CN114706326A - Real-time simulation method and system for energy management of whole vehicle - Google Patents
Real-time simulation method and system for energy management of whole vehicle Download PDFInfo
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- CN114706326A CN114706326A CN202210637514.2A CN202210637514A CN114706326A CN 114706326 A CN114706326 A CN 114706326A CN 202210637514 A CN202210637514 A CN 202210637514A CN 114706326 A CN114706326 A CN 114706326A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
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- Y02T90/40—Application of hydrogen technology to transportation, e.g. using fuel cells
Abstract
The embodiment of the invention discloses a real-time simulation method and a real-time simulation system for energy management of a whole vehicle. The method comprises the following steps: after the driver system module, the driving system module and the working condition system module complete the simulation of each time step according to the whole vehicle energy management strategy, the delay module obtains the real time of the simulation completion; if the real time is less than the end time of the current step length, the delay module controls the driver system module, the driving system module and the working condition system module to suspend simulation; and after waiting for the new real time to be equal to the ending time, the delay module controls the driver system module, the driving system module and the working condition system module to perform next-step simulation according to the new driving simulator parameter, and returns to the operation of acquiring the real time after the simulation is ended until the simulation of all the step lengths is completed. The embodiment realizes real-time simulation of the energy consumption of the whole vehicle under a specific road scene.
Description
Technical Field
The invention relates to the field of automobile simulation, in particular to a real-time simulation method and a real-time simulation system for energy management of a whole automobile.
Background
The whole vehicle energy management strategy is an important component for new energy vehicle performance development. The whole vehicle energy management strategy comprises the distribution and coordination of power or torque of multiple power sources, and improves the energy-saving and emission-reducing performance of the vehicle on the basis of ensuring the dynamic property, safety and comfort of the vehicle.
In the prior art, the energy consumption performance of a vehicle needs to be analyzed by trial-manufacture of the vehicle running on an actual road, and the adjustment of the energy management strategy of the whole vehicle is performed after a problem is found, so that the project period is influenced and a large change cost is generated.
Disclosure of Invention
The embodiment of the invention provides a real-time simulation method and a real-time simulation system for energy management of a whole vehicle, which realize real-time simulation of energy consumption of the whole vehicle under a specific road scene.
In a first aspect, an embodiment of the present invention provides a real-time simulation method for energy management of a finished vehicle, which is applied to a model of a finished vehicle system, where the model is written in a Modelica language, and includes: the system comprises a delay module, a driver system module, a driving system module and a working condition system module;
the method comprises the following steps:
after the driver system module, the driving system module and the working condition system module complete the simulation of each time step according to the whole vehicle energy management strategy, the delay module obtains the real time of the simulation completion;
if the real time is less than the end time of the current step length, the delay module controls the driver system module, the driving system module and the working condition system module to suspend simulation; after waiting for the new real time to be equal to the end time, the delay module controls the working condition system module to output the whole vehicle motion parameters so as to update the road working condition and the whole vehicle state of the whole vehicle running, controls the driver system module to acquire new driving simulator parameters under the new road working condition and the whole vehicle state, controls the driver system module, the driving system module and the working condition system module to perform next-step simulation according to the new driving simulator parameters, and returns to the real time acquisition operation of the simulation end until the simulation of all the step lengths is completed;
wherein the new driving simulator parameters are generated by a driver operating the driving simulator under the new road condition and the full vehicle state.
In a second aspect, an embodiment of the present invention provides a vehicle energy management real-time simulation system, including: a model, a driving simulator and a working condition simulator of the whole vehicle system; the model is written by adopting Modelica language and comprises the following steps: the system comprises a delay module, a driver system module, a driving system module and a working condition system module;
the working condition simulator is used for simulating the road working condition and the whole vehicle state, displaying the road working condition and the whole vehicle state to a driver, and updating the road working condition and the whole vehicle state according to the motion parameters output by the working condition system module;
the driving simulator is used for generating driving simulator parameters according to the driving operation of a driver under the road working condition and the whole vehicle state and transmitting the driving simulator parameters to the driver system module;
after the driver system module, the driving system module and the working condition system module complete the simulation of each time step according to the whole vehicle energy management strategy, the delay module is used for acquiring the real time of the simulation completion; if the real time is less than the end time of the current step length, the delay module controls the driver system module, the driving system module and the working condition system module to suspend simulation; waiting for the new real time to be equal to the end time, controlling the working condition system module to output the whole vehicle motion parameters so as to update the road working condition and the whole vehicle state of the whole vehicle running by the delay module, controlling the driver system module to acquire the new driving simulator parameters under the new road working condition and the whole vehicle state, controlling the driver system module, the driving system module and the working condition system module to perform next long simulation according to the new driving simulator parameters, and returning to the operation of acquiring the real time of the simulation end until the simulation of all the step lengths is completed.
The embodiment of the invention realizes the whole vehicle energy consumption simulation of a specific road scene, so that the energy consumption expression close to an actual road can be obtained in the early stage of whole vehicle research and development, and a basis is provided for power matching and strategy design of whole vehicle energy management. The model of the whole vehicle system can reflect the instantaneous reaction of the hydrogen system, the air system and the cold area system of the fuel cell, and provides a basis for analyzing various energy consumption data in real time. In particular, in this embodiment, a clock module of the modem is used to obtain the real time at any time, the delay module stops and triggers the simulation calculation of the solver, so that the simulation is suspended after the calculation of each step is finished, and the next step of long simulation is started after the real time is consistent with the end time of the step, thereby controlling the simulation progress of the system, ensuring that the output and input of the simulation data are synchronous with the real time, and realizing the real-time simulation of energy management.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a structural diagram of a model of a vehicle system according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a complete vehicle energy management real-time simulation system provided in an embodiment of the present invention.
Fig. 3 is a flowchart of a real-time simulation method for energy management of a whole vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The embodiment of the invention provides a real-time simulation method for energy management of a whole vehicle, which is applied to a model of a whole vehicle system. Fig. 1 is a structural diagram of a model of a vehicle system according to an embodiment of the present invention, and as shown in fig. 1, the model includes a delay module, a driver system module, a working condition system module, and a driving system module. The driver system module is used for receiving driving simulator parameters generated by a driver on a driving simulator and converting the driving simulator parameters into control signals for the driving system module. And the driving system module is used for providing power for the whole vehicle according to the control signal. And the working condition system module is used for converting the power into motion parameters of the whole vehicle and outputting the motion parameters to the outside so as to update the road working condition and the whole vehicle state of the whole vehicle.
The modules are written by Modelica language, and real-time simulation can be realized without a complex real-time management module or a server. For example, Matlab uses a simulink desktop real-time module for real-time management, and the MicroAutobox of dSPACE uses a special server for real-time management, which is not only high in cost, but also complex in calculation, and not beneficial to reducing the simulation step length, thereby limiting the simulation precision. The Modelica simulation software is provided with a clock module, and can extract the real time of any moment, and the embodiment controls the real-time simulation of the whole model according to the real time.
Further, the driver system module converts the driving simulator parameters into control signals for the driving system module through PI control and the like, and the control signals are constrained through a mechanism model in the conversion process. Specifically, the driving simulator parameters include: the steering wheel angle, the pedal opening and closing angle and the like represent the driving requirements of the driver, such as changing the driving direction, accelerating immediately, decelerating in a delayed way and the like. The driver system module converts the driving demand into a control signal for the driving system module according to the vehicle energy management strategy, so that the driving system module provides power to meet the demand.
Optionally, the drive system module is commonly powered by multiple power sources, including a fuel cell module and other power source modules, such as an engine module. Under the condition, when the driver system module converts the driving demand into a control signal, firstly, the driving demand is decomposed into an electric moment demand for the fuel cell module and a power demand for other power source modules according to a finished vehicle energy management strategy, then, a control signal of the fuel cell module is formed according to the electric moment demand, and a control signal of the other power source modules is formed according to the power demand for the other power source modules. The whole vehicle energy management strategy can be input by a user in advance and is adjusted according to a simulation result in the simulation process; the control signal is used for controlling whether each power source works, when the power sources start to work, when the power sources stop working and the like, and the whole vehicle energy management strategy is embodied in the driving system module.
And the working condition system module converts the power provided by the driving system module into the motion parameters of the whole vehicle, and the motion parameters are constrained by a dynamic model of the whole vehicle. Wherein the motion parameters comprise vehicle speed, acceleration, driving direction and the like.
The delay module is used for controlling the simulation time of the whole model to be synchronous with the real time. Specifically, the driver system module, the driving system module and the working condition system module suspend simulation after completing simulation of each time step, and a control instruction of the delay module triggers next-step simulation.
Still further, the fuel cell module includes: the system comprises a stack module, a hydrogen system module, an air system module and a cooling system module. The hydrogen system module, the air system module and the cooling system module act together on the stack module to enable the stack module to provide an electric moment under the control signal of the fuel cell module. Specifically, the stack module is used for simulating a stack body of a fuel cell, and adopts an electrochemical mechanism to realize the stack module of the fuel cell; the cooling system module, the hydrogen system module and the air system module comprise BOP (auxiliary) components around the galvanic pile to ensure the normal reaction of the galvanic pile module.
Wherein the hydrogen system module provides a mass flow of hydrogen to the anode of the stack module. The hydrogen system module comprises BOP components such as a hydrogen circulating pump, a hydrogen tank and a pressure reducing valve, and is matched with the pile module to analyze the mass flow rate of hydrogen, the consumption amount of hydrogen and the pressure of each node in the hydrogen system in real time.
The air system module provides a mass flow of air to the cathode of the stack module. The air system module comprises BOP components such as an air compressor, an intercooler (air part), a back pressure valve and an air source, the air system module is matched with the pile module to analyze the air mass flow and the oxygen consumption in the air system in real time and the pressure of a hydrogen inlet and an oxygen outlet of the pile, and the control strategy of the air system is adjusted by adjusting the rotating speed of the air compressor and the opening of the back pressure valve.
The electric pile module simulates chemical reaction between hydrogen and oxygen in air, and converts the generated chemical energy into electric moment to be output. Because chemical reaction can produce heat, cooling system cools off the galvanic pile module, guarantees that the galvanic pile module works under the uniform temperature. The cooling system comprises a radiator, a water pump, an expansion tank, a pipeline and other BOP components, and is matched with the pile module to analyze the heat dissipation capacity of the radiator in real time, and the flow and the temperature of cooling liquid.
In order to describe the whole vehicle energy management real-time simulation method provided by the embodiment, a whole vehicle energy management real-time simulation system applying the method is described in priority. Fig. 2 is a schematic structural diagram of a complete vehicle energy management real-time simulation system provided in an embodiment of the present invention, including a model, a driving simulator, and a working condition simulator of the complete vehicle system shown in fig. 1. The model of the whole vehicle system is deployed in the simulation host, and the simulation calculation of the model is realized by the simulation host.
The working principle of the whole vehicle energy management real-time simulation system is as follows: the working condition simulation system simulates the road working condition and the whole vehicle state of the whole vehicle and displays the road working condition and the whole vehicle state to a driver in real time. The driver operates the driving simulator according to the road working condition and the whole vehicle state which are currently seen, and the driving simulator outputs the parameters of the driving simulator to a model of a whole vehicle system. And the model of the whole vehicle system performs whole vehicle simulation according to the parameters of the driving simulator and outputs the motion parameters of the whole vehicle to the working condition simulator. And the working condition simulator updates the road working condition and the whole vehicle state according to the motion parameters and displays the road working condition and the whole vehicle state to a driver in real time. And (3) operating the driving simulator by a driver according to the new road working condition and the whole vehicle state to generate new driving simulator parameters, and circulating the steps to form a closed-loop system.
It should be noted that the driving simulator, the working condition simulator and the simulation host machine can be different devices or integrated into a whole; the connection can be realized in a wired mode (such as USB connection and connection through an Ethernet UDP protocol) or in a wireless mode; the present embodiment is not particularly limited.
It can be seen that, because the real-time simulation system for vehicle energy management includes hardware and driver's operations, the simulation of the model of the vehicle system needs to be synchronized with the real time to ensure that the driver's driving feeling is consistent with the driving feeling in the real vehicle, for example, the driver's driving speed is consistent with the real driving speed. In order to realize synchronization with real time, the embodiment of the invention provides a real-time simulation method for energy management of a whole vehicle. As shown in fig. 3, the method specifically includes the following steps:
and S110, after the driver system module, the driving system module and the working condition system module complete the simulation of each time step according to the whole vehicle energy management strategy, the delay module acquires the real time of the simulation completion.
In a Modelica simulation environment, simulation calculation of the driver system module, the working condition system module and the driving system module within a time step is completed by a Modelica solver in a unified mode. Optionally, after the Modelica solver completes the simulation calculation of the driver system module, the driving system module and the working condition system module within a time step, the Modelica solver notifies the delay module; and the delay module acquires the real time of the simulation completion from the Modelica self-contained clock module.
And S120, if the real time is less than the end time of the current step length, the delay module controls the driver system module, the driving system module and the working condition system module to suspend simulation.
And after the simulation calculation of the step length is finished by the model, taking the calculation result as real-time data of the end time of the step length. For example, if the step size of the simulation is set to 1s, the number of simulation iterations is 60, and the time for starting the simulation is 12:00, the end time corresponding to each step is 12:01, 12:02, 12:03 … 12: 12 in turn, and the calculation result of each step is taken as real-time data of 12:01, 12:02, 12:03 … 12:10 in turn.
However, in general, the time for the model to perform simulation calculation is very fast, and the real time for the simulation end is often less than the end time of each step. For example, after 12:00 starts the simulation, 12:00:20 completes the calculation of the first step size, and the result will be the real-time data of 12: 01. In order to output the data at 12:01, the present embodiment controls the solver to stop the simulation calculation through the delay module, and enters a waiting state.
S130, after waiting for the new real time to be equal to the end time, the delay module controls the working condition system module to output the whole vehicle motion parameters so as to update the road working condition and the whole vehicle state of the whole vehicle running, controls the driver system module to acquire the new driving simulator parameters under the new road working condition and the whole vehicle state, controls the driver system module, the driving system module and the working condition system module to perform next-step long simulation according to the new driving simulator parameters, and returns to the operation of acquiring the real time after the simulation is finished until the simulation of all the step lengths is finished.
After waiting for a period of time, when the new real time is equal to the end time of the current step length, the delay module sends a third control instruction to the working condition system module, and the working condition system module is controlled to output the motion parameters obtained by calculation of the solver as the motion parameters of the end time of the current step length to the working condition simulator so as to update the road working condition and the state of the whole vehicle when the whole vehicle runs.
And after the driver operates the driving simulator under the new road working condition and generates the parameters of the new driving simulator, the delay module sends a first control instruction to the driver system module to control the driver system module to acquire the parameters of the new driving simulator to be used as the input of the next long simulation. Optionally, the time-consuming control module updates and displays the road condition and the vehicle state according to the condition simulatort 1Time-consuming response of driver to new road conditions and vehicle conditionst 2And time-consuming response of the driving simulator to the driver's operationt 3And controlling the driver system module to acquire the new driving simulator parameters. Specifically, the time for controlling the output motion parameter of the working condition system module is assumed to beT 1Then the time for controlling the driver system module to acquire the new driving simulator parameter isT 2=T 1+t 1+t 2+t 3To arrive atT 2And after the time point, acquiring the parameters of the driving simulator, wherein the parameters of the driving simulator at the moment are new parameters of the driving simulator.t 1、t 2Andt 3the value of (A) can be obtained by testing in a big data mode, and can be tested separately or the total time length of the three can be tested.
After the driver system model obtains the new driving simulator parameters, the delay module sends a second control instruction to the solver, and the solver is controlled to simulate the next step of the driver system module, the working condition system module and the driving system module according to the new driving simulator parameters. And after the next long simulation is finished, returning to S110 until the preset step length iteration times are reached, and finishing the simulation.
The embodiment realizes the whole vehicle energy consumption simulation of a specific road scene, so that the energy consumption expression close to the actual road can be obtained in the early stage of whole vehicle research and development, and a basis is provided for power matching and strategy design of whole vehicle energy management. The model of the whole vehicle system can reflect the instantaneous reaction of the hydrogen system, the air system and the cold area system of the fuel cell, and provides a basis for analyzing various energy consumption data in real time. In particular, in this embodiment, a clock module of the modem is used to obtain the real time at any time, the delay module stops and triggers the simulation calculation of the solver, so that the simulation is suspended after the calculation of each step is finished, and the next step of long simulation is started after the real time is consistent with the end time of the step, thereby controlling the simulation progress of the system, ensuring that the output and input of the simulation data are synchronous with the real time, and realizing the real-time simulation of energy management.
On the basis of the above-described embodiment and the following embodiments, the present embodiment respectively illustrates a case where the real time of the simulation end is greater than or equal to the end time of the current step size.
In the first situation, the real time of the simulation end is equal to the end time of the current step length, waiting is not needed, and the delay module directly controls the working condition system module to output the whole vehicle motion parameters so as to update the road working condition and the whole vehicle state of the whole vehicle running, control the driver system module to acquire the new driving simulator parameters under the new road working condition and the whole vehicle state, control the driver system module, the driving system module and the working condition system module to perform next long simulation according to the new driving simulator parameters, and return to the operation of acquiring the real time of the simulation end until the simulation of all the step lengths is completed.
And secondly, if the real time is greater than the end time of the current step length, the delay module increases the step length interval according to the time difference between the real time and the end time, controls the working condition system module to output the whole vehicle motion parameters so as to update the road working condition and the whole vehicle state of the whole vehicle running, controls the driver system module to acquire new driving simulator parameters under the new road working condition and the whole vehicle state, controls the driver system module, the driving system module and the working condition system module to perform next-step-length simulation according to the new driving simulator parameters and the new step length interval, and returns to the operation of acquiring the real time after the simulation is finished until the simulation of all the step lengths is finished. The step interval refers to the interval between the start time and the end time of each time step.
Specifically, if the real time of the simulation end is found to be greater than the end time of the current step in one step, it is indicated that the calculation time of the simulation model in the current step is greater than the set step interval. Meanwhile, because the computation time consumption of the simulation model in each step is basically consistent, the computation timeout in each step is very likely to occur, and the needed data cannot be output at the end time of each step. In view of this, the step interval is increased according to the time difference, so that the new step interval is larger than the calculation time of the simulation model, and the data required by the expected simulation time is ensured to be output in time.
Optionally, the delay module adds the current step interval and 2 times of the time difference between the real time and the end time to obtain a new step interval. For example, the simulation starts at 12:00, the current step interval is 1s, and the end time of the first step is 12: 01. But the simulation calculation for the first step takes 1.5s, then the real time for the simulation to end is 12:01: 30. At the moment, the delay module firstly modifies the step interval to 1s +2 x 0.5s =2s, then the control model outputs the motion parameters, the control model obtains the parameters of the driving simulator, and the time consumption of 1.5s is 12:03 to obtain the simulation result of the second step. At this time, the end time of the second step = the end time of the first step + the new step interval =12:01+2s =12:03, so that only the result of the first step fails to be synchronized with the real time in the output result, the synchronization of the simulation result and the real time is restored in the second step, and the hold can be continued in the subsequent step. Within a simulation period, the asynchrony of the individual time points is negligible.
It should be noted that in the above embodiments, it is omittedt 1、t 2Andt 3the value of (c). If the real-time performance of the working condition simulator and the driving simulator has influence on the real-time simulation, consideration should be given tot 1、t 2Andt 3the value of (c). Optionally, D2= D1+2
+t 1+t 2+t 3Where D2 denotes the new step interval, D1 denotes the current step interval,
representing a time difference between the real time and the end time.
The above-described manner achieves synchronization with real time by increasing the step interval. However, too large a step interval affects the simulation accuracy, so the maximum range of the step interval can be limited by setting a threshold. Specifically, if the real time is greater than the end time of the current step length, the delay module increases the step length interval according to the time difference between the real time and the end time, including the following two situations:
in case one, if the real time is greater than the end time of the current step length and the time difference between the real time and the end time is less than a set threshold, the delay module increases the step length interval according to the time difference.
When the time difference is smaller than the set threshold, the calculation speed of the model is still within the acceptable range, and the increased step interval can still meet the requirement of simulation precision. At this time, the step interval is increased according to the time difference, and the simulation is continued according to the increased step interval.
And in the second situation, if the real time is greater than the end time of the current step length and the time difference between the real time and the expected simulation time is greater than or equal to the set threshold, giving out overtime early warning and suspending the simulation.
When the time difference is larger than or equal to the set threshold, the calculation speed of the model is considered to be too low, the requirements of simulation precision and simulation instantaneity cannot be met, an overtime early warning is sent out, and subsequent simulation is suspended, so that a user is reminded to optimize the simulation model, and the calculation speed is increased. The set threshold may be set according to the actual simulation precision, and this embodiment is not particularly limited.
In the embodiment, the output delay caused by the fact that the simulation calculation time is longer than the step interval is considered, the diffusion of the delay in the subsequent step is avoided by increasing the step, and the synchronization of the simulation result and the real time is maintained while the simulation precision is ensured.
On the basis of the above and the following embodiments, optionally, the input parameter of the cooling system module comprises an ambient temperature; the method further comprises the following steps: inputting ambient temperature in winter or summer into the cooling system module; and the fuel cell module adjusts the control strategy of the internal BOP component according to the simulation result at the ambient temperature.
In the prior art, the winter standard and the summer standard of the whole vehicle are still performed through a real vehicle test in a winter or summer environment. The model provided by the embodiment can be set at the test temperature of the winter standard or the summer standard due to the influence of the temperature on the running state of the fuel cell module, and the model analyzes the performance and the temperature performance of the fuel cell under the extreme working conditions through the random violent driving of a driver, so that the control strategy of the fuel cell system is adjusted according to different problems, and partial calibration work in the winter standard and the summer standard of the whole vehicle can be replaced. For example, under high temperature conditions, if the temperature of the stack module exceeds the service temperature limit, the temperature of the stack module can be reduced by increasing the rotation speed of the radiator fan or increasing the rotation speed of the water pump.
In addition, in the random driving process, the hydrogen system module reflects the hydrogen consumption state in real time and can adjust the rotating speed of the hydrogen circulating pump according to the state; the oxygen system module reflects the consumption state of oxygen in real time and can adjust the rotating speed of an air system compressor and the opening proportion of a back pressure valve according to the state.
The embodiment of the invention also provides a finished automobile real-time simulation system, which is shown in figure 2. The simulation system comprises: a model, a driving simulator and a working condition simulator of the whole vehicle system; the model is written by adopting a Modelica language and comprises the following steps: the system comprises a delay module, a driver system module, a driving system module and a working condition system module.
The working condition simulator is used for simulating road working conditions and the whole vehicle state, displaying the road working conditions and the whole vehicle state to a driver, and updating the road working conditions and the whole vehicle state according to the motion parameters output by the working condition system module. The road conditions include: the present embodiment is not limited to the following typical conditions, such as NEDC (New European Driving Cycle), CLTC (China light-duty vehicle test Cycle), city road conditions, such as summer standard, winter standard, off-road, plateau, and plain, and other random road conditions. Specifically, the working condition simulator constructs an actual road scene and a vehicle state through UE (User Experience).
And the driving simulator is used for generating driving simulator parameters according to the driving operation of a driver under the road working condition and the whole vehicle state and transmitting the driving simulator parameters to the driver system module.
The driver system module, the driving system module and the working condition system module complete the simulation of each time step according to the whole vehicle energy management strategy, and the delay module is used for acquiring the real time of the simulation completion; if the real time is less than the end time of the current step length, the delay module controls the driver system module, the driving system module and the working condition system module to suspend simulation; waiting for the new real time to be equal to the end time, controlling the working condition system module to output the whole vehicle motion parameters so as to update the road working condition and the whole vehicle state of the whole vehicle running by the delay module, controlling the driver system module to acquire the new driving simulator parameters under the new road working condition and the whole vehicle state, controlling the driver system module, the driving system module and the working condition system module to perform next long simulation according to the new driving simulator parameters, and returning to the operation of acquiring the real time of the simulation end until the simulation of all the step lengths is completed.
Through the real-time data communication of the three systems, the model simulates the instantaneous reaction of the driver system module, the driving system module and the working condition system module in real time, so that the energy consumption data of the whole vehicle, the operation data of the fuel cell, the energy flow of the whole vehicle and the like are obtained. And the energy control strategy of the whole vehicle can be further verified and adjusted according to the data.
The present embodiment can be implemented based on the model of the entire vehicle system provided in any one of the above embodiments, and has the technical effects of any one of the above embodiments.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention.
Claims (10)
1. The real-time simulation method for the energy management of the whole vehicle is characterized by being applied to a model of a whole vehicle system, wherein the model is compiled by adopting Modelica language and comprises the following steps: the system comprises a delay module, a driver system module, a driving system module and a working condition system module;
the method comprises the following steps:
after the driver system module, the driving system module and the working condition system module complete the simulation of each time step according to the whole vehicle energy management strategy, the delay module obtains the real time of the simulation completion;
if the real time is less than the end time of the current step length, the delay module controls the driver system module, the driving system module and the working condition system module to suspend simulation; after waiting for the new real time to be equal to the end time, the delay module controls the working condition system module to output the whole vehicle motion parameters so as to update the road working condition and the whole vehicle state of the whole vehicle running, controls the driver system module to acquire new driving simulator parameters under the new road working condition and the whole vehicle state, controls the driver system module, the driving system module and the working condition system module to perform next-step simulation according to the new driving simulator parameters, and returns to the operation of acquiring the real time after the simulation is finished until the simulation of all steps is finished;
wherein the new driving simulator parameters are generated by a driver operating the driving simulator under the new road condition and the full vehicle state.
2. The method of claim 1,
the driver system module is used for converting the driving simulator parameters into control signals for the driving system module;
the driving system module is used for providing power for the whole vehicle according to the control signal;
and the working condition system module is used for converting the power into the motion parameters.
3. The method of claim 2, wherein the drive system module includes a fuel cell module and an other power source module, the control signals including control signals to the fuel cell module and control signals to the other power source module;
the fuel cell module includes: the system comprises a pile module, a hydrogen system module, an air system module and a cooling system module; the hydrogen system module, the air system module and the cooling system module act together on the stack module to enable the stack module to provide an electric moment under the control signal of the fuel cell module.
4. The method of claim 1, wherein after the driver system module, the driving system module and the operating condition system module complete the simulation of each time step according to the vehicle energy management strategy, the delay module obtains the real time of the simulation completion, and the method comprises the following steps:
after the Modelica solver completes the simulation calculation of the driver system module, the driving system module and the working condition system module within a time step, the Modelica solver informs the delay module;
and the delay module acquires the real time of the simulation completion from the Modelica self-contained clock module.
5. The method of claim 1, wherein said controlling said driver system module to obtain new driving simulator parameters for new road conditions and full vehicle conditions comprises:
and controlling the driver system module to acquire the parameters of the new driving simulator according to the time consumed for updating the road working condition and the whole vehicle state and the time consumed for generating the parameters of the new driving simulator under the new road working condition and the whole vehicle state.
6. The method of claim 1, wherein after the delay module obtains the real time of the simulation ending, the method further comprises:
if the real time is larger than the end time of the current step length, the delay module increases the step length interval according to the time difference between the real time and the end time, controls the working condition system module to output the whole vehicle motion parameters to update the road working condition and the whole vehicle state of the whole vehicle running, controls the driver system module to acquire new driving simulator parameters under the new road working condition and the whole vehicle state, controls the driver system module, the driving system module and the working condition system module to perform next-step length simulation according to the new driving simulator parameters and the new step length interval, and returns to the operation of acquiring the real time after the simulation is finished until the simulation of all the step lengths is finished;
wherein the step interval refers to the interval between the start time and the end time of each time step.
7. The method of claim 6, wherein the delay module increases the step interval according to the time difference between the real time and the end time, and comprises:
and the delay module adds the current step interval and 2 times of the time difference between the real time and the end time to obtain a new step interval.
8. The method of claim 6, wherein if the real time is greater than the end time of the current step size, the delay module increases the step size interval according to the time difference between the real time and the end time, comprising:
and if the real time is greater than the end time of the current step length and the time difference between the real time and the end time is less than a set threshold, the delay module increases the step length interval according to the time difference.
9. The method of claim 3, wherein the input parameters of the cooling system module include ambient temperature;
the method further comprises the following steps:
inputting ambient temperature in winter or summer into the cooling system module;
and the fuel cell module adjusts the control strategy of the internal BOP component according to the simulation result of the environmental temperature.
10. The utility model provides a real-time simulation system of whole car energy management which characterized in that includes: a model, a driving simulator and a working condition simulator of the whole vehicle system; the model is written by adopting a Modelica language and comprises the following steps: the system comprises a delay module, a driver system module, a driving system module and a working condition system module;
the working condition simulator is used for simulating the road working condition and the whole vehicle state, displaying the road working condition and the whole vehicle state to a driver, and updating the road working condition and the whole vehicle state according to the motion parameters output by the working condition system module;
the driving simulator is used for generating driving simulator parameters according to the driving operation of a driver under the road working condition and the whole vehicle state and transmitting the driving simulator parameters to the driver system module;
the driver system module, the driving system module and the working condition system module complete the simulation of each time step according to the whole vehicle energy management strategy, and the delay module is used for acquiring the real time of the simulation completion; if the real time is less than the end time of the current step length, the delay module controls the driver system module, the driving system module and the working condition system module to suspend simulation; waiting for the new real time to be equal to the end time, controlling the working condition system module to output the whole vehicle motion parameters so as to update the road working condition and the whole vehicle state of the whole vehicle running by the delay module, controlling the driver system module to acquire the new driving simulator parameters under the new road working condition and the whole vehicle state, controlling the driver system module, the driving system module and the working condition system module to perform next long simulation according to the new driving simulator parameters, and returning to the operation of acquiring the real time of the simulation end until the simulation of all the step lengths is completed.
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