CN111231927B - Torque distribution control method of power split type hybrid power system - Google Patents
Torque distribution control method of power split type hybrid power system Download PDFInfo
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- CN111231927B CN111231927B CN202010102394.7A CN202010102394A CN111231927B CN 111231927 B CN111231927 B CN 111231927B CN 202010102394 A CN202010102394 A CN 202010102394A CN 111231927 B CN111231927 B CN 111231927B
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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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
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/15—Control strategies specially adapted for achieving a particular effect
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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
- 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
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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
- 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
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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- 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
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
Abstract
The invention provides a torque distribution control method of a power split hybrid system, which determines the rotating speed and the torque of a first planet carrier according to the working condition of a current vehicle, limits and calculates the rotating speed and the torque of the first planet carrier to obtain the maximum value and the minimum value of the rotating speed and the torque of the first planet carrier, calculates the rotating speed and the torque of the first planet carrier when the system efficiency is optimal by using the maximum value and the minimum value of the rotating speed and the torque of the first planet carrier as boundary conditions through an intelligent particle swarm algorithm, performs power split on the rotating speed and the torque of the first planet carrier when the system efficiency is optimal, and calculating expected output rotating speeds and expected output torques of the small motor, the large motor and the engine according to a kinetic equation of the planetary gear mechanism, and sending the expected output rotating speeds and the expected output torques of the small motor, the large motor and the engine to corresponding small motor controllers, large motor controllers and engine controllers for control execution. The method is simple and feasible, and can improve the system efficiency.
Description
Technical Field
The invention relates to the field of automobile control, in particular to a torque distribution control method of a power split type hybrid power system.
Background
The hybrid system used in the hybrid vehicle generally involves torque distribution during operation, and whether the torque distribution is proper or not ultimately affects the system efficiency of the hybrid system and the fuel consumption of the whole vehicle. In the prior art, a common torque distribution mode is to acquire system efficiency by adopting an exhaustive sweep point distribution mode, and then calibrate torque distribution modes of different working conditions of the whole vehicle according to an experimental result. In addition, for a power split hybrid system, the torque distribution mode is very flexible and is multi-dimensional in change. Therefore, how to perform torque distribution to improve system efficiency is a current research topic.
Disclosure of Invention
The invention aims to provide a simple and feasible torque distribution control method of a power split type hybrid power system, which can improve the system efficiency.
The invention is realized by the following scheme:
a torque distribution control method of a power split type hybrid power system comprises the following steps:
s1, determining the rotating speed and the torque of the second planet carrier according to the current working condition of the vehicle;
s2, limiting and calculating the rotating speed and the torque of the second planet carrier determined in the step S1 according to the maximum charging power and the maximum discharging power of the battery, the maximum output power and the maximum generating power of the small motor, the maximum output power and the maximum generating power of the large motor and the maximum output power and the maximum rotating speed of the engine to obtain the maximum value and the minimum value of the rotating speed and the torque of the first planet carrier;
s3, calculating the rotating speed and the torque of the first planet carrier when the system efficiency is optimal by using the maximum value and the minimum value of the rotating speed and the torque of the first planet carrier obtained in the step S2 as boundary conditions through an intelligent particle swarm algorithm; theoretically, the optimal system efficiency refers to a working state that all power components comprehensively compromise the optimal system efficiency under the current state of the hybrid power system and the required working condition of the whole vehicle; torque distribution is carried out in a working mode with optimal system efficiency, and the optimal system efficiency can be obtained theoretically;
s4, performing power splitting on the rotating speed and the torque of the first planet carrier when the system efficiency obtained in the step S3 is optimal, and calculating according to a kinetic equation of the planetary gear mechanism to obtain the expected output rotating speed and the expected output torque of the small motor, the large motor and the engine;
and S5, sending the expected output rotating speed and the expected output torque of the small motor, the large motor and the engine obtained in the step S4 to the corresponding small motor controller, the large motor controller and the engine controller for control execution.
In step S3, the intelligent particle swarm algorithm specifically includes the following steps:
respectively taking the maximum value and the minimum value of the rotating speed and the torque of the first planet carrier obtained in the step S2 as boundary values of an initialization population, then initializing an individual optimal solution (namely the rotating speed of the first planet carrier and the torque of the first planet carrier) randomly, then initializing a global optimal solution (namely the rotating speed of the first planet carrier and the torque of the first planet carrier) according to the current working condition, and then executing a step II;
II, updating the speed and the position of the particles, calculating the individual optimal solution of the population, if the individual optimal solution is superior to the global optimal solution (namely the system efficiency corresponding to the individual optimal solution is greater than the system efficiency corresponding to the global optimal solution), updating the global optimal solution of the population, otherwise, the global optimal solution of the population is unchanged, thus completing an iterative calculation cycle, repeating N iterative calculation cycles, and executing the step III when N reaches a preset maximum iteration number; the preset maximum iteration times are generally set according to the characteristics of the object, the more the iteration times are, the more the optimal solution can be obtained, but the calculation speed is influenced, and after comprehensive consideration is carried out, the preset maximum iteration times generally take the value of 20, and the global optimal solution can be obtained; and III, respectively carrying out Kalman filtering treatment on the global optimal solution updated in the step II to obtain the rotating speed and the torque of the first planet carrier when the system efficiency is optimal.
In step S1, the current operating condition of the vehicle is determined according to the current accelerator pedal opening, brake signal, vehicle speed, gear position, and NVH (i.e. noise, vibration, and harshness) requirements of the vehicle.
The torque distribution control method of the power split hybrid power system is simple and feasible, and according to the efficiency characteristics of the components such as the engine universal characteristic curve, the small motor universal characteristic curve and the large motor universal characteristic curve, the battery efficiency, the mechanical efficiency of the gear planetary mechanism and the like, and by combining the working condition characteristics and the requirement characteristics of the whole vehicle, the torque distribution mode with the optimal comprehensive efficiency of the system is obtained by adopting the intelligent particle swarm optimization, and the optimal system efficiency obtained by the intelligent particle swarm optimization is used for guiding and reducing the sweep point area of the efficiency experiment, so that the cost of the efficiency experiment is greatly reduced. The torque distribution control method of the power split type hybrid power system can improve the system efficiency and further reduce the oil consumption of the whole vehicle.
Drawings
FIG. 1 is a schematic block diagram of a hybrid powertrain for use with the present invention;
fig. 2 is a control flowchart of a torque distribution control method of the power split hybrid system in embodiment 1;
FIG. 3 is a control flow chart of the intelligent particle swarm algorithm in embodiment 1.
Detailed Description
The invention is further illustrated by the following figures and examples, but the invention is not limited to the examples.
As shown in fig. 1, the hybrid system of the present invention includes an engine 1, a front single planetary row PG1, a rear single planetary row PG2, a small motor E1, a large motor E2, a clutch C0, and a brake B1, the front single planetary row PG1 and the rear single planetary row PG2 are arranged side by side to form a planetary gear mechanism, a first carrier PC1 of the front single planetary row PG1 is connected to a second ring gear R2 of the rear single planetary row PG2, a first ring gear R1 of the front single planetary row PG1 is connected to a second carrier PC2 of the rear single planetary row PG 42, a second carrier PC2 of the rear single planetary row PG 9 serves as an output shaft to output system power, one end of the brake B1 is fixed to a housing 2 of the hybrid system, the other end of the brake B1 is connected to a first carrier PC1 of the front single planetary row PG1, and the first carrier PC1 is connected to the engine 365972, the small motor E1 is connected with the first sun gear S1 of the front single planetary row PG1 through the first reduction gear 3, the large motor E2 is connected with the second sun gear S2 of the rear single planetary row PG2 through the second reduction gear 4, the small motor E1 and the large motor E2 are arranged on the same side of the planetary gear mechanism, and the engine 1 is arranged on the other side of the planetary gear mechanism. The front single-planet row and the rear single-planet row are formed and connected in the same way as the conventional single-planet row, the single-planet row generally comprises a sun wheel, a planet carrier and a gear ring, the planet wheel is arranged on the planet carrier, and the planet wheel is respectively meshed with the sun wheel and the gear ring.
Example 1
A torque distribution control method of a power split hybrid system is characterized in that a control flow chart is shown in FIG. 2, and the method comprises the following steps:
s1, determining the current working condition of the vehicle according to the current accelerator pedal opening, brake signals, vehicle speed, gear and NVH (namely noise, vibration and harshness), and determining the rotating speed and torque of the second planet carrier according to the current working condition of the vehicle;
s2, limiting and calculating the rotating speed and the torque of the second planet carrier determined in the step S1 according to the maximum charging power and the maximum discharging power of the battery, the maximum output power and the maximum generating power of the small motor, the maximum output power and the maximum generating power of the large motor and the maximum output power and the maximum rotating speed of the engine to obtain the maximum value and the minimum value of the rotating speed and the torque of the first planet carrier;
s3, calculating the rotating speed and the torque of the first planet carrier when the system efficiency is optimal by using the maximum value and the minimum value of the rotating speed and the torque of the first planet carrier obtained in the step S2 as boundary conditions through an intelligent particle swarm algorithm; a control flow chart of the intelligent particle swarm algorithm is shown in fig. 3, and the specific steps are as follows:
respectively taking the maximum value and the minimum value of the rotating speed and the torque of the first planet carrier obtained in the step S2 as boundary values of an initialization population, then initializing an individual optimal solution (namely the rotating speed of the first planet carrier and the torque of the first planet carrier) randomly, then initializing a global optimal solution (namely the rotating speed of the first planet carrier and the torque of the first planet carrier) according to the current working condition, and then executing a step II;
II, updating the speed and the position of the particles, calculating the individual optimal solution of the population, if the individual optimal solution is superior to the global optimal solution (namely the system efficiency corresponding to the individual optimal solution is greater than the system efficiency corresponding to the global optimal solution), updating the global optimal solution of the population, otherwise, the global optimal solution of the population is unchanged, thus completing an iterative calculation cycle, repeating N iterative calculation cycles, and executing the step III when N reaches a preset maximum iteration number; in this embodiment, the preset maximum number of iterations takes a value of 20; and III, respectively carrying out Kalman filtering treatment on the global optimal solution updated in the step II to obtain the rotating speed and the torque of the first planet carrier when the system efficiency is optimal.
S4, performing power splitting on the rotating speed and the torque of the first planet carrier when the system efficiency obtained in the step S3 is optimal, and calculating according to a kinetic equation of the planetary gear mechanism to obtain the expected output rotating speed and the expected output torque of the small motor, the large motor and the engine;
and S5, sending the expected output rotating speed and the expected output torque of the small motor, the large motor and the engine obtained in the step S4 to the corresponding small motor controller, the large motor controller and the engine controller for control execution.
Claims (3)
1. A torque distribution control method of a power split hybrid system is characterized in that: the method comprises the following steps:
s1, determining the rotating speed and the torque of the second planet carrier according to the current working condition of the vehicle;
s2, limiting and calculating the rotating speed and the torque of the second planet carrier determined in the step S1 according to the maximum charging power and the maximum discharging power of the battery, the maximum output power and the maximum generating power of the small motor, the maximum output power and the maximum generating power of the large motor and the maximum output power and the maximum rotating speed of the engine to obtain the maximum value and the minimum value of the rotating speed and the torque of the first planet carrier;
s3, calculating the rotating speed and the torque of the first planet carrier when the system efficiency is optimal by using the maximum value and the minimum value of the rotating speed and the torque of the first planet carrier obtained in the step S2 as boundary conditions through an intelligent particle swarm algorithm; s4, performing power splitting on the rotating speed and the torque of the first planet carrier when the system efficiency obtained in the step S3 is optimal, and calculating according to a kinetic equation of the planetary gear mechanism to obtain the expected output rotating speed and the expected output torque of the small motor, the large motor and the engine;
and S5, sending the expected output rotating speed and the expected output torque of the small motor, the large motor and the engine obtained in the step S4 to the corresponding small motor controller, the large motor controller and the engine controller for control execution.
2. The torque distribution control method of the power split hybrid system according to claim 1, characterized in that: in step S3, the intelligent particle swarm algorithm specifically includes the following steps:
respectively taking the maximum value and the minimum value of the rotating speed and the torque of the first planet carrier obtained in the step S2 as boundary values of an initialization population, then initializing an individual optimal solution randomly, then initializing a global optimal solution according to the current working condition, and then executing a step II;
II, updating the speed and the position of the particles, calculating the individual optimal solution of the population, if the individual optimal solution is superior to the global optimal solution, updating the global optimal solution of the population, otherwise, the global optimal solution of the population is unchanged, thus completing an iterative computation cycle, repeating N iterative computation cycles, and executing the step III when N reaches a preset maximum iterative frequency; and III, respectively carrying out Kalman filtering treatment on the global optimal solution updated in the step II to obtain the rotating speed and the torque of the first planet carrier when the system efficiency is optimal.
3. The torque distribution control method of the power split hybrid system according to claim 1 or 2, characterized in that: in step S1, the current operating condition of the vehicle is determined according to the current accelerator pedal opening, brake signal, vehicle speed, gear and NVH requirement of the vehicle.
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| CN104129388B (en) * | 2013-05-03 | 2017-04-26 | 上海汽车集团股份有限公司 | Torque distributing and controlling method based on efficiency optimization for double motors in hybrid power system |
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