CN111976458B - Series type severe hybrid power engineering machinery transmission system and control method thereof - Google Patents
Series type severe hybrid power engineering machinery transmission system and control method thereof Download PDFInfo
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- CN111976458B CN111976458B CN201911296500.3A CN201911296500A CN111976458B CN 111976458 B CN111976458 B CN 111976458B CN 201911296500 A CN201911296500 A CN 201911296500A CN 111976458 B CN111976458 B CN 111976458B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
- B60K6/26—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the motors or the generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/46—Series type
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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
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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
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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
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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
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Abstract
The invention relates to the field of new energy engineering machinery, in particular to a series type severe hybrid power engineering machinery transmission system and a control method thereof. The ECU system collects signals in real time to analyze and process data, and combines the working condition characteristics of the engineering machinery to make a fuzzy logic control strategy, plan the working modes of an engine, a motor generator and a motor, and solve the problems of online real-time adaptivity and robustness control.
Description
Technical Field
The invention relates to the field of new energy engineering machinery, in particular to a series type severe hybrid power engineering machinery transmission system and a control method thereof, which are suitable for multi-path power output shoveling and transporting engineering machinery.
Background
The engineering machinery has the defects of high energy consumption, poor emission, low engine efficiency and high noise, and the energy-saving problem is paid more and more attention, so that the related new technologies such as a hybrid power technology, a novel transmission technology, an intelligent control technology and the like need to be widely popularized and applied.
The working environment of the engineering machinery is complex and changeable, and the engineering machinery is often required to work under special working conditions such as underground mines, flammable and explosive areas, low-noise areas, thin air areas, indoor operation and the like.
The hybrid power system can realize energy conservation and emission reduction, but the system power and the energy flow become more complicated and complicated, a new idea is urgently needed to solve the multi-mode energy distribution relation, a high-efficiency and reasonable energy management and optimization strategy is formulated, the performance and the advantages of the composite energy storage system can be fully exerted, and the key for breaking the bottleneck of the vehicle-mounted energy storage technology is also realized.
Disclosure of Invention
In order to solve the problems, the invention provides a series type severe hybrid power engineering machinery transmission system and a control method thereof, the structure is simple, the braking energy recovery is carried out while the transmission efficiency of the system is improved, the hybrid power control strategy needs to solve the problem of complex nonlinear system energy distribution, the fuzzy logic has better adaptivity and robustness by combining the characteristics of the series type severe hybrid power engineering machinery, and the problem of online real-time control can be solved.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a series type severe hybrid power engineering mechanical transmission system which comprises a mechanical transmission system, an electrical connection system and a control system.
The mechanical transmission system comprises an engine, a clutch, a transfer case, a hydraulic system, a motor generator, a motor, a gearbox, a main speed reducer and a differential mechanism, wherein an output shaft of the engine is connected with one end of the clutch, the other end of the clutch is connected with an input shaft I of the transfer case, an input shaft II of the transfer case is connected with an output shaft of the motor generator, the output shaft of the transfer case is connected with the hydraulic system, the motor is used as a power element of a running system, an output shaft of the motor is coaxially connected with an input shaft of the gearbox, and an output shaft of the gearbox is connected with the main speed reducer and the differential mechanism;
the clutch controls the on-off of the power of the engine;
the transfer case adjusts the power synthesis and distribution of the power system;
the hydraulic system provides hydraulic power for a working system and a steering system of a hybrid power engineering mechanical transmission system;
the controller controls the work of the motor generator and the motor;
the power battery is a second energy system of the whole vehicle and is responsible for storing and releasing electric energy, and the power distribution of the power system is adjusted through the SOC value of the power battery, so that the fuel economy of the engine and the efficiency of the whole vehicle are improved;
the speed changer realizes the functions of speed reduction and distance increase, and improves the efficiency of a transmission system and the working efficiency of a motor;
the main speed reducer and the differential realize the functions of reducing the speed and differentiating the speed of the transmission system;
the ECU system collects working condition signals, analyzes and processes the data, inputs the data signals into the fuzzy logic controller, formulates a reasonable control scheme according to control rules, and plans the working modes of the engine, the motor generator and the motor.
The electric connection system comprises an engine, a clutch, a hydraulic system, a motor generator, a motor controller, a power battery, a motor, a gearbox and an ECU system, wherein the power battery is used as an energy source of the electric system and is connected with the input end of the motor controller, the output end of the motor controller is respectively connected with the motor generator and the motor, the ECU system is respectively connected with the engine, the clutch, the hydraulic system, the motor generator, the motor controller, the power battery, the motor and the gearbox, and the ECU system collects signals, monitors and controls the working modes of all elements in real time on line.
The control system comprises an ECU system and a fuzzy logic controller, wherein the ECU system is connected with the fuzzy logic controller, acquires working condition signals, analyzes and processes the data, inputs the data signals into the fuzzy logic controller, formulates a reasonable control scheme according to control rules, and plans the working modes of the engine, the motor generator and the motor.
The invention also provides a control method of the series type severe hybrid power engineering mechanical transmission system, which comprises the following steps:
(1) 125 control rules are listed, a fuzzy logic intelligent control strategy is provided, and a fuzzy logic controller is designed;
(2) the fuzzy logic controller collects the control signal data in real time and the power required by the running systemP L With the power demanded by the working hydraulic systemP P And the SOC value of the power battery, dividing the signal data into 5 sections and fuzzifying the signal data,
(3) outputting fuzzy control variable signals according to control rules, then carrying out data sharpening processing, and outputting power by the motorP M Output power of engineP E And motor generator output powerP G In the working process of the system, the working points of the corresponding motor, the engine and the motor generator are controlled by sensing the load size and the power battery SOC value on line in real time, and the problem of nonlinear complex system energy management is solved by a fuzzy controller.
Output power of engine in pure electric operation process of engineering mechanical systemP E Is 0, motor generator output powerP G The power demand of a working hydraulic system and the output power of the motor are metP M And the power demand of the driving system is met.
In the process of recovering braking energy, the engine and the motor-generator do not output power, and the output power value of the motorP M ≤-P L （-P L Representing the braking power value of a running system), and establishing a recovery strategy by combining with the SOC state parameter; when the SOC value is lower, the SOC belongs to (0, 0.5)]If the peak power of the motorP Mmax ≥-P L Time, motor output power valueP M =-P L If the peak power of the motorP Mmax ＜-P L Time, motor output power valueP M =P Mmax (ii) a When the SOC value is in the middle SOC E (0.5, 0.8)]If rated power of the motorP Me ≥-P L Time, motor output power valueP M =-P L If rated power of the motorP Me ＜-P L Time, motor output power valueP M =P Me (ii) a When the SOC value is higher, the SOC belongs to (0.8, 1.0)]Output power value of motorP M =5（1-SOC）*min（P Me ，-P L ）。
Establishing fuzzy logic controller for real-time collection in the process of hybrid driveP L 、P P And SOC value, outputP G AndP E a value; wherein the content of the first and second substances,P M the value is given byP L Determining;P L when taking a positive value, the driving state of the whole vehicle is represented,P L when a negative value is taken, the braking state of the whole vehicle is represented;P G when the positive value is obtained, the generator and the motor generator jointly drive the hydraulic system to work, and when the positive value is obtained, the generator and the motor generator jointly drive the hydraulic system to workP G When 0 is taken out, the output power of the motor generator is represented as 0, whenP G When a negative value is taken, the representative SOC value is low or the required power of the running system is large, and the motor generator is in a power generation state.
The fuzzy logic controller of the series type severe hybrid power engineering mechanical transmission system in the hybrid driving working process is shown in the attached drawing, and the control rule is as follows:
TABLE 1 fuzzy logic rule base
Wherein- "represents that the engine does not work and the system is in a pure electric working state.
The invention provides a series type severe hybrid power engineering mechanical transmission system, which can realize four working modes and mainly comprises: the system comprises an engine single driving mode, a pure electric driving mode, a hybrid driving mode and a braking energy recovery mode.
When the serial severe hybrid power engineering mechanical transmission system enters an engine independent driving mode, the working principle is as follows: the engine inputs power to the transfer case through the clutch, part of the power of the transfer case drives the load hydraulic system to work, the rest of the power drives the motor generator to work, the generated electric energy is used for driving the motor to drive the running system to work, and the redundant energy can be stored in the power battery;
the series type severe hybrid power engineering mechanical transmission system enters a pure electric driving mode, and the working principle is as follows: under the condition of special working conditions or engine failure, the power battery simultaneously drives the two motors to work, the motor drives the running system to work, and the motor generator drives the hydraulic system to work through the transfer case;
the series type severe hybrid power engineering mechanical transmission system enters a hybrid driving mode, and the working principle is as follows:
firstly, an engine independently drives a hydraulic system, and a motor independently drives a running system;
the motor drives the running system independently, and the engine and the motor generator jointly drive the hydraulic system;
part of power of the engine drives a hydraulic system, the rest power drives a motor generator to work, and the generated electric energy and a power battery jointly drive the motor to work.
The series type severe hybrid power engineering mechanical transmission system enters a braking energy recovery mode, and the working principle is as follows: when the whole vehicle is braked, the driving motor generates braking force to recover braking energy, and the recovered energy is used for charging the power battery.
When the system works purely electrically, the clutch is disconnected, and the clutch is in a closed state under other working conditions;
the motor generator is used as a motor to drive a hydraulic system to work in a system pure electric mode, and can be used as an engine to provide electric energy for the motor or charge a power battery when working in a mixed mode.
The motor is a power element of a driving system, electric energy of the motor comes from a power battery or a motor generator, and meanwhile, the motor is in a power generation state in the braking process of the system to recover braking energy.
Compared with the prior art, the invention has the advantages that the motor is adopted to drive the running system, the hydraulic torque converter is eliminated, the transmission efficiency of the system is improved, and meanwhile, the braking energy can be recovered; the multi-energy source is dynamically adjusted to meet the requirement of load working conditions to ensure that the engine stably works in a high-efficiency low-oil consumption area; the pure electric working mode is suitable for special working condition requirements of flammable and explosive areas, low noise areas, thin air areas, indoor operation and the like. And (3) control strategy: the hybrid power control strategy needs to solve the problem of energy distribution of a complex nonlinear system, the traditional control mode depending on an accurate model needs to be improved, the intelligent control simulates human reasoning to realize the optimal control of an object to a certain extent, and the fuzzy logic has better adaptivity and robustness by combining the characteristics of a transmission system of a hybrid power engineering machine and can solve the problem of online real-time control.
Drawings
The following figures are only examples of some typical operation modes of the present invention, and for the control scheme diagram which is a partial example diagram obtained by combining the control rules of table 1, other control scheme diagrams can be obtained according to relevant information.
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic diagram of a pure electric drive mode of the invention.
FIG. 3 is a schematic illustration of the engine-only drive mode of the present invention.
FIG. 4 is a schematic diagram of the engine and motor independent drive mode of the present invention.
FIG. 5 is a schematic diagram of the mode of the working hydraulic system driven by the engine and the generator of the invention.
FIG. 6 is a schematic diagram of the engine and motor combination drive system mode of the present invention.
FIG. 7 is a schematic diagram of the charging mode of the engine for the power battery of the present invention.
FIG. 8 is a schematic illustration of a braking energy recovery mode of the present invention.
FIG. 9 is a schematic diagram of the fuzzy logic control scheme of the present invention.
FIG. 10 is a schematic diagram of the fuzzy logic portion control scheme of the present invention.
1. An engine; 2. a clutch; 3. a transfer case; 4. a hydraulic system; 5. a motor generator; 6. a motor controller; 7. a power battery; 8. an electric motor; 9. a gearbox; 10. a main reducer and a differential; 11. an ECU system.
Detailed Description
In order to more clearly express the embodiments, the system operation modes and the control method of the present invention, the operation modes and the control schemes of the series type heavy hybrid engineering mechanical transmission system will be briefly described with reference to the drawings, wherein fig. 1 to 8 show the hybrid system operation mode diagrams, fig. 9 and 10 show the control scheme diagrams, thin lines in the drawings represent electrical connections, thick lines represent mechanical connections, and arrows represent the energy flow direction.
As shown in figure 1, the invention discloses a serial heavy hybrid power engineering mechanical transmission system structure scheme, which comprises a mechanical transmission system, an electrical connection system and a control system, wherein the mechanical transmission system comprises an engine 1, a clutch 2, a transfer case 3, a hydraulic system 4, a motor generator 5, a motor 8, a gearbox 9, a main reducer and a differential 10, an output shaft of the engine 1 is connected with one end of the clutch 2, the other end of the clutch 2 is connected with an input shaft I of the transfer case 3, an input shaft II of the transfer case 3 is connected with an output shaft of the motor generator 5, an output shaft of the transfer case 3 is connected with the hydraulic system 4, the motor 8 is used as a power element of a running system, an output shaft of the motor 8 is coaxially connected with an input shaft 9 of the gearbox, and an output shaft of the gearbox 9 is connected with the main reducer and the differential 10;
the electric connection system comprises an engine 1, a clutch 2, a hydraulic system 4, a motor generator 5, a motor controller 6, a power battery 7, a motor 8, a gearbox 9 and an ECU system 11, wherein the input end of the motor controller 6 is connected with the power battery 7, the output end of the motor controller 6 is respectively connected with the motor generator 5 and the motor 8, and the ECU system 11 is respectively connected with the engine 1, the clutch 2, the hydraulic system 4, the motor generator 5, the motor controller 6, the power battery 7, the motor 8 and the gearbox 9;
the control system comprises an ECU system 11 and a fuzzy logic controller, wherein the ECU system 11 is connected with the fuzzy logic controller.
The invention provides a method for controlling a transmission system of a series type severe hybrid power engineering machine, which comprises the following steps:
(1) 125 control rules are listed, a fuzzy logic intelligent control strategy is provided, and a fuzzy logic controller is designed;
(2) the fuzzy logic controller collects control signal data in real time, and system input parameters comprise a power battery SOC value and a work hydraulic system required power value PPThe required power value P of the running systemL；
(3) Dividing the signal data into 5 sections and fuzzifying, outputting fuzzy control variable signals according to control rules, and then performing data clarification processing, wherein the output parameter is the output power value P of the motor generatorGMotor output power PMAnd engine output power value PEIn the working process of the system, the working points of the corresponding engine, the motor and the motor generator are controlled by sensing the load size and the power battery SOC value on line in real time, and the problem of nonlinear complex system energy management is solved by a fuzzy controller.
As shown in fig. 10, a schematic diagram of a control rule of a fuzzy logic part of a series type severe hybrid engineering mechanical transmission system draws a view surf graph according to the fuzzy logic control rule, performs sectional processing on data signals acquired in real time, outputs a series of control parameters after passing through a fuzzy logic controller, and controls a working mode and working parameters of the system.
In the scheme of the serial heavy hybrid power engineering mechanical transmission system, the transmission system is directly driven by the motor, a hydraulic torque converter of a traditional system is eliminated, and the transmission efficiency of the system is improved; the working point of the engine is not influenced by the driving road condition, and the fuel economy is greatly improved; the system is suitable for special working condition requirements such as underground mines, air thin areas, inflammable and explosive areas, low noise areas, indoor operation and the like in a pure electric working mode, and the braking energy recovery function is realized through a series hybrid structure.
The series severe hybrid power engineering machinery transmission system has an engine mode and a pure electricThe energy management system decides the working mode of the system according to the load demand power value and the battery SOC value, and the specific motor working point is the power demand of the running systemP L The engine and motor generator operating points are determined by a fuzzy logic controller.
Specifically, table 1 and fig. 10 show fuzzy logic control rules, table 1 lists 125 control rules, the fuzzy logic controller collects control signal data in real time, processes and fuzzifies the signal data by 5 sections, outputs a control variable fuzzy signal according to the control rules, then performs data clarification processing, controls the working points of the corresponding engine and the motor generator, and solves the problem of nonlinear complex system energy management through the fuzzy controller.
And analyzing several working condition characteristics by combining the control rule and the view surf graph, for example, when the input signal of the fuzzy controller is as follows: power battery SOC value is too high, working hydraulic pumpP P Low-value running systemP L Motor generator with positive and low outputP G Positive and small, engineP E The value is 0, at the moment, the engine does not work, the system is in a pure electric working state, part of electric energy is used for driving the running system to work by the motor, and part of electric energy is used for driving the hydraulic system to work by the motor generator; according to the structural scheme shown in fig. 2, the system is in a pure electric operation mode, the power battery 7 transmits electric energy to the motor generator 5 and the motor 8 through the motor controller 6, the motor 8 drives the running system to work, and the motor generator 5 is in an electric state and drives the working hydraulic system 4 to work.
And analyzing several working condition characteristics by combining the control rule and the view surf graph, for example, when the input signal of the fuzzy controller is as follows: power battery SOC value is moderate, work hydraulic pumpP P Moderate value, running systemP L Motor generator with positive and low outputP G The value is negative and small, the engineP E The value is moderate. At the moment, the engine singly drives the system to work, part of energy drives the hydraulic system to work, and the rest energy drives the electric generator to generate electricityThe motor generates electricity, and the electric energy is used for driving the running system to work; according to the structural scheme shown in fig. 3, the system is in an engine single-drive working mode, the engine 1 divides power into two paths through the transfer case 3, one path drives the hydraulic system 4 to work, one path drives the motor generator 5 to work, and the generated electric energy is used for driving the running system to work by the motor 8.
And analyzing several working condition characteristics by combining the control rule and the view surf graph, for example, when the input signal of the fuzzy controller is as follows: power battery SOC value is on the high side, work hydraulic pumpP P Low-value running systemP L Motor generator with positive and low outputP G Value of 0, engineP E The value is lower. At the moment, the system is in an independent driving state of the engine and the motor, the motor generator does not work, the engine drives the hydraulic system to work, and the power battery supplies power to the motor to drive the running system to work; according to the structural scheme shown in the figure 4, the system is in an engine and motor independent driving mode, and the engine 1 drives the hydraulic system 4 to work by power through the transfer case 3; the power battery 7 transmits electric energy to the motor 8 through the motor controller 6 to drive the running system to work.
When the engineering mechanical system brakes, the motor can generate braking torque to assist braking, at the moment, the driving motor is in a power generation state,P L if the value is negative, the control strategy outputs the parameterP G The power battery is charged by the engine and the braking system together; if the control strategy outputs the parameterP G The value is 0, the motor generator does not work, and the braking system independently charges the power battery; if the control strategy outputs the parameterP G If the value is positive, the motor generator is in an electric state, and the electric energy recovered by the braking system is required to be supplied to the motor generator to drive the hydraulic system to work; as shown in the structural scheme of fig. 8, the system is in a braking energy recovery working mode, in the braking process of the whole vehicle, the motor 8 performs auxiliary braking, the vehicle works in a power generation state, and the vehicle is produced in the braking processThe generated electric energy is stored in the power battery 7 system.
According to the structural scheme shown in fig. 5, the system is in a working mode that the motor and the engine jointly drive the hydraulic system, the hydraulic system is in a heavy-load working condition in the working mode, a part of energy of the power battery 7 is distributed to the motor 8 to drive the running system to work, the other part of energy drives the motor generator 5 to work, and the motor generator and the engine 1 jointly drive the working hydraulic system 4 to work.
According to the structural scheme shown in fig. 6, the system is in a running system working mode driven by the combination of the motor and the engine, a part of energy of the engine 1 drives the working hydraulic system 4 to work, the rest energy drives the motor generator 5 to generate electricity, and the electric energy generated by the motor generator 5 and the power battery 7 jointly drive the motor 8 to work for the running system.
According to the structural scheme shown in fig. 7, the system is in a power battery charging working mode, a part of energy of the engine 1 drives the working hydraulic system 4 to work, the rest energy drives the motor generator 5 to generate electricity, and the electricity generated by the motor generator supplements electricity for the power battery 7.
As shown in fig. 9, a fuzzy logic control mode structure diagram of a transmission system of a series type severe hybrid engineering machine, system input parameters include a power battery SOC value, a power demand value P of a working hydraulic systemPThe required power value P of the running systemLThe output parameter is the output power value P of the motor generatorGAnd engine output power valueP E And in the working process of the system, the working points of the motor generator and the engine and the working mode of the system are controlled by sensing the load size and the power battery SOC value on line in real time.
The system working mode in the design of the control idea solution provided by the invention improves the economy under the condition of meeting the requirement of the power performance of the whole vehicle. The above description is only an example of the present invention, and should not be taken as limiting the scope of the present invention, so that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the invention.
Claims (1)
1. A control method of a series heavy hybrid power engineering mechanical transmission system relates to a system comprising a mechanical transmission system, an electrical connection system and a control system, wherein the mechanical transmission system comprises an engine (1), a clutch (2), a transfer case (3), a hydraulic system (4), a motor generator (5), a motor (8), a gearbox (9), a main reducer and a differential (10), wherein an output shaft of the engine (1) is connected with one end of the clutch (2), the other end of the clutch (2) is connected with an input shaft I of the transfer case (3), an input shaft II of the transfer case (3) is connected with an output shaft of the motor generator (5), an output shaft of the transfer case (3) is connected with the hydraulic system (4), the motor (8) is used as a power element of a running system, an output shaft of the motor (8) is coaxially connected with an input shaft (9) of the gearbox, an output shaft of the gearbox (9) is connected with a main speed reducer and a differential (10);
the electric connection system comprises an engine (1), a clutch (2), a hydraulic system (4), a motor generator (5), a motor controller (6), a power battery (7), a motor (8), a gearbox (9) and an ECU (electronic control unit) system (11), wherein the input end of the motor controller (6) is connected with the power battery (7), the output end of the motor controller is respectively connected with the motor generator (5) and the motor (8), and the ECU system (11) is respectively connected with the engine (1), the clutch (2), the hydraulic system (4), the motor generator (5), the motor controller (6), the power battery (7), the motor (8) and the gearbox (9); the control system comprises an ECU system (11) and a fuzzy logic controller, wherein the ECU system (11) is connected with the fuzzy logic controller; the ECU system collects working condition signals, analyzes and processes the data, inputs the data signals into the fuzzy logic controller, formulates a reasonable control scheme according to a control rule, and plans the working modes of an engine, a motor generator and a motor, and is characterized by comprising the following steps:
(1) 125 control rules are listed, a fuzzy logic intelligent control strategy is provided, and a fuzzy logic controller is designed;
(2) the fuzzy logic controller collects control signal data in real time, and the system input parameters comprise power batterySOC value and working hydraulic system demand power value PPThe required power value P of the running systemL；
(3) Dividing the signal data into 5 sections and fuzzifying, outputting fuzzy control variable signals according to control rules, and then performing data clarification processing, wherein the output parameter is the output power value P of the motor generatorGMotor output power PMAnd engine output power value PEIn the working process of the system, the working points of the corresponding engine, the motor and the motor generator are controlled by sensing the load size and the power battery SOC value on line in real time, and the problem of nonlinear complex system energy management is solved by a fuzzy controller;
output power P of engine in pure electric operation processEIs 0, motor generator output power PGThe power demand of a working hydraulic system and the output power P of the motor are metMThe power demand of the driving system is met;
in the braking energy recovery working process of the system, the engine and the motor generator do not output power, and the output power value P of the motorM≤-PL，-PLRepresenting the braking power value of the running system, and formulating a recovery strategy by combining with the SOC state parameter;
when the SOC value is lower, the SOC belongs to (0, 0.5)]If the peak power of the motorP Mmax ≥-P L Time, motor output power valueP M =-P L If the peak power of the motorP Mmax ＜-P L Time, motor output power valueP M =P Mmax (ii) a When the SOC value is in the middle SOC E (0.5, 0.8)]If rated power of the motorP Me ≥-P L Time, motor output power valueP M =-P L If rated power of the motorP Me ＜-P L Time, motor output power valueP M =P Me (ii) a When the SOC value is higher, the SOC belongs to (0.8, 1.0)]Output power value of motorP M =5（1-SOC）*min（P Me ，-P L ）；
Establishing a fuzzy logic controller to collect P in real time during the hybrid driving process of the systemL、PPAnd SOC value, output PGAnd PEA value; wherein, PMThe size of the value is defined by PLDetermining; pLWhen taking a positive value, represents the driving state of the whole vehicle, PLWhen a negative value is taken, the braking state of the whole vehicle is represented; pGWhen taking a positive value, the generator and the motor generator jointly drive the hydraulic system to work, and when P isGWhen 0 is taken out, the output power of the motor generator is represented as 0, and when P is taken outGWhen a negative value is taken, the SOC value is low or the required power of the running system is large, and the motor generator is in a power generation state;
and fourthly, the system controls the working modes and working points of the engine and the motor in real time on line according to the load demand power and the SOC value of the power battery, realizes intelligent control of the whole vehicle power system and recovers the braking energy to the maximum extent.
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