CN115214608A - Energy output control method and system for extended-range electric transmission mining truck - Google Patents
Energy output control method and system for extended-range electric transmission mining truck Download PDFInfo
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- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/10—Change speed gearings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
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Abstract
The invention provides an energy output control method and system for an extended-range electric transmission mining truck. The system aims at optimizing the energy consumption of the whole vehicle, and dynamically adjusts the switching of the driving system between an engine-generator set optimal efficiency mode and an engine optimal oil consumption mode by using an energy output control method on the premise of meeting the dynamic property according to the vehicle speed, acceleration information and a battery power storage value SOC which are acquired in real time, so that the energy consumption of the whole vehicle under the complex working condition is adjusted in real time. The energy output control strategy designed by the invention does not need complicated theoretical model calculation, and the strategy parameters only need to be adapted and adjusted according to the parameters of the driving battery and the parameters of the engine, so that the strategy transplantation and the engineering application are convenient, and the working condition adaptability and the real-time performance are good.
Description
Technical Field
The invention relates to an energy output control method and system for an extended-range electric transmission mining truck, and belongs to the field of new energy.
Background
The traditional mining truck has the defects of high energy consumption and large emission. At present, a pure electric mining truck can realize zero emission and efficient energy utilization, but the endurance of the whole truck is reduced due to sudden change of environmental temperature and load and the like of a loaded driving battery pack, and continuous and efficient operation of the whole truck cannot be guaranteed. Therefore, the extended-range electric drive mining truck fully exerts the advantages of zero emission of electric energy and continuous operation of a fuel power system, and becomes one of effective ways for solving the problem. In the process, whether a reasonable energy output control strategy can be adapted to the whole vehicle or not directly influences the fuel economy of the whole vehicle.
Currently, typical energy output control strategies that have been proposed for extended range electric vehicles fall into two main categories: the energy output control strategy based on the rules and the energy output control strategy based on the optimization have different energy consumption optimization effects. The rule-based energy output control strategy has clear control logic, high calculation speed and good real-time performance, but the optimization effect of energy consumption has strong dependence on expert experience. The optimization-based energy output control strategy mainly comprises an off-line optimal strategy and a real-time optimal strategy. Although the offline optimal strategy can realize the global energy optimization, the calculation amount is large, the global operation state information of the vehicle needs to be accurately obtained in advance, and the controller is difficult to be directly implanted into the controller for engineering application; in addition, although the proposed real-time optimization strategy can realize online energy output control, it still needs to perform iterative computation by means of a complicated optimization algorithm, which increases the difficulty in realizing the strategy.
Although the existing energy output control strategy can realize the optimal control of the energy of the whole vehicle, the strategy only controls around the optimal efficiency point or the optimal oil consumption point of an engine, and the energy optimal control of a driving assembly is not considered integrally according to the working condition.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides an energy output control method and system for an extended-range electric transmission mining truck, and realizes real-time adjustment of energy consumption of the whole truck under complex working conditions on the premise of meeting dynamic performance.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
in a first aspect, the present invention provides a method of controlling energy output for an extended range electric drive mining truck, the drive motor of the mining truck being driven by an engine and/or a drive battery; the control method is characterized by comprising the following steps:
acquiring system state parameters of a vehicle in real time; the system state parameters at least comprise a vehicle speed v, a vehicle acceleration a and a battery storage value SOC of the driving battery;
calculating the required power P of the driving motor of the mining truck according to the acquired vehicle speed v, the acquired vehicle acceleration a and pre-stored system parameters d ；
According to the calculated required power P d And calculating the output power P of the engine according to the battery power storage value SOC obtained in real time e And the output power P of the drive battery b ；
According to the calculated output power P of the engine e Controlling the output power of the engine according to the output power P of the drive battery b The output power of the drive battery is controlled.
Further, the pre-stored system parameters at least comprise the mass of the whole vehicle, the gravity acceleration, the rolling resistance coefficient, the road gradient, the air density, the wind resistance coefficient, the windward area and the rotating mass conversion coefficient;
calculating the required power P of the driving motor according to the acquired vehicle speed v and vehicle acceleration a and pre-stored system parameters d The method comprises the following steps:
calculating the required power P of the driving motor according to the following formula d ：
In the formula eta t For overall powertrain efficiency, driving force F t Expressed as:
F t ＝mgfcosα+mgsinα+0.5ρC d Av 2 +sma (2)
wherein m is the vehicle mass, g is the gravity acceleration, f is the rolling resistance coefficient, alpha is the road gradient, rho is the air density, C d Is the wind resistance coefficient, A is the windward area, and s is the conversion coefficient of the rotating mass
Further, according to the calculated required power P d And calculating the output power P of the engine according to the battery power storage value SOC obtained in real time e And driving the battery output power P b The method comprises the following steps:
according to the calculated required power P of the driving motor d Determining different working modes according to the current battery storage value SOC value, and determining the output power P of the engine according to the working modes e And driving the battery output power P b ；
Further, the required power P of the driving motor is obtained according to the calculation d Determining different working modes with the current acquired battery storage value SOC, including:
a. when the battery storage value SOC is at the lower limit value SOC min And upper limit value SOC max In the meantime:
(1) when the driving motor requires power P d Greater than the upper threshold value P of the engine power e_max When the fuel consumption is in the optimal mode, the engine and the driving battery are driven in a mixed mode;
(2) when the driving motor requires power P d Greater than 0 and less than or equal to the upper limit threshold value P of the engine power e_max And the battery storage value SOC is less than or equal to the lower limit hysteresis value SOC LLC_min When the vehicle enters the mode with the optimal engine independent driving efficiency and charges the driving battery;
(3) when the driving motor requires power P d Greater than 0 and less than or equal to the upper limit threshold value P of the engine power e_max Cell (a)The SOC of the stored electricity value is greater than the lower limit hysteresis value SOC LLC_min And the driving motor requires power P d Less than or equal to the upper limit threshold P of the power of the driving battery b_max When the battery is in the pure electric mode, the battery enters the pure electric mode;
(4) when the driving motor requires power P d Greater than 0 and less than or equal to the upper limit threshold value P of the engine power e_max The battery storage value SOC is greater than the lower limit hysteresis value SOC LLC_min And the driving motor requires power P d Is greater than the upper power threshold P of the driving battery b_max The fuel consumption is driven in an optimal mode by the engine and the driving battery in a mixed mode;
(5) when the driving motor requires power P d Less than or equal to 0 and the battery power storage value SOC is less than or equal to the upper limit hysteresis value SOC ULC_max At the moment, entering an energy recovery mode to charge the driving battery; otherwise, the energy is dissipated by mechanical braking or resistive grids.
b. When the battery storage value SOC is less than or equal to the lower limit value SOC min During the time, drive battery electric quantity is low excessively, for guaranteeing drive battery's life, drive battery does not participate in work this moment:
(1) when the driving motor requires power P d Less than or equal to upper limit threshold value P of engine power e_max When the vehicle enters the mode with the optimal engine independent driving efficiency and charges the driving battery;
(2) when the driving motor requires power P d Greater than the upper threshold value P of the engine power e_max And then, entering an engine independent driving mode.
Further, the engine output power P is determined according to the working mode e And driving the battery output power P b The method comprises the following steps:
acquiring an engine-generator set optimal power-efficiency mode characteristic curve and an engine optimal power-oil consumption mode characteristic curve;
(1) The fuel consumption optimal mode of hybrid driving of the engine and the driving battery is as follows:
(1) according to the characteristic curve of 'optimal power-fuel mode of engine', the power point P corresponding to the optimal oil consumption of engine is determined by looking up the table e_optfuel ；
(2) Determining the rotating speed n of the current engine according to the optimal power point of oil consumption e_optfuel ；
(3) The engine and drive battery power distribution can be expressed as: p is e ＝P e_optfuel ,P b ＝min(P d -P e_optfuel ·μ g ,P b_max )，n e ＝n e_optfuel ，μ g The generating efficiency of the generator;
(2) The engine individual driving efficiency optimal mode:
(1) ensuring to meet the power P required by the whole vehicle d On the premise of finding out the corresponding power point P when the efficiency of the engine-generator set is optimal according to the characteristic curve of the optimal power-efficiency mode of the engine-generator set e_opteff ；
(2) Determining the current engine speed n according to the efficiency optimum power point e_opteff ；
(3) The engine outputs power and charges the drive battery, when P e ＝P e_opteff ，n e ＝n e_opteff ；
(3) Pure electric mode:
when only the driving battery discharges, the output power of the driving battery can be expressed as: p b ＝P d ；
(4) Engine-only drive mode:
(1) determining maximum power P of engine output e_max ；
(2) Determining the current engine speed n according to the characteristic curve of the optimal power-efficiency mode of the engine-generator set e_powermax ；
(3) At this time, only the engine output power: p e ＝P e_max ，n e ＝n e_powermax 。
Further, acquiring an "optimal power-efficiency mode of an engine-generator set" characteristic curve and an "optimal power-fuel consumption mode of the engine" characteristic curve, including:
first according to the engine speed n e -torque T e Efficiency μ e Corresponding map data and generator speed n g -torque T g Efficiency μ g Determining the optimal power P of the engine-generator set according to the corresponding map data and the following expression e * Efficiency point μ * And (3) gathering:
wherein, T g ＝μ eg ·T e ,n g ＝n e ，μ eg Is the mechanical efficiency of the engine to the generator.
And fitting an 'engine-generator set optimal power-efficiency mode' characteristic curve according to the acquired engine-generator set optimal power-efficiency point set.
Secondly according to the engine speed n e -torque T e Specific fuel consumption
Corresponding map data, determining the optimum power P of the engine according to the following expression e + Fuel consumption Point
And (3) gathering:
and fitting an 'engine optimal power-oil consumption mode' characteristic curve according to the acquired engine optimal power-oil consumption rate point set.
Further, controlling the control output of the engine according to the calculated engine output power, and controlling the output of the drive battery according to the drive battery output power includes:
the control drive assembly controls the output torque of the drive motor according to the output power of the engine and the output power of the drive battery, and drives the traveling system to normally work after the speed change and torque increase of the gearbox.
In a second aspect, the invention provides an energy control system for an extended-range electric drive mining truck, which comprises a control layer and an execution layer; the execution layer comprises an engine and a driving battery;
the control layer comprises a vehicle-mounted data collector, a required power calculation module, an energy output controller, an engine controller and a BMS controller;
the vehicle-mounted data acquisition unit is used for acquiring system state parameters of the vehicle in real time; the system state parameters at least comprise a vehicle speed v, a vehicle acceleration a and a battery storage value SOC of the driving battery;
the required power calculation module is used for calculating the required power P of the driving motor of the mining truck according to the acquired vehicle speed v, the acquired vehicle acceleration a and pre-stored system parameters d ；
The energy output controller is used for calculating the required power P d And calculating the output power P of the engine according to the battery power storage value SOC obtained in real time e And the output power P of the drive battery b ；
The engine controller is used for calculating the output power P of the engine e Controlling the output power of the engine;
BMS controller for controlling the driving battery according to the output power P b The output power of the drive battery is controlled.
Further, the executive layer also comprises a generator, a rectifier, an inverter, a driving assembly and a gearbox;
the engine is directly connected with the generator;
the generator converts mechanical energy generated by the engine into electric energy, and the driving assembly works and charges a driving battery after rectification of the rectifier and inversion of the inverter;
the driving assembly comprises a driving motor controller and a driving motor, the driving motor controller is connected with the BMS controller, and the driving motor outputs driving torque according to command signals of the driving motor controller to control the transmission to operate.
Further, the executive layer also comprises a resistance grid and a switch for controlling the resistance grid;
when the driving motor requires power P d Less than or equal to 0 and the battery storage value SOC is greater than or equal to the upper limit hysteresis value SOC ULC_max And meanwhile, the switch is controlled to be opened through the energy output controller, and the electric energy is dissipated by using the resistance grid.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the output power of the engine and the output power of the driving battery are calculated in real time through the vehicle speed and acceleration information and the battery power storage value SOC which are acquired in real time, the energy optimization control of the driving assembly can be integrally considered according to the working condition, and the energy consumption real-time adjustment of the whole vehicle under the complex working condition is realized on the premise of meeting the dynamic property.
2. The invention provides a 'dual-mode' energy output control system and a method thereof to solve the problems in the prior art. Aiming at optimizing the energy consumption of the whole vehicle, the driving system is dynamically adjusted to switch between an engine-generator set optimal efficiency mode and an engine optimal oil consumption mode on the premise of meeting dynamic performance according to the vehicle speed, acceleration information and a battery power storage value SOC which are acquired in real time, so that the energy consumption of the whole vehicle under the complex working condition is adjusted in real time. The energy output control strategy designed by the invention does not need complicated theoretical model calculation, and the strategy parameters only need to be adapted and adjusted according to the parameters of the driving battery and the parameters of the engine, so that the strategy transplantation and the engineering application are convenient, and the working condition adaptability and the real-time performance are good.
3. The invention can not only control the engine to dynamically switch between the optimal oil consumption mode and the optimal efficiency mode in real time according to the state and the required power of the vehicle driving battery, but also can recover energy, does not need complicated theoretical model calculation, and has good working condition adaptability and real-time performance.
4. The strategy parameters of the invention only need to be adapted and adjusted according to the parameters of the driving battery and the parameters of the engine, thereby facilitating strategy transplantation and engineering application.
5. In order to reduce the influence of the overcharge and the overdischarge of the driving battery on the service life of the driving battery, the invention adds upper and lower limit hysteresis intervals of the driving battery in a control strategy, including a lower limit hysteresis interval (SOC) min ,SOC LLC_min ) And upper limit hysteresis band (SOC) ULC_max ,SOC max ) The buffer of discharging and charging of the driving battery is realized, and the driving battery is protected.
Drawings
FIG. 1 is a diagram of an energy output control strategy control system;
FIG. 2 is a system configuration diagram;
FIG. 3 is a diagram of an energy output control strategy control methodology;
fig. 4 is a hysteresis interval diagram of the battery charge storage value SOC.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The first embodiment is as follows:
the embodiment provides an energy output control method for an extended-range electric transmission mining truck, wherein a driving motor is arranged in the mining truck and supplies energy to the driving motor through an engine and a driving battery; the method comprises the following steps:
acquiring system state parameters of a vehicle in real time; the system state parameters comprise a vehicle speed v, a vehicle acceleration a and a battery storage value SOC of a mining truck driving battery;
calculating the required power P of the driving motor of the mining truck according to the acquired vehicle speed v, the acquired vehicle acceleration a and pre-stored system parameters d ；
According to the calculated required power P d And the battery power storage value SOC is obtained in real time, and the output power P of the engine is calculated e And driving the battery output power P b ；
And controlling the output power of the engine according to the calculated output power of the engine, and controlling the output power of the driving battery according to the output power of the driving battery.
Specifically, the pre-stored system parameters comprise the mass of the whole vehicle, the gravity acceleration, the rolling resistance coefficient, the road gradient, the air density, the wind resistance coefficient, the windward area and the conversion coefficient of the rotating mass; the pre-stored system parameters are typically obtained from vehicle nameplates and field trial data.
Calculating the required power P of the driving motor according to the acquired vehicle speed v and vehicle acceleration a and pre-stored system parameters d The method comprises the following steps:
calculating the required power P of the driving motor according to the following formula d ：
In the formula eta t For overall powertrain efficiency, driving force F t Expressed as:
F t ＝mgfcosα+mgsinα+0.5ρC d Av 2 +sma (2)
wherein m is the vehicle mass, g is the gravity acceleration, f is the rolling resistance coefficient, alpha is the road gradient, rho is the air density, C d Is the wind resistance coefficient, A is the windward area, and s is the conversion coefficient of the rotating mass
In particular, according to the calculated power demand P d And the battery power storage value SOC is obtained in real time, and the output power P of the engine is calculated e And driving the battery output power P b The method comprises the following steps:
according to the calculated required power P of the driving motor d Determining different working modes with the current battery storage value SOC value, and determining the output power P of the engine according to the working modes e And driving the battery output power P b ；
Based on the proposed energy control system for extended range electric drive mining trucks, the invention also proposes an energy output control method as shown in fig. 3. In order to reduce the influence of the overcharge and the overdischarge of the driving battery on the service life of the driving battery, the invention adds upper and lower limit hysteresis intervals of the driving battery in a control strategy, including a lower limit hysteresis interval (SOC) min ,SOC LLC_min ) And upper limit hysteresis band (SOC) ULC_max ,SOC max ) And the discharging and charging buffering of the driving battery is realized, and the driving battery is protected, as shown in fig. 4. The invention providesThe control method comprises the following specific steps:
specifically, the required power P of the driving motor is obtained according to the calculation d Determining different working modes with the current acquired battery storage value SOC, including:
a. when the battery storage value SOC is at the lower limit value SOC min And an upper limit value SOC max In the meantime:
(1) when the driving motor requires power P d Greater than the upper threshold value P of the engine power e_max When the fuel consumption is in the optimal mode, the engine and the driving battery are driven in a mixed mode;
(2) when the driving motor requires power P d Greater than 0 and less than or equal to the upper limit threshold value P of the engine power e_max And the battery storage value SOC is less than or equal to the lower limit hysteresis value SOC LLC_min When the vehicle enters the mode with the optimal engine independent driving efficiency and charges the driving battery;
(3) when the driving motor requires power P d Greater than 0 and less than or equal to the upper limit threshold value P of the engine power e_max The battery storage value SOC is greater than the lower limit hysteresis value SOC LLC_min And the driving motor requires power P d Less than or equal to the upper limit threshold P of the power of the driving battery b_max When the battery is in the pure electric mode, the battery enters the pure electric mode;
(4) when the driving motor requires power P d Greater than 0 and less than or equal to the upper limit threshold value P of the engine power e_max The battery storage value SOC is greater than the lower limit hysteresis value SOC LLC_min And the driving motor requires power P d Is greater than the upper power threshold P of the driving battery b_max The fuel consumption is driven in an optimal mode by the engine and the driving battery in a mixed mode;
(5) when the driving motor requires power P d Less than or equal to 0 and the battery power storage value SOC is less than or equal to the upper limit hysteresis value SOC ULC_max Entering an energy recovery mode to charge the driving battery; otherwise, energy is dissipated by mechanical braking or resistive grids.
b. When the battery storage value SOC is less than or equal to the lower limit value SOC min During, drive battery electric quantity is low excessively, for guaranteeing drive battery's life, drive battery does not participate in work this moment:
(1) when the driving motor requires power P d Less than or equal to upper limit threshold value P of engine power e_max When the vehicle enters the mode with the optimal engine independent driving efficiency and charges the driving battery;
(2) when the driving motor requires power P d Greater than the upper threshold value P of the engine power e_max And then, entering an engine independent driving mode.
Specifically, the engine output power P is determined according to the operation mode e And driving the battery output power P b The method comprises the following steps:
acquiring an 'engine-generator set optimal power-efficiency mode' characteristic curve and an 'engine optimal power-oil consumption mode' characteristic curve;
(1) The fuel consumption optimal mode of hybrid driving of the engine and the driving battery is as follows:
(1) according to the characteristic curve of 'optimum power of engine-fuel mode', looking up a table to determine the power point P corresponding to the optimum fuel consumption of engine e_optfuel ；
(2) Determining the rotating speed n of the current engine according to the optimal power point of oil consumption e_optfuel ；
(3) The engine and drive battery power allocation can be expressed as: p e ＝P e_optfuel ,P b ＝min(P d -P e_optfuel ·μ g ,P b_max )，n e ＝n e_optfuel ，μ g The generating efficiency of the generator;
(2) The engine individual driving efficiency optimal mode:
(1) ensuring to meet the power P required by the whole vehicle d On the premise of finding out the power point P corresponding to the optimal efficiency of the engine-generator set according to the characteristic curve of the optimal power-efficiency mode of the engine-generator set e_opteff ；
(2) Determining the current engine speed n according to the efficiency optimum power point e_opteff ；
(3) The engine outputs power and charges the drive battery, when P is e ＝P e_opteff ，n e ＝n e_opteff ；
(3) Pure electric mode:
when only the driving battery discharges, the output power of the driving battery can be expressed as: p is b ＝P d ；
(4) Engine-only drive mode:
(1) determining maximum power P of engine output e_max ；
(2) Determining the current engine speed n according to the characteristic curve of' the optimal power-efficiency mode of the engine-generator set e_powermax ；
(3) At this time, only the engine output power: p is e ＝P e_max ，n e ＝n e_powermax 。
Specifically, the obtaining of the "optimal power-efficiency mode of the engine-generator set" characteristic curve and the "optimal power-oil consumption mode of the engine" characteristic curve includes:
first according to the engine speed n e Torque T e Efficiency μ e Corresponding map data and generator speed n g -torque T g Efficiency μ g Corresponding map data, and determining the optimal power P of the engine-generator set according to the following expression e * Point of efficiency μ * And (3) gathering:
wherein, T g ＝μ eg ·T e ,n g ＝n e ，μ eg Is the mechanical efficiency of the engine to the generator.
And fitting an 'engine-generator set optimal power-efficiency mode' characteristic curve according to the acquired engine-generator set optimal power-efficiency point set.
Secondly according to the engine speed n e Torque T e Specific fuel consumption
Corresponding map data, determining the optimum power P of the engine according to the following expression e + Fuel consumption Point
And (3) gathering:
and fitting an 'engine optimal power-oil consumption mode' characteristic curve according to the acquired engine optimal power-oil consumption rate point set.
Specifically, the control of the engine output based on the calculated engine output power and the control of the drive battery output based on the drive battery output power include:
the control drive assembly accurately controls the output torque of the drive motor according to the output power of the engine and the output power of the drive battery, and drives the traveling system to normally work after the speed change and torque increase of the gearbox.
Aiming at optimizing the energy consumption of the whole vehicle, the driving system is dynamically adjusted to switch between an engine-generator set optimal efficiency mode and an engine optimal oil consumption mode on the premise of meeting dynamic performance according to the vehicle speed, acceleration information and a battery power storage value SOC which are acquired in real time, so that the energy consumption of the whole vehicle under the complex working condition is adjusted in real time.
In order to reduce the influence of the overcharge and the overdischarge of the driving battery on the service life of the driving battery, the invention adds upper and lower limit hysteresis intervals of the driving battery in a control strategy, including a lower limit hysteresis interval (SOC) min ,SOC LLC_min ) And upper limit hysteresis band (SOC) ULC_max ,SOC max ) The buffer of discharging and charging of the driving battery is realized, and the driving battery is protected.
The second embodiment:
an energy control system for an extended-range electric drive mining truck is shown in fig. 1 and comprises a control layer and an execution layer. The control layer mainly comprises a vehicle-mounted data collector, a required power calculation module, an energy output controller, an engine controller and a BMS controller. Wherein the vehicle-mounted data acquisition unit is used for acquiring in real timeTaking system state parameters of a vehicle; the system state parameters at least comprise vehicle speed v, vehicle acceleration a and a battery power storage value SOC of the driving battery; the required power calculation module is used for calculating the required power P of the driving motor of the mining truck according to the acquired vehicle speed v, the acquired vehicle acceleration a and pre-stored system parameters d (ii) a The energy output controller is used for calculating the required power P d And calculating the output power P of the engine according to the battery power storage value SOC obtained in real time e And the output power P of the drive battery b (ii) a The engine controller is used for calculating the output power P of the engine e Controlling the output power of the engine; BMS controller for controlling the driving battery according to the output power P b The output power of the drive battery is controlled.
The execution layer mainly comprises an engine, a generator, a driving battery, a rectifier, an inverter, a driving assembly, a gearbox and a resistance grid, and the corresponding whole system configuration is specifically shown in figure 2, wherein the engine is directly connected with the generator and is not directly connected with the driving assembly, so that the impact and vibration brought to the engine by load sudden change are greatly reduced; the generator converts mechanical energy generated by the engine into electric energy, drives the assembly to work after rectification by the rectifier and inversion by the inverter, and charges the driving battery when the power required by the driving motor is smaller; the driving battery plays a role in peak clipping and valley filling, the driving battery and the generator drive the assembly to work together when high power is required, recovered energy is stored during braking, if the battery storage value SOC is high and energy recovery cannot be carried out, the switch is controlled to be turned on through the energy output controller, and dynamic energy consumption is dissipated by using the resistance grid; the driving assembly comprises a driving motor controller and a driving motor, and the driving motor accurately outputs driving torque according to a command signal of the driving motor controller to control the vehicle to run.
SOC- -State of Charge means the State of charge, the value of stored energy.
Based on the proposed energy control system for extended range electric drive mining trucks, the invention also proposes an energy output control method as shown in fig. 3. In order to reduce the drive batteryThe influence of overcharge and overdischarge on the service life of the drive battery is increased, and the upper limit hysteresis interval and the lower limit hysteresis interval (SOC) of the drive battery are added in the control strategy min ,SOC LLC_min ) And upper limit hysteresis band (SOC) ULC_max ,SOC max ) And the discharging and charging buffering of the driving battery is realized, and the driving battery is protected, as shown in figure 4. The control method provided by the invention comprises the following specific steps:
step S1: determining an 'engine-generator set optimal power-efficiency mode' characteristic curve and an 'engine optimal power-fuel mode' characteristic curve according to the working characteristics of an engine and a generator;
step S2: acquiring system state parameters of a vehicle in real time by using a vehicle-mounted data acquisition device, wherein the system state parameters comprise a vehicle speed v, a vehicle acceleration a and a battery power storage value SOC;
and step S3: calculating the required power P of the driving motor according to the acquired system state parameters d And setting the output power of the engine to be P e Driving battery output power P b . The specific required power is calculated as follows:
in the formula eta t For overall powertrain efficiency, driving force F t Can be expressed as:
F t ＝mgfcosα+mgsinα+0.5ρC d Av 2 +sma (2)
wherein m is the vehicle mass, g is the gravity acceleration, f is the rolling resistance coefficient, alpha is the road gradient, rho is the air density, C d Is a wind resistance coefficient, A is the windward area, and s is a rotating mass conversion coefficient;
and step S4: according to the calculated required power P of the driving motor d And determining different working modes according to the battery power storage value SOC obtained in real time, wherein the working modes are as follows:
a. when the battery storage value SOC is at the lower limit value SOC min And an upper limit value SOC max In the meantime:
(1) when the driving motor requires power P d Greater than the upper threshold value P of the engine power e_max When the fuel consumption is in the optimal mode, the engine and the driving battery are driven in a mixed mode;
(2) when the driving motor requires power P d Greater than 0 and less than or equal to the upper limit threshold value P of the engine power e_max And the battery storage value SOC is less than or equal to the lower limit hysteresis value SOC LLC_min When the vehicle enters the mode with the optimal engine independent driving efficiency and charges the driving battery;
(3) when the driving motor requires power P d Greater than 0 and less than or equal to the upper limit threshold value P of the engine power e_max The battery storage value SOC is greater than the lower limit hysteresis value SOC LLC_min And the driving motor requires power P d Less than or equal to the upper limit threshold P of the power of the driving battery b_max When the battery is in the pure electric mode, the battery enters the pure electric mode;
(4) when the driving motor requires power P d Greater than 0 and less than or equal to the upper limit threshold value P of the engine power e_max The battery storage value SOC is greater than the lower limit hysteresis value SOC LLC_min And the driving motor requires power P d Is greater than the upper power threshold P of the driving battery b_max The fuel consumption is driven in an optimal mode by the engine and the driving battery in a mixed mode;
(5) when the driving motor requires power P d Less than or equal to 0 and the battery power storage value SOC is less than or equal to the upper limit hysteresis value SOC ULC_max Entering an energy recovery mode to charge the driving battery; otherwise, the energy is dissipated by mechanical braking or resistive grids.
b. When the battery storage value SOC is less than or equal to the lower limit value SOC min During, drive battery electric quantity is low excessively, for guaranteeing drive battery's life, drive battery does not participate in work this moment:
(1) when the driving motor requires power P d Less than or equal to upper limit threshold value P of engine power e_max When the vehicle enters the mode with the optimal engine independent driving efficiency and charges the driving battery;
(2) when the driving motor requires power P d Greater than the upper threshold value P of the engine power e_max And then, the engine independent driving mode is entered.
The following explains a specific implementation of the above-described operation mode:
(1) The fuel consumption optimal mode of hybrid driving of the engine and the driving battery is as follows:
(1) according to the characteristic curve of 'optimum power of engine-fuel mode', looking up a table to determine the power point P corresponding to the optimum fuel consumption of engine e_optfuel ；
(2) Determining the rotating speed n of the current engine according to the optimal power point of oil consumption e_optfuel ；
(3) The engine and drive battery power allocation can be expressed as: p is e ＝P e_optfuel ,P b ＝min(P d -P e_optfuel ·μ g ,P b_max )，n e ＝n e_optfuel ，μ g The generating efficiency of the generator;
(2) Engine individual drive efficiency optimization mode:
(1) ensuring to meet the power demand P of the whole vehicle d On the premise of finding out the power point P corresponding to the optimal efficiency of the engine-generator set according to the characteristic curve of the optimal power-efficiency mode of the engine-generator set e_opteff ；
(2) Determining the current engine speed n according to the efficiency optimum power point e_opteff ；
(3) The engine outputs power and charges the drive battery, when P is e ＝P e_opteff ，n e ＝n e_opteff ；
(3) Pure electric mode:
when only the driving battery discharges, the output power of the driving battery can be expressed as: p b ＝P d ；
(4) Engine-only drive mode:
(1) determining maximum power P of engine output e_max ；
(2) Determining the current engine speed n according to the characteristic curve of the optimal power-efficiency mode of the engine-generator set e_powermax ；
(3) At this time, only the engine output power: p is e ＝P e_max ，n e ＝n e_powermax ；
Step S5: the driving assembly accurately controls the output torque of the driving motor according to the power output by the engine and the driving battery, and drives the traveling system to normally work after the speed and the torque are changed and increased by the gearbox.
The invention can not only control the engine to dynamically switch between the optimal oil consumption mode and the optimal efficiency mode in real time according to the state and the required power of the vehicle driving battery, but also can recover energy, does not need complicated theoretical model calculation, and has good working condition adaptability and real-time performance.
The strategy parameters of the invention only need to be adapted and adjusted according to the parameters of the driving battery and the parameters of the engine, thereby facilitating strategy transplantation and engineering application.
In addition, the driving battery can be replaced by a super capacitor; the engine-generator set can be replaced by a fuel-driven battery.
The energy output control strategy control method can be used for not only an extended-range oil-electric hybrid vehicle, but also a multi-drive motor pure electric system configuration, the strategy only basically describes the implementation process, and any simple modification, equivalent change and modification of the process according to the technical entity of the invention still belong to the technical scope.
The invention can control the engine to dynamically switch between the optimal oil consumption mode and the optimal efficiency mode in real time according to the state of the vehicle driving battery and the required power, thereby ensuring that the engine always works in a high-efficiency area.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An energy output control method for an extended-range electric drive mining truck, wherein a drive motor of the mining truck is driven by an engine and/or a drive battery; the control method is characterized by comprising the following steps:
acquiring system state parameters of a vehicle in real time; the system state parameters at least comprise vehicle speed v, vehicle acceleration a and a battery power storage value SOC of the driving battery;
calculating the required power P of the driving motor of the mining truck according to the acquired vehicle speed v, the acquired vehicle acceleration a and pre-stored system parameters d ；
According to the calculated required power P d And calculating the output power P of the engine according to the battery power storage value SOC obtained in real time e And the output power P of the drive battery b ；
According to the calculated output power P of the engine e Controlling the output power of the engine according to the output power P of the drive battery b The output power of the drive battery is controlled.
2. The extended-range electric drive mining truck-oriented energy output control method of claim 1, characterized in that the pre-stored system parameters at least include vehicle mass, gravitational acceleration, rolling resistance coefficient, road grade, air density, wind resistance coefficient, frontal area, and rotating mass conversion coefficient;
calculating the required power P of the driving motor by adopting a formula (1) d ，
In the formula eta t For overall powertrain efficiency, driving force F t Expressed as:
F t ＝mgf cosα+mg sinα+0.5ρC d Av 2 +sma (2)
wherein m is the vehicle mass, g is the gravity acceleration, f is the rolling resistance coefficient, alpha is the road gradient, rho is the air density, C d And A is a wind resistance coefficient, A is a windward area, and s is a rotating mass conversion coefficient.
3. The extended range electric drive mining truck-oriented energy output control method of claim 1, characterized in that the power demand P is calculated as a function of d And calculating the output power P of the engine according to the battery power storage value SOC obtained in real time e And the output power P of the driving battery b The method comprises the following steps:
according to the calculated required power P of the driving motor d Determining different working modes from the current acquired battery storage value SOC, and determining the output power P of the engine according to the working modes e And the output power P of the driving battery b 。
4. The extended-range electric drive mining truck-oriented energy output control method according to claim 3, characterized in that the power demand P of the drive motor is calculated d Different working modes are determined according to the current acquired battery power storage value SOC, and the working modes comprise the following steps:
a. when the battery storage value SOC is at the lower limit value SOC min And upper limit value SOC max When the content is within:
when the driving motor requires power P d Greater than the upper threshold value P of the engine power e_max When the fuel consumption is in an optimal mode, the engine and the driving battery are driven in a mixed mode;
when the driving motor requires power P d Greater than 0 and less than or equal to the upper limit threshold value P of the engine power e_max And the battery storage value SOC is less than or equal to the lower limit hysteresis value SOC LLC_min When the driving system is used, entering a mode of optimizing the single driving efficiency of the engine and charging a driving battery;
when the driving motor requires power P d Greater than 0 and less than or equal to the upper limit threshold value P of the engine power e_max The battery storage value SOC is greater than the lower limit hysteresis value SOC LLC_min And the driving motor requires power P d Less than or equal to the upper limit threshold value P of the power of the driving battery b_max When the battery is in the pure electric mode, the battery enters the pure electric mode;
when the driving motor requires power P d Greater than 0 and less than or equal to the upper limit threshold value P of the engine power e_max Electric powerThe battery storage value SOC is larger than the lower limit hysteresis value SOC LLC_min And the driving motor requires power P d Is greater than the upper power threshold P of the driving battery b_max The fuel consumption is driven in an optimal mode by the engine and the driving battery in a mixed mode;
when the driving motor requires power P d Less than or equal to 0 and the battery power storage value SOC is less than or equal to the upper limit hysteresis value SOC ULC_max At the moment, entering an energy recovery mode to charge the driving battery; when the driving motor requires power P d Less than or equal to 0 and the battery storage value SOC is greater than or equal to the upper limit hysteresis value SOC ULC_max Dissipating the electric energy through mechanical braking or a resistance grid;
b. when the battery storage value SOC is less than or equal to the lower limit value SOC min In time, the drive battery does not participate in the operation:
when the driving motor requires power P d Less than or equal to upper limit threshold value P of engine power e_max When the driving system is used, entering a mode of optimizing the single driving efficiency of the engine and charging a driving battery;
when the driving motor requires power P d Greater than the upper threshold value P of the engine power e_max And then, entering an engine independent driving mode.
5. The extended range electric drive mining truck-oriented energy output control method of claim 3, characterized in that engine output power P is determined according to an operating mode e And driving the battery output power P b The method comprises the following steps:
acquiring an optimal power-efficiency mode characteristic curve of an engine-generator set and an optimal power-oil consumption mode characteristic curve of the engine;
engine output power P for each operating mode e And driving the battery output power P b The method for determining (1) comprises the following steps:
A. the fuel consumption optimal mode of hybrid driving of the engine and the driving battery is as follows:
according to the optimal power-fuel mode characteristic curve of the engine, determining a power point P corresponding to the optimal oil consumption of the engine by looking up a table e_optfuel ；
Determining the optimal power point according to the oil consumptionDetermining the current engine speed n e_optfuel ；
The engine and drive battery power distribution is represented as: p e ＝P e_optfuel ,P b ＝min(P d -P e_optfuel ·μ g ,P b_max )，n e ＝n e_optfuel ，μ g The generating efficiency of the generator;
B. engine individual drive efficiency optimization mode:
ensuring to meet the power P required by the whole vehicle d On the premise of finding out the power point P corresponding to the optimal efficiency of the engine-generator set according to the optimal power-efficiency mode characteristic curve of the engine-generator set e_opteff ；
Determining the current engine speed n according to the efficiency optimum power point e_opteff ；
The engine outputs power and charges the drive battery, when P e ＝P e_opteff ，n e ＝n e_opteff ；
C. Pure electric mode:
at this time, only the driving battery is discharged, and the output power of the driving battery is expressed as: p b ＝P d ；
D. Engine-only drive mode:
determining maximum power P of engine output e_max ；
Determining the current engine speed n according to the optimal power-efficiency mode characteristic curve of the engine-generator set e_powermax ；
At this time, only the engine output power: p e ＝P e_max ，n e ＝n e_powermax 。
6. The extended range electric drive mining truck-oriented energy output control method of claim 5, wherein obtaining an engine-generator set optimum power-efficiency mode characteristic curve comprises:
according to engine speed n e -torque T e Efficiency μ e Corresponding map data and generator speed n g -torque T g Efficiency μ g Determining the optimal power P of the engine-generator set according to the corresponding map data and the following expression e * Efficiency point μ * And (3) gathering:
wherein, T g ＝μ eg ·T e ,n g ＝n e ，μ eg Mechanical efficiency of the engine to the generator;
and fitting an optimal power-efficiency mode characteristic curve of the engine-generator set according to the acquired optimal power-efficiency point set of the engine-generator set.
7. The extended-range electric drive mining truck-oriented energy output control method of claim 5, wherein obtaining an engine optimum power-fuel consumption mode characteristic curve comprises:
according to engine speed n e -torque T e Specific fuel consumption
Corresponding map data, determining the optimum power P of the engine according to the following expression e + Fuel consumption Point
And (3) gathering:
and fitting an 'engine optimal power-oil consumption mode' characteristic curve according to the acquired engine optimal power-oil consumption rate point set.
8. An energy control system for an extended-range electric drive mining truck is characterized by comprising a control layer and an execution layer; the execution layer comprises an engine and a driving battery;
the control layer comprises a vehicle-mounted data collector, a required power calculation module, an energy output controller, an engine controller and a BMS controller;
the vehicle-mounted data acquisition unit is used for acquiring system state parameters of the vehicle in real time; the system state parameters at least comprise a vehicle speed v, a vehicle acceleration a and a battery storage value SOC of the driving battery;
the required power calculation module is used for calculating the required power P of the driving motor of the mining truck according to the acquired vehicle speed v, the acquired vehicle acceleration a and pre-stored system parameters d ；
The energy output controller is used for calculating the required power P d And calculating the output power P of the engine according to the battery power storage value SOC obtained in real time e And the output power P of the drive battery b ；
The engine controller is used for calculating the output power P of the engine e Controlling the output power of the engine;
BMS controller for controlling the driving battery according to the output power P b The output power of the drive battery is controlled.
9. The extended range electric drive mining truck-oriented energy output control system of claim 8, wherein the executive layer further comprises a generator, a rectifier, an inverter, a drive assembly, and a gearbox;
the engine is directly connected with the generator; the generator converts mechanical energy generated by the engine into electric energy, and the driving assembly works and charges a driving battery after rectification of the rectifier and inversion of the inverter;
the driving assembly comprises a driving motor controller and a driving motor, the driving motor controller is connected with the BMS controller, and the driving motor outputs driving torque according to command signals of the driving motor controller to control the gearbox to operate.
10. The extended range electric drive mining truck-oriented energy output control system of claim 8, wherein the executive layer further comprises a resistive grid and a switch for controlling the resistive grid;
when the driving motor requires power P d Less than or equal to 0 and the battery storage value SOC is greater than or equal to the upper limit hysteresis value SOC ULC_max And when the energy is used, the switch is controlled to be opened through the energy output controller, and the electric energy is dissipated by using the resistance grid.
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| CN116522498A (en) * | 2023-04-28 | 2023-08-01 | 重庆大学 | Energy consumption and emission collaborative optimization method for range-extended electric vehicle and range-extended electric vehicle control method |
| WO2024045321A1 (en) * | 2022-08-30 | 2024-03-07 | 江苏汇智高端工程机械创新中心有限公司 | Energy output control method and system for range-extended electric drive mining truck |
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| EP2847027A4 (en) * | 2012-12-18 | 2015-12-30 | Emerald Automotive Llc | Optimization of extended range electric vehicle |
| CN105922986B (en) * | 2016-05-24 | 2018-10-16 | 北京新能源汽车股份有限公司 | Stroke-increasing electric automobile and its mode switch control method and system |
| CN110040004B (en) * | 2019-04-01 | 2020-10-02 | 一汽-大众汽车有限公司 | Power following control method and system of range-extended pure electric vehicle |
| CN112009454A (en) * | 2020-08-20 | 2020-12-01 | 江西五十铃汽车有限公司 | Method for optimizing oil consumption of extended range hybrid electric vehicle |
| CN112277728A (en) * | 2020-10-30 | 2021-01-29 | 东风汽车集团有限公司 | Range-extending type automobile power control system and method |
| CN115214608A (en) * | 2022-08-30 | 2022-10-21 | 江苏汇智高端工程机械创新中心有限公司 | Energy output control method and system for extended-range electric transmission mining truck |
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| WO2024045321A1 (en) * | 2022-08-30 | 2024-03-07 | 江苏汇智高端工程机械创新中心有限公司 | Energy output control method and system for range-extended electric drive mining truck |
| CN116522498A (en) * | 2023-04-28 | 2023-08-01 | 重庆大学 | Energy consumption and emission collaborative optimization method for range-extended electric vehicle and range-extended electric vehicle control method |
| CN116522498B (en) * | 2023-04-28 | 2024-02-02 | 重庆大学 | Energy consumption and emission collaborative optimization method for range-extended electric vehicle and range-extended electric vehicle control method |
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