CN114454728B - Dual-motor coupling driving tracked vehicle electrical load characteristic analysis method - Google Patents
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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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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Abstract
The invention provides a method for analyzing the electrical load characteristics of a dual-motor coupling driving tracked vehicle, which comprises the steps of firstly dividing the complex driving working condition of the dual-motor coupling driving tracked vehicle into three main categories of straight driving working condition, steering working condition and braking working condition, then considering the intention of a driver such as accelerator pedal opening, brake pedal opening and steering wheel corner, and the like, and considering unique factors of each driving working condition such as straight driving resistance coefficient, steering radius and the like, so as to estimate the electrical power required by the dual-motor coupling driving tracked vehicle to finish translational motion and rotational motion by combining the whole vehicle parameters, building a dual-motor coupling driving tracked vehicle electrical load characteristic estimating model, obtaining the electrical load characteristics of a front power chain, further designing an optimal control strategy of a generator based on the electrical load characteristics, ensuring the front power chain to provide electrical power in a sufficient quantity and a sufficient quantity in time, realizing power supply stability control, and having great progress significance for the application of the dual-motor coupling driving technology on tracked vehicles.
Description
Technical Field
The invention belongs to the technical field of power control of electrically driven vehicles, and particularly relates to an analysis method for electric load characteristics of a double-motor coupling driving tracked vehicle.
Background
Under the development trend of new military science and technology and the situation of new military operations, the novel tactics, battles and strategic capabilities are developed, the rapid development of technology is adapted, the rapidity, the sensitivity and the persistence of battlefield maneuver are further improved, and the research of novel tank transmission technology is developed in developed countries in a dispute. The new requirements of electronic warfare coping, viability upgrading, mobility improving, battlefield service capability enhancing and the like of tank armored vehicles are also becoming more obvious, and transmission equipment is required to have remote rapid mobility, lower battlefield guarantee requirements, high-efficiency high-power density integrated overall design and high-power supply capability. The electric drive technology formed by the advantages of comprehensive machines such as planetary transmission technology, power electronics and electric transmission technology and the like in the field of electric multidisciplinary can greatly improve the maneuvering performance of the vehicle, and has the remote rapid maneuvering capability; the fuel economy of the vehicle can be improved, and the battlefield guarantee requirement is reduced; the electric energy supply device has high-power electric energy supply capability and meets the requirements of high-power electricity utilization such as weapon, protection and the like. Therefore, the electric drive technology has become the trend of the development of the future transmission technology because of being capable of well adapting to the development requirements of new military.
In a dual-motor coupling driven heavy tracked vehicle, the drivetrain may be divided into a front power chain consisting of an engine-generator set and a rear power chain consisting of a motor controller-motor. The mechanical energy generated by the power source engine of the front power chain is firstly converted into electric energy through the generator, then the electric energy is converted into mechanical energy through the motor controller of the rear power chain and the motor and is transmitted to the driving wheel, and the energy transmission process is a mechanical energy-electric energy-mechanical energy conversion process. The front power chain and the rear power chain only transmit energy through electric energy, and no mechanical constraint condition exists between the front power chain and the rear power chain, so that the energy coupling aspect is relatively weak compared with a mechanical transmission system, and the front power chain and the rear power chain are relatively independent in control. In the dual-motor coupling driving system, a driver sends a power command to a rear power chain through an accelerator pedal, and the front power chain needs to output corresponding power according to the power requirement of the rear power chain, so that the acceleration performance of the vehicle depends on two aspects: on the one hand, the rear power chain characteristic; another aspect is the power following characteristics of the front power chain. In a dual motor coupled drive system, the load imposed by the front power chain power source is not a direct road load, but rather an electrical power load applied thereto by the rear power chain. Compared with road surface load, the electric power load applied by the rear power chain has a large range of change in a short time, so if the rear power chain is required to output high power in a short time, particularly under extreme working conditions such as rapid acceleration, high-speed steering and the like, the front power chain can not provide corresponding power in time, the voltage of a direct current bus is reduced, and even abnormal working conditions such as an engine, flameout and the like occur. Therefore, in the dual-motor coupling driving system, the control of the power source is developed based on the electric load demand characteristic of the rear power chain, and the power output of the front power chain and the loading of the rear power chain are coordinated in control so as to have better power performance than that of a common mechanical transmission system.
The running working conditions of the electromechanical composite transmission tracked vehicle are complex and changeable, and the power of the driving motor required by the driving wheel is greatly different under different vehicle speeds and turning radiuses, and the power of the driving motor is severely changed. The rear power train electrical load of the vehicle electrical system also therefore fluctuates with a higher frequency, a higher amplitude and with no apparent regularity. If the power supply capacity of the on-board power system cannot follow the power load, the power supply stability will be destroyed. If the power supply side electric energy is far greater than the power consumption load, the high-voltage battery is overcharged, and the power grid is easy to overvoltage and unsteady; if the power supply side electric energy is far smaller than the power consumption load, the high-voltage battery is excessively discharged, and the power grid is easy to be under-voltage and unstable.
Disclosure of Invention
In order to solve the problems, the invention provides a method for analyzing the electrical load characteristics of a dual-motor coupling driving tracked vehicle, which is used for building a dual-motor coupling driving heavy tracked vehicle electrical load characteristic estimation model and realizing power supply stability control.
The method for analyzing the electrical load characteristics of the double-motor coupling driving tracked vehicle comprises the following steps of:
wherein,for the estimated value of load power at the initial moment, f is the set rolling resistance coefficient of the road surface of the vehicle, G is the mass of the whole vehicle, eta is the transmission efficiency from the crawler belt to the motor, and r z For the radius of the driving wheel of the vehicle, sa 0 For accelerator pedal initial value, n max I is the highest rotation speed of the motor c For side gear ratio, i b For EMT variator ratio, i j For motor reduction gear ratio, P gmax For maximum output power of the generator, < >>For the estimated load power at time k, P Lk The actual load power at time k is the accelerator pedal opening increment, T max Maximum output torque of single-side motor, V k The vehicle speed at time k;
the electric load characteristics of the tracked vehicle under steering conditions are as follows:
wherein,estimated value of power consumption for translational motion of tracked vehicle at moment k, P pyk Actual value of power consumption for the translational movement of the tracked vehicle at time k, deltaV k For the vehicle speed increment at time k>Estimated value of power consumption for rotational movement of tracked vehicle at moment k, P xzk Actual value of power consumption for rotational movement of tracked vehicle at time k, mu k As the steering resistance coefficient at time k, ρ k For the relative steering radius at time k, L is the track ground length, B is the track center distance, Δρ is the relative steering radius increment, P py Consuming power for translational movement of tracked vehicle, P xz Consuming power for rotational movement of the tracked vehicle;
the electric load characteristics of the tracked vehicle under braking conditions are as follows:
when the tracked vehicle is coasting braking:
wherein n is k T is the rotation speed of the motor at the moment k max (n k ) At a rotation speed of n k Maximum braking torque which can be output by the lower motor, P mmax Maximum power of the single-side motor;
when the tracked vehicle is electrically braked:
wherein S is bk The normalized value of the brake pedal signal at time k.
Further, the vehicle speed increment DeltaV at the time k k The calculation method of (1) is as follows:
further, the calculation method of the relative steering radius increment Δρ is as follows:
wherein k is ib For the steering radius adjustment coefficient related to gear, S s Normalized value for steering wheel angle signal ΔS s Is the steering wheel angle change value.
Further, the relative steering radius ρ at time k k The calculation method of (1) is as follows:
wherein k is o For the parameters of the planetary rows of the power coupling mechanism, n 2k For the rotation speed of the motor at the high speed side, n 1k Is the motor speed at the low speed side.
Further, the steering resistance coefficient μ at time k k The calculation method of (1) is as follows:
wherein mu max For the maximum steering resistance coefficient of the tracked vehicle when the tracked vehicle uses R=B/2 as the radius for braking steering, R is the actual steering radius, a, B and K e The g is the gravitational acceleration, which is a set coefficient obtained by fitting.
The beneficial effects are that:
the invention provides a method for analyzing the electrical load characteristics of a dual-motor coupling driving tracked vehicle, which comprises the steps of firstly dividing the complex driving working conditions of the dual-motor coupling driving tracked vehicle into three categories of straight driving working conditions, steering working conditions and braking working conditions, then considering the intention of a driver such as accelerator pedal opening, brake pedal opening and steering wheel turning angle, and the like, and considering unique factors of each driving working condition such as straight driving resistance coefficient, steering radius and the like, so as to estimate the electrical power required by the dual-motor coupling driving tracked vehicle to finish translational motion and rotational motion by combining the whole vehicle parameters, building a dual-motor coupling driving tracked vehicle electrical load characteristic estimating model, obtaining the electrical load characteristics of a front power chain, and further designing an optimal control strategy of a generator based on the electrical load characteristics, so as to ensure that the front power chain provides electrical power in a sufficient quantity in time and under control, and realize power supply stability control; the invention is suitable for all tracked vehicles equipped with electromechanical compound transmission systems, and has great progress significance for development of electromechanical compound transmission products and application of double-motor coupling driving technology on tracked vehicles.
Drawings
FIG. 1 is a flow chart of a method for analyzing the electrical load characteristics of a dual-motor coupling drive tracked vehicle provided by the invention;
FIG. 2 is a detailed flow chart of analysis of electrical load characteristics of a dual-motor coupling drive tracked vehicle;
FIG. 3 is a graph showing the comparison of the rotational speeds of the driving motors;
FIG. 4 is a torque versus drive motor diagram;
FIG. 5 is a graph of drive motor power versus;
FIG. 6 is a chart showing the comparison of the rotational speeds of the driving wheels;
FIG. 7 is a torque versus drive wheel diagram;
fig. 8 is a vehicle speed comparison chart.
Detailed Description
In order to enable those skilled in the art to better understand the present application, the following description will make clear and complete descriptions of the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application.
The running working conditions of the electromechanical composite transmission tracked vehicle are complex and changeable, and the power of the driving motor required by the driving wheel is greatly different under different vehicle speeds and turning radiuses, and the power of the driving motor is severely changed. The rear power train electrical load of the vehicle electrical system also therefore fluctuates with a higher frequency, a higher amplitude and with no apparent regularity. Therefore, the complex running working conditions of the dual-motor coupling driving heavy tracked vehicle are divided into a straight running working condition, an accelerating working condition, a steering working condition, a braking working condition and the like, and limit working conditions such as rapid acceleration, high-speed steering and the like are covered.
As shown in FIG. 1, a flow chart of a method for analyzing the electrical load characteristics of a dual-motor coupling drive tracked vehicle is provided.
In a first aspect, the electrical load characteristics of a tracked vehicle during straight-drive conditions are analyzed as follows:
according to the current actual load power P Lk Load power is estimated by increasing accelerator pedal opening delta SaThe calculation formula is as follows:
where 0 is the initial time, k is each time later,for the estimated value of load power at the initial moment, f is the set rolling resistance coefficient of the road surface of the vehicle, G is the mass of the whole vehicle, eta is the transmission efficiency from the crawler belt to the motor, and r z For the radius of the driving wheel of the vehicle, sa 0 For accelerator pedal initial value, n max I is the highest rotation speed of the motor c For side gear ratio, i b For EMT variator ratio, i j For motor reduction gear ratio, P gmax For maximum output power of the generator, < >>For the estimated load power at time k, P Lk For the actual load power at time k, ΔP Lk Delta Sa is the accelerator pedal opening increment and T is the load power increment at time k max Maximum output torque of single-side motor, V k The vehicle speed at time k.
In a second aspect, the electric load characteristics of a tracked vehicle during steering conditions are analyzed as follows:
the traditional calculation method of the power consumption of the translational motion of the tracked vehicle comprises the following steps:
the traditional calculation method of the power consumption of the rotary motion of the tracked vehicle comprises the following steps:
wherein L is the track grounding length, ρ is the relative steering radius, V is the vehicle running speed, μ is the steering resistance coefficient, and B is the track center distance;
based on the above, the estimation method of the translational motion power consumption of the tracked vehicle provided by the invention comprises the following steps:
wherein, among them,estimated value of power consumption for translational motion of tracked vehicle at moment k, P pyk Actual value of power consumption for translational movement of tracked vehicle at time k, Δp pyk For translational movement of tracked vehicle at moment kIncrement of consumed power, deltaV k The vehicle speed increment at the moment k;
the invention provides a method for estimating rotational movement power consumption of a tracked vehicle, which comprises the following steps:
wherein,estimated value of power consumption for rotational movement of tracked vehicle at moment k, P xzk Actual value of power consumption for rotational movement of tracked vehicle at time k, mu k As the steering resistance coefficient at time k, ρ k The relative steering radius at the moment k is L, the track grounding length is L, the track center distance is B, and the delta rho is the relative steering radius increment; k (k) o For the parameters of the planetary rows of the power coupling mechanism, n 2k For the rotation speed of the motor at the high speed side, n 1k Is the motor speed at the low speed side.
The mapping relationship between the relative steering radius and the steering wheel angle is as follows:
wherein k is ib A steering radius adjustment coefficient related to the gear; s is S s Normalized for the steering wheel angle signal. Thus, the relative turning radius increment of the present invention can be obtained as:
in the formula DeltaS s Indicating the steering wheel angle change value.
In general steering, the load power is estimated as follows:
it should be noted that, the key point of the load calculation during steering is the determination of the steering resistance coefficient, and in the traditional steering dynamics study, the traditional steering resistance coefficient calculation mostly adopts the Nickel model:
wherein: mu (mu) w Mu, the coefficient of steering resistance max The maximum steering resistance coefficient when the tracked vehicle is braked and steered by R=B/2, wherein R is the actual steering radius, and a is a coefficient obtained by fitting test data; ρ is the relative steering radius, ρ=r/B, μ when braking steering, i.e., ρ=1/2 w ＝μ max 。
When the track ground pressure is assumed to be uniformly distributed, the conventional method calculates the steering resistance moment M μ The expression is:
wherein: mu (mu) w Is the steering resistance coefficient; g is the mass of the whole vehicle; l is the ground length of the crawler belt.
The ground friction coefficient μ, the soil shear modulus K, the vehicle running speed V, and the relative steering radiusIs a key influencing parameter of the steering resistance coefficient. However, among the four sets of parameters, the intuitiveness of V and ρ is stronger, and the method is particularly used for driving system control analysis of a driver and a tracked vehicle, so that the two parameters are used as principal elements of a fitting model, and the other parameters are used as calibration coefficients of the principal elements to be characterized.
In steering resistanceSome are the sum of the steering resistance of the two-sided tracks, i.e. the steering resistance when the steering centrifugal force is not taken into account. When the influence of steering centrifugal force is not considered, it is considered that the steering resistance moment and the resistance coefficient are related only to the steering radius. The other part is related not only to the steering radius at the time of steering but also to the vehicle speed at the time of steering, i.e., reflects the influence of the centrifugal force at the time of steering, and is denoted as V 2 Function of/R.
Thus, when considering the steering centrifugal force influence, the total steering resistance coefficient can be expressed as:
the first term on the right of the above formula can still be represented by the classical Niyl expression, while the second term on the right can represent K e (V2/gR) thus, based on the above formula, the steering resistance coefficient μ of the present invention can be obtained k Is represented by the expression:
wherein mu max For the maximum steering resistance coefficient of the tracked vehicle when the tracked vehicle uses R=B/2 as the radius for braking steering, R is the actual steering radius, a, B and K e The g is the gravitational acceleration, which is a set coefficient obtained by fitting.
In a third aspect, the electric load characteristics of a tracked vehicle during braking conditions are as follows:
when the tracked vehicle is coasting braking:
wherein n is k T is the rotation speed of the motor at the moment k max (n k ) At a rotation speed of n k Maximum braking torque which can be output by the lower motor, P mmax Maximum power of the single-side motor;
when the tracked vehicle is electrically braked:
wherein,0＜S b ＜S belec ，S bk is the normalized value of the brake pedal signal at the moment k, S belec Is the brake pedal signal maximum.
Therefore, as shown in fig. 2, the complex driving working conditions of the dual-motor coupling driving heavy tracked vehicle are divided into three categories, namely a straight driving working condition, a steering working condition and a braking working condition, and then the unique factors of each driving working condition such as an accelerator pedal opening, a brake pedal opening, a steering wheel angle and the like are considered, so that the electric power required by the dual-motor coupling driving heavy tracked vehicle for completing translational movement and rotational movement is estimated by combining the whole vehicle parameters, an electric load characteristic estimation model of the dual-motor coupling driving heavy tracked vehicle is built, and finally the precision of the electric load characteristic estimation model is verified through real lane test data.
And respectively carrying out a dual-motor coupling driving heavy tracked vehicle running test under a straight running condition, a steering condition and a braking condition, and verifying the electric load algorithm by using the data result of the real vehicle road test. And (3) carrying out a vehicle steering test on the cement annular runway, and carrying out simulation calculation by taking the measured rotation speed of the driving motor as an input condition. The test values and simulation values of the motor rotation speeds at two sides, the motor output torque, the motor output power, the driving wheel rotation speeds at two sides, the driving wheel torque at two sides and the longitudinal speed of the mass center of the vehicle are respectively shown in the figures 3-8 under the steering condition of the cement pavement. As can be seen from the graph, the calculation result and the test result have good consistency in both the kinematic characteristic and the dynamic characteristic.
The invention verifies the electric load characteristic analysis method of the double-motor coupling driving tracked vehicle under different working conditions by utilizing the data result of the real vehicle road test. Aiming at the development of a double-motor coupling driving tracked vehicle and the complex running working condition of the tracked vehicle, the invention uses the power load power as the target output power of an electric power source (namely an engine-generator and a power battery) through the accurate prediction of the power load power, improves the power output response of the engine-generator, and solves the problem of the quick and reliable power consumption requirement of the vehicle running power and the vehicle-mounted high-power utilization device by reasonably distributing the output power of the engine-generator and the power battery, thereby realizing high-quality power supply, inhibiting the pollution of a power grid and improving the power supply stability.
Of course, the present invention is capable of other various embodiments and its several details are capable of modification and variation in light of the present invention by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (5)
1. The method for analyzing the electrical load characteristics of the double-motor coupling driving tracked vehicle is characterized in that the electrical load characteristics of the tracked vehicle under the straight driving working condition are as follows:
wherein,for the estimated value of load power at the initial moment, f is the set rolling resistance coefficient of the road surface of the vehicle, G is the mass of the whole vehicle, eta is the transmission efficiency from the crawler belt to the motor, and r z For the radius of the driving wheel of the vehicle, sa 0 For accelerator pedal initial value, n max I is the highest rotation speed of the motor c For side gear ratio, i b For EMT variator ratio, i j For motor reduction gear ratio, P gmax For maximum output power of the generator, < >>For the estimated load power at time k, P Lk The actual load power at time k is the accelerator pedal opening increment, T max Maximum output torque of single-side motor, V k The vehicle speed at time k;
the electric load characteristics of the tracked vehicle under steering conditions are as follows:
wherein,estimated value of power consumption for translational motion of tracked vehicle at moment k, P pyk Actual value of power consumption for the translational movement of the tracked vehicle at time k, deltaV k For the vehicle speed increment at time k>Estimated value of power consumption for rotational movement of tracked vehicle at moment k, P xzk Actual value of power consumption for rotational movement of tracked vehicle at time k, mu k As the steering resistance coefficient at time k, ρ k For the relative steering radius at time k, L is the track ground length, B is the track center distance, Δρ is the relative steering radius increment, P py Consuming power for translational movement of tracked vehicle, P xz Consuming power for rotational movement of the tracked vehicle;
the electric load characteristics of the tracked vehicle under braking conditions are as follows:
when the tracked vehicle is coasting braking:
wherein n is k T is the rotation speed of the motor at the moment k max (n k ) At a rotation speed of n k Maximum braking torque which can be output by the lower motor, P mmax Maximum power of the single-side motor;
when the tracked vehicle is electrically braked:
wherein S is bk The normalized value of the brake pedal signal at time k.
2. A method for analyzing the electrical load characteristics of a dual-motor coupled drive tracked vehicle as defined in claim 1, wherein the vehicle speed delta V at time k k The calculation method of (1) is as follows:
3. the method for analyzing the electrical load characteristics of the dual-motor coupling driving tracked vehicle according to claim 1, wherein the method for calculating the relative steering radius increment Δρ is as follows:
wherein k is ib For the steering radius adjustment coefficient related to gear, S s Normalized value for steering wheel angle signal ΔS s Is the steering wheel angle change value.
4. A method for analyzing the electrical load characteristics of a dual-motor coupled drive tracked vehicle according to claim 1, wherein the relative steering radius ρ at time k is k The calculation method of (1) is as follows:
wherein k is o For the parameters of the planetary rows of the power coupling mechanism, n 2k For the rotation speed of the motor at the high speed side, n 1k Is the motor speed at the low speed side.
5. A method for analyzing the electrical load characteristics of a dual-motor coupled drive tracked vehicle as defined in claim 1, wherein the steering resistance coefficient μ at time k is the coefficient of resistance μ k The calculation method of (1) is as follows:
wherein mu max For the maximum steering resistance coefficient of the tracked vehicle when the tracked vehicle uses R=B/2 as the radius for braking steering, R is the actual steering radius, a, B and K e The g is the gravitational acceleration, which is a set coefficient obtained by fitting.
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