, the transmission ratio of the transmission and the accelerator opening is obtained through the united vertical type (6), (10), (11) and (13).
In order to ensure that the driving motor works in a high-efficiency area after gear shifting, the working efficiency of the motor after gear shifting is more than or equal to the working efficiency before gear shifting, and the formula (16) can be used as formula (17):
carrying in related parameters of the pure electric vehicle, and taking the same value of the motor efficiency of the first gear and the second gear under different accelerator opening degrees as an optimal economy rule upshift point to obtain an optimal economy upshift rule curve; and obtaining an optimal economical downshift law curve on the basis of the optimal economical upshift law curve by reasonably determining the downshift speed difference, and finally obtaining an optimal economical shift law.
4. the pure electric vehicle two-gear AMT comprehensive gear shifting method according to claim 1, wherein the method for establishing the comprehensive gear shifting law optimization model considering both dynamic property and economical efficiency in step 2 comprises the following steps:
1) optimizing variables: the speed of the gear shift point and the gear shift delay amount are optimized variables
X＝[v1,v2,v3,v4,v5,v6,v7,v8,v9,v10,Δv] (18)
Wherein v 1, v 2, v 3, v 4, v 5, v 6, v 7, v 8, v 9 and v 10 are respectively 0 percent, 20 percent, … … and the speed of a shift point under 100 percent of accelerator opening, and delta v is the delay quantity of the equal delay shift law;
2) an objective function: the difference value of the energy consumption and the acceleration of the whole vehicle is taken as a target function
Taking the energy consumption of the whole pure electric vehicle under the NEDC circulation working condition as an economic target function, as shown in formula (19):
in the formula, T b is the torque of the driving motor under the power generation working condition, eta m is the efficiency of the driving motor, and eta e is the efficiency of the battery.
taking the acceleration difference value under the conditions of first gear and second gear during gear shifting as a dynamic target function, wherein a specific expression is shown as a formula (20):
Wherein a 1 is the first gear acceleration value during gear shifting, a 2 is the second gear acceleration value during gear shifting, a 1 is shown as formula (21), and a 2 is shown as formula (22).
3) Constraint conditions
and respectively taking the optimal power up/down shift curve and the optimal economical up/down shift curve as the upper limit and the lower limit of the vehicle speed of the up/down shift point of the comprehensive performance shift law under different accelerator opening degrees.
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