CN113071378B - Multi-energy cooperative control method for power system - Google Patents

Multi-energy cooperative control method for power system Download PDF

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CN113071378B
CN113071378B CN202110483001.6A CN202110483001A CN113071378B CN 113071378 B CN113071378 B CN 113071378B CN 202110483001 A CN202110483001 A CN 202110483001A CN 113071378 B CN113071378 B CN 113071378B
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controller
control signal
cooperative
steering
power
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CN113071378A (en
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陈静
肖纯
田韶鹏
潘峰
王伟东
程荣
余肖
周炳寅
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Foshan Xianhu Laboratory
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/40—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for controlling a combination of batteries and fuel cells
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • 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
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention provides a multi-energy cooperative control method of a power system, which is applied to a drive-by-wire travel platform power control system, wherein the drive-by-wire travel platform power control system comprises a cooperative controller, a power supply controller, a driving controller, a braking controller and a steering controller; the cooperative controller comprises a control unit, a signal acquisition unit, a power distribution unit, a safety monitoring unit, a data storage unit and a CAN communication interface. The power supply comprises a hydrogen fuel cell system and a lithium battery; and the cooperative controller performs cooperative control on the driving controller, the braking controller and the steering controller according to data information provided by the vehicle control unit, so as to ensure that the mobile trip platform runs according to the target speed and the preset route. The energy traveling platform is coordinately controlled, so that the smoothness, braking performance, operation stability and safety of the energy traveling platform achieve good effects, and the energy traveling platform is suitable for an intelligent driving mode.

Description

Multi-energy cooperative control method for power system
Technical Field
The invention relates to the technical field of multi-energy cooperative control, in particular to a multi-energy cooperative control method for a power system.
Background
The power control system of the line-control travel platform realizes smoothness, braking performance and operation stability of the travel platform, improves cruising ability, and has the function of coordinately controlling a power supply, driving, braking and steering. Meanwhile, in order to improve the safety, a network communication technology is needed to monitor and diagnose the working condition of the power control system of the line-controlled travel platform, so that the safe and reliable travel of the line-controlled travel platform is controlled.
The chinese patent document "201910307160.3" proposes a fuel cell vehicle multi-source controller and a control method thereof, which solve the problems that most of the current fuel cell engine controllers have single hardware function, uneven quality, poor expandability, are difficult to meet and the software and hardware resource requirements of the prior intelligent control of fuel cell engines and vehicles.
Chinese patent document 202010348862.9 proposes a multi-energy hybrid power control method, device and system for a fuel cell vehicle, which is applied to a multi-energy hybrid power control system for a fuel cell vehicle. The method comprises the steps of storing a finished automobile running state and a power supply strategy in a database in advance, determining the current finished automobile running state by obtaining current finished automobile control parameters and according to the current finished automobile control parameters, searching a power supply strategy corresponding to the current running state of the finished automobile from a preset strategy data table to determine the power source of the finished automobile, and providing the power and energy requirements of the finished automobile by a motor controller.
The above patents cannot meet the control requirements of the line control travel platform, and particularly cannot realize the coordination control of a power supply and the driving, braking and steering functions at the same time. In view of the above problems, a multi-energy cooperative control method for a power system is provided.
Disclosure of Invention
The invention provides a multi-energy cooperative control method for a power system, which solves the technical problems that: aiming at the technical problems in the prior art and the control requirements of a line-control travel platform, the power system multi-energy cooperative control method is provided, is applied to a line-control travel platform power control system, can perform coordinated control on a power supply, a driving function, a braking function and a steering function of a mobile travel platform, and enables the smoothness, the braking performance and the operation stability of the mobile travel platform to achieve a good effect, thereby improving the cruising ability and the safety.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
the invention provides a multi-energy cooperative control method of a power system, which is applied to a drive-by-wire travel platform power control system. The power control system of the line-controlled travel platform comprises a cooperative controller, a power supply controller, a steering controller, a driving controller and a braking controller; the cooperative controller comprises a control unit, a signal acquisition unit, a power distribution unit, a safety monitoring unit, a data storage unit and a CAN communication interface; the power supply comprises a hydrogen fuel cell system and a lithium battery; the cooperative controller carries out cooperative control on the power supply controller, the driving controller, the braking controller and the steering controller according to data information provided by the vehicle controller, and the cooperative controller, the power supply controller, the steering controller, the driving controller, the braking controller and the vehicle controller are communicated through a CAN bus;
the method comprises the following steps:
the method comprises the following steps: the signal acquisition unit acquires a starting signal, required power, a target speed and a preset route from the vehicle control unit through the CAN communication interface and stores the starting signal, the required power, the target speed and the preset route in the data storage unit;
step two: when the starting signal is effective, after the safety monitoring unit has no fault in self-detection, the power supply supplies power to the lithium battery, high-voltage electrification is completed, and the hydrogen fuel cell system starts to generate electricity; meanwhile, the safety monitoring unit detects the motion state, the running speed and the deviation angle between the running route and the preset route of the trip platform and stores the deviation angle in the data storage unit;
step three: according to the required power, the power distribution unit determines the real-time output power output by the hydrogen fuel cell system and the lithium battery, then the power supply controller determines the power supply mode of the power supply and adjusts the output power to meet the required power of the mobile trip platform;
step four: the cooperative controller adopts a cooperative control strategy to perform cooperative control on the steering controller, the driving controller and the braking controller, so as to determine the offset angle of the running route of the travel platform;
step five: the signal acquisition unit acquires a closing signal from the vehicle control unit through the CAN communication interface, and when the closing signal is effective, the power supply controller, the steering controller, the driving controller and the braking controller enter a lower current process, and the cooperative controller still keeps the power supply of the power supply; and (3) reducing the load of the hydrogen fuel cell system, performing scavenging when the power of the hydrogen fuel cell system is reduced to 0kW, enabling the power control system to enter a dormant state after the hydrogen fuel cell system is shut down, finishing power-off and stopping.
Furthermore, the cooperative controller hardware adopts an England-based AURIX 2G multi-core architecture TC375 embedded safety controller; the cooperative controller respectively sends out a steering control signal, a driving control signal and a braking control signal to control the steering controller, the driving controller and the braking controller.
Further, the preset route means that when the travel platform operates in an intelligent driving mode, the vehicle control unit automatically plans a travel route according to the destination and road information detected by the external sensor, and sends the travel route to the signal acquisition unit of the cooperative controller so as to pre-judge the travel route of the travel platform.
Further, the coordination control of the steering controller, the driving controller and the braking controller by the coordination controller using a coordination control strategy specifically comprises:
after the trip platform is started, the cooperative controller takes the running speed of the trip platform, the deviation angle of the running route and the preset route as decision indexes, and sets a running speed VxWith target speed V0Is Δ V, i.e. Δ V ═ Vx-V0The absolute value of the deviation angle between the driving route and the preset route is | delta theta |, and the first speed threshold and the second speed threshold are respectively set as Vm1And Vm2，Vm2Greater than Vm1Let the threshold value of the offset angle be | Δ θmThe coordination control strategy is as follows:
s01: determining a steering control signal, determining the steering control signal according to any one of the following conditions:
when the delta theta is 0, the cooperative controller does not send a steering control signal;
when the delta theta is not equal to 0, the cooperative controller sends a steering control signal according to the size of the delta theta and the sign of the delta theta, and the steering controller controls the steering motor to work according to the steering control signal; the larger the value of | delta theta | is, the larger the rotation angle of the steering motor is, the positive sign is, the clockwise rotation of the steering motor is realized, and the counterclockwise rotation of the steering motor is realized when the negative sign is;
s02: determining a value of the drive control signal, the drive control signal being determined as either:
when the delta V is less than 0, the cooperative controller sends a driving control signal according to the magnitude of the delta V value;
when the delta V is equal to 0, the cooperative controller keeps the current driving control signal unchanged;
when 0 is present<ΔV≤Vm1Then, the cooperative controller subtracts the value of the first driving control signal from the value of the driving control signal according to the magnitude of the Δ V value;
when V ism1<ΔV≤Vm2Then, the cooperative controller subtracts the value of the second drive control signal from the value of the drive control signal according to the magnitude of the Δ V value;
wherein the value of the second drive control signal is greater than the value of the first drive control signal;
s03: determining a brake control signal, and determining the brake control signal according to any one of the following conditions:
when Δ V>Vm2When the vehicle is in a normal state, the cooperative controller increases the braking control signal according to the magnitude of the delta V value, and the larger the delta V value is, the larger the braking control signal is;
when | Delta theta |>|ΔθmWhen the absolute value is greater, the cooperative controller increases the braking control signal according to the absolute value of the absolute value delta theta, and the larger the absolute value delta theta is, the larger the braking control signal is;
s04: and outputting a steering control signal to a steering controller, outputting a driving control signal to a driving controller, and outputting a braking control signal to a braking controller, so that the steering controller, the driving controller and the braking controller operate according to the steering control signal, the driving control signal and the braking control signal respectively.
The invention discloses a multi-energy cooperative control method of a power system, which is applied to a power control system of a line-control travel platform and mainly has the following advantages that according to the control requirement of the line-control travel platform, aiming at the problem that the prior art can not realize the cooperative control of a power supply and the functions of driving, braking and steering at the same time:
(1) and a coordination control strategy is provided, and the coordination controller performs coordination control on the power supply controller, the driving controller, the braking controller and the steering controller according to data information provided by the vehicle control unit, so that the smoothness, the braking performance, the operation stability and the safety of the mobile trip platform are improved.
(2) The running route can be pre-judged according to the running route planned by the vehicle controller, and the method is suitable for an intelligent driving mode.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the example serve to explain the principles of the invention and not to limit the invention.
Fig. 1 is a block diagram of a power control system of a line-controlled travel platform corresponding to a multi-energy cooperative control method of a power system according to an embodiment of the present invention;
fig. 2 is a flow chart of a coordination control strategy for multi-energy cooperative control of a power system according to an embodiment of the present invention.
Description of reference numerals: 1. a vehicle control unit; 2. a cooperative controller; 3. a power supply controller; 4. a steering controller; 5. a drive controller; 6. a brake controller; 2-1, a control unit; 2-2, a signal acquisition unit; 2-3. a power distribution unit; 2-4, a safety monitoring unit; 2-5, a data storage unit; and 2-6, CAN communication interface.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that although functional block divisions are provided in the system drawings and logical orders are shown in the flowcharts, in some cases, the steps shown and described may be performed in different orders than the block divisions in the systems or in the flowcharts. The terms first, second and the like in the description and in the claims, and the drawings described above, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The invention provides a coordination control strategy, and a coordination controller performs coordination control on a power supply controller, a driving controller, a braking controller and a steering controller according to data information provided by a vehicle controller; the running route is pre-judged according to the running route planned by the vehicle controller, and the smoothness, braking performance, operation stability and safety of the mobile trip platform are improved.
The embodiment of the invention provides a multi-energy cooperative control method of a power system, which is applied to a drive-by-wire travel platform power control system, wherein the drive-by-wire travel platform power control system comprises a cooperative controller, a power supply controller, a steering controller, a driving controller and a braking controller; the cooperative controller comprises a control unit, a signal acquisition unit, a power distribution unit, a safety monitoring unit, a data storage unit and a CAN communication interface; the power supply comprises a hydrogen fuel cell system and a lithium battery; and the cooperative controller performs cooperative control on the power supply controller, the driving controller, the braking controller and the steering controller according to data information provided by the vehicle controller, and the cooperative controller, the power supply controller, the steering controller, the driving controller, the braking controller and the vehicle controller are communicated through a CAN bus.
The invention provides a multi-energy cooperative control method for a power system, which is characterized in that a power control system of a line-controlled travel platform corresponding to the control method is composed of a block diagram as shown in figure 1, and the multi-energy cooperative control of the power system is realized mainly through a cooperative controller 2, a power supply controller 3, a steering controller 4, a driving controller 5, a braking controller 6 and CAN buses among the cooperative controller and the power supply controller. The cooperative controller 2 comprises a control unit 2-1, a signal acquisition unit 2-2, a power distribution unit 2-3, a safety monitoring unit 2-4, a data storage unit 2-5 and a CAN communication interface 2-6. The vehicle control unit 1, the cooperative controller 2, the power supply controller 3, the steering controller 4, the driving controller 5 and the braking controller 6 are connected with each other through a CAN bus respectively.
The multi-energy cooperative control method of the power system comprises the following steps:
the method comprises the following steps: the signal acquisition unit 2-2 acquires a starting signal, required power, a target speed and a preset route from the vehicle control unit 1 through the CAN communication interface 2-6 and stores the starting signal, the required power, the target speed and the preset route in the data storage unit 2-5;
step two: when the starting signal is effective, after the safety monitoring unit 2-4 has no fault in self-detection, the power supply supplies power to the lithium battery, high-voltage electrification is completed, and the hydrogen fuel cell system starts to generate electricity; meanwhile, the safety monitoring unit 2-4 detects the motion state, the running speed and the deviation angle between the running route and the preset route of the trip platform, and stores the deviation angle in the data storage unit 2-5;
step three: according to the required power, the power distribution unit 2-3 determines the real-time output power output by the hydrogen fuel cell system and the lithium battery, then the power supply controller 3 determines the power supply mode of the power supply and adjusts the output power to meet the required power of the mobile trip platform; the power supply mode of the power supply comprises 3 types of power supply of lithium batteries, power supply of a hydrogen fuel battery system, and hybrid power supply of the hydrogen fuel battery system and the lithium batteries;
step four: the system controller 2 adopts a coordination control strategy to carry out coordination control on the steering controller 4, the driving controller 5 and the brake controller 6, and ensures that the moving trip platform runs according to a target speed and a preset route;
step five: the signal acquisition unit 2-2 acquires a shutdown signal from the vehicle control unit 1 through the CAN communication interface 2-6, and when the shutdown signal is effective, the power supply controller 3, the steering controller 4, the driving controller 5 and the braking controller 6 enter a power-off process at the same time, and the cooperative controller 2 still keeps the power supply of the power supply; and (3) reducing the load of the hydrogen fuel cell system, performing scavenging when the power of the hydrogen fuel cell system is reduced to 0kW, enabling the power control system to enter a dormant state after the hydrogen fuel cell system is shut down, finishing power-off and stopping.
And repeating the steps from one step to five, so that the line control travel platform can stably and safely run according to a preset route.
Further, according to the required power, the power distribution units 2-3 determine the real-time output power output by the hydrogen fuel cell system and the lithium battery, then the power supply controller 3 determines the power supply mode of the power supply by adopting a power distribution method of the power supply, and adjusts the output power to meet the required power of the mobile trip platform; the power supply mode of the power supply comprises 3 types of power supply of lithium batteries, power supply of a hydrogen fuel battery system, and hybrid power supply of the hydrogen fuel battery system and the lithium batteries; the power distribution method of the power supply can adopt the method described in inventor's Chinese patent document ' 2021103689302 '.
Further, the hardware of the cooperative controller 2 adopts an England-based AURIX 2G multi-core architecture TC375 embedded safety controller; the cooperative controller sends out a steering control signal, a drive control signal, and a brake control signal to control the steering controller 4, the drive controller 5, and the brake controller 6, respectively. The Yingfei AURIX TC375 singlechip is provided with a CAN bus communication interface and a reset button, the external power supply voltage range is 5V to 40V, and the advantages of low power consumption, high speed and good expansibility are achieved.
Further, the system controller 2 performs coordination control on the steering controller 4, the driving controller 5 and the braking controller 6 by using a coordination control strategy to ensure that the mobile trip platform runs according to a target speed and a predetermined route, wherein the coordination control strategy specifically comprises the following steps:
the turning, driving and braking of the travel platform are respectively realized by a corresponding turning motor, a corresponding driving motor and a corresponding braking motor. After the trip platform is started, the cooperative controller 2 sets the running speed V of the trip platform and the deviation angle between the running route and the predetermined route as decision indexesxWith target speed V0Is Δ V, i.e. Δ V ═ Vx-V0The absolute value of the deviation angle between the driving route and the preset route is | delta theta |, and the first speed threshold and the second speed threshold are respectively set as Vm1And Vm2，Vm2Greater than Vm1Setting the absolute value of the offset angle as | Delta thetamThe coordination control strategy is as follows:
s01: determining a steering control signal, and determining the steering control signal according to any one of the following conditions:
when the Δ θ is equal to 0, the cooperative controller 2 does not send a steering control signal, the steering controller 4 is in a standby state, and the steering motor does not work;
when the delta theta is not equal to 0, the cooperative controller 2 sends a steering control signal according to the size and the sign of the delta theta, and the steering controller 4 controls the steering motor to work according to the steering control signal; the larger the value of | delta theta | is, the larger the rotation angle of the steering motor is, the positive sign of the rotation angle is, the clockwise rotation is realized, and the counterclockwise rotation is realized when the rotation angle is negative;
s02: determining a value of the drive control signal, the drive control signal being determined as either:
when the delta V is less than 0, the cooperative controller 2 sends a driving control signal according to the value of the delta V, the driving controller 5 controls the driving motor to increase the rotating speed and the torque, and the smaller the value of the delta V is, the larger the increment of the rotating speed and the torque of the driving motor is;
when Δ V is equal to 0, the cooperative controller 2 keeps the current driving control signal unchanged, the driving controller 5 keeps the current working state, and controls the driving motor to keep the current rotation speed and torque unchanged.
When 0 is present<ΔV≤Vm1Then, the cooperative controller 2 subtracts the value of the first drive control signal from the value of the drive control signal according to the magnitude of the Δ V value, and the drive controller 5 controls the rotation speed and the torque of the drive motor to respectively reduce the rotation speed N1And torque T1The smaller the value of Δ V, N1And T1The smaller;
when V ism1<ΔV≤Vm2Then, the cooperative controller 2 subtracts the value of the second drive control signal from the value of the drive control signal according to the magnitude of the Δ V value, and the drive controller 5 controls the rotation speed and the torque of the drive motor to respectively reduce the rotation speed N2And torque T2The smaller the value of Δ V, N2And T2The smaller;
wherein the value of the second drive control signal is greater than the value of the first drive control signal, N2>N1，T2>T1。
S03: determining a brake control signal, and determining the brake control signal according to any one of the following conditions:
when Δ V>Vm2When the vehicle is running, the cooperative controller 2 increases the braking control signal according to the magnitude of the Δ V value, and the larger the Δ V value is, the larger the braking control signal is;
when | Delta theta |>|ΔθmWhen the absolute value is greater, the cooperative controller 2 increases the braking control signal according to the absolute value of delta theta, and the larger the absolute value of delta theta is, the larger the braking control signal is;
as shown in fig. 2, provided that Δ V>Vm2Or | Δ θ>|ΔθmIncreasing the brake control signal if the absolute value of delta theta is less than or equal to the absolute value of delta thetamWhen |, determine Δ V>Vm2Whether or not it is true, when Δ V>Vm2If so, the brake control signal is increased.
S04: and outputting a steering control signal to the steering controller 4, outputting a driving control signal to the driving controller 5, and outputting a braking control signal to the braking controller 6, so that the steering controller 4, the driving controller 5 and the braking controller 6 operate according to the steering control signal, the driving control signal and the braking control signal respectively.
Further, the predetermined route refers to that when the travel platform operates in the intelligent driving mode, the vehicle control unit 1 automatically plans a travel route according to the destination and the road information detected by the external sensor, and sends the travel route to the signal acquisition unit 2-2 of the cooperative controller 2 so as to pre-judge the travel route of the travel platform. The external sensors are ultrasonic ranging devices, the number of the external sensors is not less than 4 generally, at least one external sensor is arranged on each side of the mobile trip platform, and the external sensors are mainly used for detecting whether obstacles exist on the road and on two sides of the road so as to adjust the driving route and direction in time.
The multi-energy cooperative control method for the power system provided by the invention is described in detail, and the implementation description is only used for helping to understand the method and the core idea of the method; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (3)

1. A multi-energy cooperative control method of a power system is applied to a drive-by-wire travel platform power control system and is characterized in that the drive-by-wire travel platform power control system comprises a cooperative controller, a power supply controller, a steering controller, a driving controller and a braking controller; the cooperative controller comprises a control unit, a signal acquisition unit, a power distribution unit, a safety monitoring unit, a data storage unit and a CAN communication interface; the power supply comprises a hydrogen fuel cell system and a lithium battery; the cooperative controller carries out cooperative control on the power supply controller, the driving controller, the braking controller and the steering controller according to data information provided by the vehicle controller, and the cooperative controller, the power supply controller, the steering controller, the driving controller, the braking controller and the vehicle controller are communicated through a CAN bus;
the method comprises the following steps:
the method comprises the following steps: the signal acquisition unit acquires a starting signal, required power, a target speed and a preset route from the vehicle control unit through the CAN communication interface and stores the starting signal, the required power, the target speed and the preset route in the data storage unit;
step two: when the starting signal is effective, after the safety monitoring unit has no fault in self-detection, the power supply supplies power to the lithium battery, high-voltage electrification is completed, and the hydrogen fuel cell system starts to generate electricity; meanwhile, the safety monitoring unit detects the motion state, the running speed and the deviation angle between the running route and the preset route of the trip platform and stores the deviation angle in the data storage unit;
step three: according to the required power, the power distribution unit determines the output power of a hydrogen fuel battery system and a lithium battery, then the power supply controller determines the power supply mode of a power supply according to the output power of the hydrogen fuel battery system and the lithium battery, and adjusts the real-time output power of the hydrogen fuel battery system and the lithium battery to meet the required power of a mobile trip platform;
step four: the cooperative controller adopts a cooperative control strategy to perform cooperative control on the steering controller, the driving controller and the brake controller so as to enable the mobile trip platform to run according to a target speed and a preset route;
step five: the signal acquisition unit acquires a closing signal from the vehicle control unit through the CAN communication interface, and when the closing signal is effective, the power supply controller, the steering controller, the driving controller and the braking controller enter a lower current process, and the cooperative controller still keeps the power supply of the power supply; the load of the hydrogen fuel cell system is reduced, when the power of the hydrogen fuel cell system is reduced to 0kW, sweeping is carried out, after the hydrogen fuel cell system is shut down, the power control system enters a dormant state, the power supply is completed, and the hydrogen fuel cell system is stopped;
the coordination control of the cooperative controller on the steering controller, the driving controller and the braking controller by adopting a coordination control strategy specifically comprises the following steps:
after the trip platform is started, the cooperative controller takes the running speed of the trip platform, the deviation angle of the running route and the preset route as decision indexes, and sets a running speed VxWith target speed V0Is Δ V, i.e. Δ V ═ Vx-V0The absolute value of the deviation angle between the driving route and the preset route is | delta theta |, and the first speed threshold and the second speed threshold are respectively set as Vm1And Vm2，Vm2Greater than Vm1Let the threshold value of the offset angle be | Δ θmThe coordination control strategy is as follows:
s01: determining a steering control signal, determining the steering control signal according to any one of the following conditions:
when the delta theta is 0, the cooperative controller does not send a steering control signal;
when the delta theta is not equal to 0, the cooperative controller sends a steering control signal according to the size of the delta theta and the sign of the delta theta, and the steering controller controls the steering motor to work according to the steering control signal; the larger the value of | delta theta | is, the larger the rotation angle of the steering motor is, the positive sign is, the clockwise rotation of the steering motor is realized, and the counterclockwise rotation of the steering motor is realized when the negative sign is;
s02: determining a value of the drive control signal, the drive control signal being determined as either:
when the delta V is less than 0, the cooperative controller sends a driving control signal according to the magnitude of the delta V value;
when the delta V is equal to 0, the cooperative controller keeps the current driving control signal unchanged;
when 0 is present<ΔV≤Vm1According to deltaThe magnitude of the V value is the value of the drive control signal minus the value of the first drive control signal;
when V ism1<ΔV≤Vm2Then, the cooperative controller subtracts the value of the second drive control signal from the value of the drive control signal according to the magnitude of the Δ V value;
wherein the value of the second drive control signal is greater than the value of the first drive control signal;
s03: determining a brake control signal, and determining the brake control signal according to any one of the following conditions:
when Δ V>Vm2When the vehicle is in a normal state, the cooperative controller increases the braking control signal according to the magnitude of the delta V value, and the larger the delta V value is, the larger the braking control signal is;
when | Delta theta |>|ΔθmWhen the absolute value is greater, the cooperative controller increases the braking control signal according to the absolute value of the absolute value delta theta, and the larger the absolute value delta theta is, the larger the braking control signal is;
s04: and outputting a steering control signal to a steering controller, outputting a driving control signal to a driving controller, and outputting a braking control signal to a braking controller, so that the steering controller, the driving controller and the braking controller operate according to the steering control signal, the driving control signal and the braking control signal respectively.
2. The multi-energy cooperative control method of the power system according to claim 1, wherein the cooperative controller hardware adopts an England-based AURIX 2G multi-core architecture TC375 embedded safety controller; the cooperative controller respectively sends out a steering control signal, a driving control signal and a braking control signal to control the steering controller, the driving controller and the braking controller.
3. The multi-energy cooperative control method of the power system according to claim 1, wherein the predetermined route is a deviation angle of the running route of the travel platform determined by a vehicle controller automatically planning the running route according to road information detected by a destination and an external sensor and sending the route to a signal acquisition unit of the cooperative controller when the travel platform is operated in an intelligent driving mode.
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