CN117445890A - Energy management control method based on power splitting light truck cruising working condition - Google Patents
Energy management control method based on power splitting light truck cruising working condition Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/15—Control strategies specially adapted for achieving a particular effect
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
Abstract
The invention relates to an energy management control method based on a power split light truck cruising working condition, which belongs to the technical field of new energy automobiles and comprises the following steps: the ADRC active disturbance rejection algorithm is used for the power split architecture light truck to calculate the torque required by the driver under the cruising working condition; performing energy management torque distribution on the driver demand torque by using a quadratic programming algorithm to obtain the demand engine torque, the generator torque and the motor torque; and sending the required engine torque, the generator torque and the motor torque to a whole vehicle power control system to control the vehicle speed under the cruising working condition. According to the invention, the ADRC algorithm is used for calculating the required torque of the driver, the following overshoot and oscillation of the vehicle speed in the cruising working condition process are solved, and the gradient vehicle weight factor is introduced through the quadratic programming optimal energy management algorithm, so that the optimal fuel consumption of the power split light truck and the optimal electric power of the generator and the motor are realized.
Description
Technical Field
The invention belongs to the technical field of new energy automobiles, and particularly relates to an energy management control method based on a power split light truck cruising condition.
Background
Along with the continuous upgrading of the emission standard of the automobile, the tolerance of the whole automobile control strategy is smaller and smaller, and the requirements on the new energy automobile on emission reduction and fuel consumption saving are higher and higher, so that the fuel saving is more and more important as the automobile motion control method.
When the cruising working condition of the existing new energy vehicle calculates the torque required by a driver, the target is generally calculated by a PID feedback control method at present, and the problems of overtune and vibration of the vehicle speed are easy to occur. The currently disclosed control method for power split of the hybrid electric vehicle determines the target power of the engine and the distribution proportion of the power of the engine and the power of the battery according to the driving demand power, the energy recovery power and the charging demand power and considering the SOC balance, so that the influence of the sudden acceleration or the sudden deceleration in the driving behavior on the service life of the engine, the dynamic property of the whole vehicle and the fuel economy of the whole vehicle is weakened. However, the energy management method based on the rules is large in calibration amount and cannot achieve optimal fuel consumption, the following overshoot and oscillation of the vehicle speed still occur under the cruising working condition in the mode, the fuel consumption is still relatively large when the vehicle is high in load and climbs, and the efficiency of the motor and the generator is relatively low.
This is a deficiency of the prior art, and therefore, it is highly desirable to provide an energy management control method based on the power split light truck cruise condition, which addresses the above-described deficiencies of the prior art.
Disclosure of Invention
Aiming at the defects that the prior art has large calibration amount and cannot achieve optimal fuel consumption, the vehicle speed following overshoot and oscillation still occur in a cruising working condition in the mode, the fuel consumption is still relatively large when the vehicle is high in load and climbs, and the efficiency of a motor and a generator is relatively low in the current hybrid vehicle based on the regular energy management method, the invention provides an energy management control method based on a power splitting light truck cruising working condition, and aims to solve the technical problems.
The invention provides an energy management control method based on a power split light truck cruising working condition, which comprises the following steps:
s1, calculating the torque required by a driver under a cruising working condition by using an ADRC active disturbance rejection algorithm on a power split architecture light truck;
s2, energy management torque distribution is carried out on the driver demand torque by using a quadratic programming algorithm, and the demand engine torque, the generator torque and the motor torque are obtained;
s3, transmitting the required engine torque, the generator torque and the motor torque to a whole vehicle power control system to control the cruising working condition vehicle speed.
Further, the specific steps of step S1 are as follows:
s11, selecting environment parameters and vehicle running parameters to establish a whole vehicle longitudinal dynamics model of the power split architecture light truck, introducing system total disturbance of the power split architecture light truck, and establishing a whole vehicle state space model;
s12, establishing a second-order extended state observer model for estimating the vehicle speed and the total disturbance state of the system, and establishing a feedback controller model for restricting the target vehicle speed and observing the vehicle speed error;
s13, acquiring an actual vehicle speed from a whole vehicle power system, and inputting the actual vehicle speed into a second-order extended state observer model to obtain an observed vehicle speed and disturbance;
s14, calculating an error between the target vehicle speed and the observed vehicle speed, inputting the error into a feedback controller model to obtain a control rule, and calculating the torque required by the driver according to the control rule and disturbance.
Further, the specific steps of step S11 are as follows:
s111, selecting environmental resistance parameters and whole vehicle parameters to establish a whole vehicle longitudinal dynamics model as follows:
wherein,for driving the vehicle>Wind resistance->For rolling resistance->For gradient resistance->For the quality of the whole car, the weight of the whole car is increased>For vehicle acceleration +.>Is the air resistance coefficient>Is windward area, is->For the speed of the vehicle>Acceleration of gravity, ++>For the rolling resistance coefficient of the vehicle->Is road grade;
s112, building a whole vehicle state space model as follows:
wherein,，/>，/>，/>driver demand torque =control output of controller, +.>For the observed vehicle speed of the observer, +.>Is in a system state comprising vehicle speed and total disturbance of the system, < ->Differentiating the system state, f is the total disturbance of the system, including external disturbance and internal disturbance, ++>For the speed of the vehicle>For driving resistance->For transmission gear ratio>Is the transmission ratio of the main speed reducer>For the transmission efficiency->For the radius of the wheel>For parameters to be adjusted, m is the mass of the whole vehicle, and r is the driving resistance reduced accelerationDegree, K t And b is the reciprocal of the driving force arm and the reciprocal of the driving force arm is the vehicle weight.
Further, the specific steps of step S12 are as follows:
s121, establishing the following second-order expansion state observer model for estimating the vehicle speed and disturbance:
in the method, in the process of the invention,i.e. the observed vehicle speed Vobs, f is disturbance, < ->For vehicle speed->And the observed value of disturbance f ∈>For the controlled system to output measured values, i.e. the actual vehicle speed Vact +.>For speed observations, +.>、/>、/>For parameters to be adjusted, k is the time of the day, is +.>Is a scheduling period;
s122, establishing a feedback controller model as follows:
wherein the method comprises the steps of，For the control law of output->Is a nonlinear function +.>For the target vehicle speed +.>For the error between the target vehicle speed and the observed vehicle speed, +.>、/>Is a parameter that needs to be adjusted.
Further, in step S13, an actual vehicle speed Vact is obtained from the entire vehicle power system, and the actual vehicle speed Vact is input into a second-order extended state observer model to obtain an observed vehicle speed Vobs and a disturbance f;
in step S14, an error e between the target vehicle speed Vaim and the observed vehicle speed Vobs is calculated v Inputting a feedback controller model to obtain an output control law u0;
according to the output control law u0 and disturbance f, willConversion to driver demand torque u:
wherein b0 is a parameter to be adjusted.
Further, the specific steps of step S2 are as follows:
s21, taking a battery SOC of a power split architecture light truck as a state variable, taking battery output power as a control variable, taking minimum engine oil consumption and battery reduced oil consumption and maximum motor efficiency and generator efficiency as optimization targets, and establishing an optimization objective function of the oil consumption of the whole vehicle;
s22, constraint conditions are set for the rotation speed and torque of an engine, the rotation speed and torque of a motor and the rotation speed and torque of a generator, and constraint conditions are set for the SOC of a battery and the power of the battery;
s23, setting constraint conditions for the torque of a gear ring of the power split light-truck structure, setting constraint conditions for the torque of a motor, and constraining the rotation speeds of the motor, an engine and a generator by using a planet row lever principle of the power split light-truck structure;
s24, inputting constraint conditions into an optimization objective function of the fuel consumption of the whole vehicle by using a quadratic programming algorithm to obtain the required engine torque and the required rotating speed, and the required generator torque and the required rotating speed and the required motor torque and the required rotating speed.
Further, the specific steps of step S21 are as follows:
s211, setting SOC as a state variable x, and setting battery output powerIs the control variable y;
s212, the minimum fuel consumption of the engine and the minimum fuel consumption of the battery are used, the maximum motor efficiency and the maximum generator efficiency are achieved, and the minimum comprehensive target is the optimal optimization target;
s213, setting an optimization objective function as follows:
for engine fuel consumption>For electric fuel consumption->For driving the motor efficiency, < >>Is generator efficiency.
Further, the specific steps of step S22 are as follows:
s221, setting the engine speed between idle speed and maximum engine speed, and setting the engine torque between the minimum torque interpolated by the current engine speed and the external characteristic curve and the maximum torque of the current engine speed;
s222, setting the motor rotation speed between the minimum motor rotation speed and the maximum motor rotation speed, and setting the motor torque between the motor minimum torque interpolated by the current motor rotation speed and the external characteristic curve and the current motor rotation speed maximum torque;
s223, setting the rotation speed of the generator between the minimum rotation speed of the generator and the maximum rotation speed of the generator, and setting the torque of the generator between the minimum torque of the generator interpolated by the current rotation speed of the generator and the external characteristic curve and the maximum torque of the current rotation speed of the generator;
s224, setting the SOC between a minimum SOC threshold value and a maximum SOC threshold value;
s225, the battery power is between the minimum battery allowable power and the maximum battery allowable power;
the specific steps of step S23 are as follows:
s231, limiting the sum of motor end driver torque obtained by multiplying the equivalent whole vehicle rotational inertia of the motor end and the equivalent acceleration of the motor end and the gear folding to be equal to the sum of motor torque and gear ring torque;
s232, limiting the torque of the gear ring to be the torque equivalent gear ring torque of the generator and the torque equivalent gear ring torque of the engine;
s233, limiting the motor rotating speed, the engine rotating speed and the generator rotating speed to accord with the planetary gear lever principle of the power split light clamp structure.
Further, the specific steps of step S3 are as follows:
s31, transmitting the required engine torque, the generator torque and the motor torque to an object model of the whole vehicle power control system to perform cruise condition vehicle speed control simulation, and acquiring the actual vehicle speed output by the simulation;
s32, providing the actual vehicle speed to a second-order extended state observer model to calculate the observed vehicle speed and disturbance.
Further, step S3 includes the steps of:
S31A, transmitting the required engine torque, the generator torque and the motor torque to a whole vehicle power control system to control the vehicle speed under the cruising working condition, and acquiring the actual vehicle speed;
S32A, providing the actual vehicle speed to a second-order extended state observer model to calculate the observed vehicle speed and disturbance.
The invention has the beneficial effects that:
according to the energy management control method based on the power split light truck cruise condition, firstly, the ADRC algorithm is utilized to calculate the required torque of a driver, then the quadratic programming algorithm is utilized to realize power split torque distribution, finally, the required torque of an engine, a generator and a motor is transmitted to a corresponding controller through CAN signals to realize the control of the engine, the generator and the motor, and finally, the speed control of the cruise condition is realized. According to the invention, the problems of vehicle speed following overshoot and oscillation in the cruising working condition process are solved, and the gradient vehicle weight factor is introduced through a quadratic programming optimal energy management algorithm, so that the optimal fuel consumption of the power splitting light truck and the optimal electric power of the generator and the motor are realized.
In addition, the invention has reliable design principle, simple structure and very wide application prospect.
It can be seen that the present invention has outstanding substantial features and significant advances over the prior art, as well as the benefits of its implementation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a flow chart of one embodiment of an energy management control method based on a power split light truck cruise condition of the present invention.
FIG. 2 is a flow chart of another embodiment of an energy management control method based on a power split light truck cruise condition of the present invention.
Fig. 3 is a schematic diagram of a power splitting light truck.
FIG. 4 is a schematic diagram of a power split architecture light-truck cruise disclosure energy management control.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
ADRC, an acronym for Active Disturbance Rejection Control, active disturbance rejection controller.
The invention carries out energy management based on a power splitting framework light card, and a specific power splitting framework light card structure is shown in fig. 3 and comprises a THS power splitting structure and a 3AT gear shifting structure; the THS power splitting structure comprises an engine, a generator GM, a high-voltage battery, a motor TM and a negative planetary gear, wherein the engine is connected with a planetary carrier of the planetary gear through a one-way clutch, the generator GM is connected with a sun gear of the planetary gear, and the motor TM is connected with a gear ring of the planetary gear; the high-voltage energy source of the motor is a battery and the engine carries a generator to generate electricity.
Example 1:
as shown in fig. 1, the invention provides an energy management control method based on a power split light truck cruise condition, which comprises the following steps:
s1, calculating the torque required by a driver under a cruising working condition by using an ADRC active disturbance rejection algorithm on a power split architecture light truck;
s2, energy management torque distribution is carried out on the driver demand torque by using a quadratic programming algorithm, and the demand engine torque, the generator torque and the motor torque are obtained;
s3, transmitting the required engine torque, the generator torque and the motor torque to a whole vehicle power control system to control the cruising working condition vehicle speed.
Example 2:
as shown in fig. 2, the invention provides an energy management control method based on a power split light truck cruise condition, which comprises the following steps:
s1, calculating the torque required by a driver under a cruising working condition by using an ADRC active disturbance rejection algorithm on a power split architecture light truck; the specific steps of the step S1 are as follows:
s11, selecting environment parameters and vehicle running parameters to establish a whole vehicle longitudinal dynamics model of the power split architecture light truck, introducing system total disturbance of the power split architecture light truck, and establishing a whole vehicle state space model; the specific steps of step S11 are as follows:
s111, selecting environmental resistance parameters and whole vehicle parameters to establish a whole vehicle longitudinal dynamics model as follows:
wherein,for driving the vehicle>Wind resistance->For rolling resistance->For gradient resistance->For the quality of the whole car, the weight of the whole car is increased>For vehicle acceleration +.>Is the air resistance coefficient>Is windward area, is->For the vehicle speed, g is the gravitational acceleration, usually 9.8 +.>，/>For the rolling resistance coefficient of the vehicle->Is road grade;
s12, establishing a second-order extended state observer model for estimating the vehicle speed and the total disturbance state of the system, and establishing a feedback controller model for restricting the target vehicle speed and observing the vehicle speed error; s112, building a whole vehicle state space model as follows:
wherein,，/>，/>，/>driver demand torque =control output of controller, +.>For the observed vehicle speed of the observer, +.>Is in a system state comprising vehicle speed and total disturbance of the system, < ->To differentiate the system state, f is the total disturbance of the system, including external disturbances and internal disturbances, e.g. resistance is an external disturbance,/->For the speed of the vehicle>For driving resistance->For transmission gear ratio>Is the transmission ratio of the main speed reducer>For the transmission efficiency->For the radius of the wheel>For parameters to be adjusted, m is the mass of the whole vehicle, r is the running resistance reduced acceleration, K t The driving force arm reciprocal is the driving force arm reciprocal divided by the vehicle weight;
s13, acquiring an actual vehicle speed Vact from a whole vehicle power system, and inputting the actual vehicle speed Vact into a second-order extended state observer model to obtain an observed vehicle speed Vobs and disturbance f;
s14, calculating an error e between the target vehicle speed Vaim and the observed vehicle speed Vobs v And error e v Inputting a feedback controller model to obtain an output control law u0, and calculating the torque required by a driver according to the output control law u0 and disturbance f;
wherein b0 is a parameter to be adjusted;
s2, energy management torque distribution is carried out on the driver demand torque by using a quadratic programming algorithm, and the demand engine torque, the generator torque and the motor torque are obtained; the specific steps of the step S2 are as follows:
s21, taking a battery SOC of a power split architecture light truck as a state variable, taking battery output power as a control variable, taking minimum engine oil consumption and battery reduced oil consumption and maximum motor efficiency and generator efficiency as optimization targets, and establishing an optimization objective function of the oil consumption of the whole vehicle; the specific steps of step S21 are as follows:
s211, setting SOC as a state variable x, and setting battery output powerIs the control variable y;
s212, the minimum fuel consumption of the engine and the minimum fuel consumption of the battery are used, the maximum motor efficiency and the maximum generator efficiency are achieved, and the minimum comprehensive target is the optimal optimization target;
s213, setting an optimization objective function as follows:
for engine fuel consumption>For electric fuel consumption->For driving the motor efficiency, < >>Is generator efficiency;
s22, constraint conditions are set for the rotation speed and torque of an engine, the rotation speed and torque of a motor and the rotation speed and torque of a generator, and constraint conditions are set for the SOC of a battery and the power of the battery; the specific steps of step S22 are as follows:
s221, setting the rotation speed of an engineAt idle->And maximum engine speed>Between, set the engine torque +.>Minimum torque interpolated from the current engine speed and the external characteristic curve +.>Between the maximum torque and the current engine speed>；
S222, setting the rotating speed of a motorAt minimum rotational speed of the motor->And maximum motor speed>Between, set motor torque +.>Motor minimum torque interpolated from current motor speed and external characteristic curve>Maximum torque from current motor speed>Between them;
s223, setting the rotation speed of a generatorAt minimum rotational speed of the generator->Maximum motor speed for sum generation>Between, set generator torque->Minimum torque of generator interpolated from current generator speed and external characteristic curveMaximum torque from the current generator speed>Between them;
s224, setting the SOC at a minimum SOC thresholdAnd maximum SOC threshold->Between them;
s225, battery powerAt minimum battery power allowed->And maximum batteryPermissible power->Between them;
s23, setting constraint conditions for the torque of a gear ring of the power split light-truck structure, setting constraint conditions for the torque of a motor, and constraining the rotation speeds of the motor, an engine and a generator by using a planet row lever principle of the power split light-truck structure; the specific steps of step S23 are as follows:
s231 limiting the equivalent whole vehicle rotational inertia of the motor endEquivalent acceleration product with motor end->Motor end driver torque folded with gear>Sum and motor torque->Torque with gear ring->The sum is equal;
s232 limiting the torque of the gear ringThe torque of the generator torque equivalent gear ring and the torque of the engine torque equivalent gear ring are reduced;
wherein k is the ratio of the tooth number of the gear ring to the tooth number of the sun gear;
s233, limiting the motor rotating speed, the engine rotating speed and the generator rotating speed to accord with the planetary gear lever principle of the power split light clamp structure;
s24, inputting constraint conditions into an optimization objective function of the fuel consumption of the whole vehicle by using a quadratic programming algorithm to obtain required engine torque and rotating speed, and required generator torque and rotating speed and required motor torque and rotating speed;
s3, transmitting the required engine torque, generator torque and motor torque to a whole vehicle power control system to control the vehicle speed under the cruising working condition; the specific steps of the step S3 are as follows:
s31, transmitting the required engine torque, the generator torque and the motor torque to an object model of the whole vehicle power control system to perform cruise condition vehicle speed control simulation, and acquiring the actual vehicle speed output by the simulation;
s32, providing the actual vehicle speed to a second-order extended state observer model to calculate the observed vehicle speed and disturbance;
the overall energy management process is shown in fig. 4.
In certain embodiments, step S3 may further comprise the steps of:
S31A, transmitting the required engine torque, the generator torque and the motor torque to a whole vehicle power control system to control the vehicle speed under the cruising working condition, and acquiring the actual vehicle speed;
S32A, providing the actual vehicle speed to a second-order extended state observer model to calculate the observed vehicle speed and disturbance.
Although the present invention has been described in detail by way of preferred embodiments with reference to the accompanying drawings, the present invention is not limited thereto. Various equivalent modifications and substitutions may be made in the embodiments of the present invention by those skilled in the art without departing from the spirit and scope of the present invention, and it is intended that all such modifications and substitutions be within the scope of the present invention/be within the scope of the present invention as defined by the appended claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The energy management control method based on the power split light truck cruising working condition is characterized by comprising the following steps of:
s1, calculating the torque required by a driver under a cruising working condition by using an ADRC active disturbance rejection algorithm on a power split architecture light truck;
s2, energy management torque distribution is carried out on the driver demand torque by using a quadratic programming algorithm, and the demand engine torque, the generator torque and the motor torque are obtained;
s3, transmitting the required engine torque, the generator torque and the motor torque to a whole vehicle power control system to control the cruising working condition vehicle speed.
2. The energy management control method based on the power split light truck cruise condition of claim 1, wherein step S1 comprises the following specific steps:
s11, selecting environment parameters and vehicle running parameters to establish a whole vehicle longitudinal dynamics model of the power split architecture light truck, introducing system total disturbance of the power split architecture light truck, and establishing a whole vehicle state space model;
s12, establishing a second-order extended state observer model for estimating the vehicle speed and the total disturbance state of the system, and establishing a feedback controller model for restricting the target vehicle speed and observing the vehicle speed error;
s13, acquiring an actual vehicle speed from a whole vehicle power system, and inputting the actual vehicle speed into a second-order extended state observer model to obtain an observed vehicle speed and disturbance;
s14, calculating an error between the target vehicle speed and the observed vehicle speed, inputting the error into a feedback controller model to obtain an output control rule, and calculating the torque required by the driver according to the output control rule and disturbance.
3. The energy management control method based on the power split light truck cruise condition of claim 2, wherein step S11 specifically comprises the following steps:
s111, selecting environmental resistance parameters and whole vehicle parameters to establish a whole vehicle longitudinal dynamics model as follows:
wherein,for driving the vehicle>Wind resistance->For rolling resistance->For gradient resistance->For the quality of the whole car, the weight of the whole car is increased>For vehicle acceleration +.>Is the air resistance coefficient>Is windward area, is->For the vehicle speed, g is the gravitational acceleration, < +.>For the rolling resistance coefficient of the vehicle->Is road grade;
s112, building a whole vehicle state space model as follows:
wherein,，/>，/>，/>driver demand torque =control output of controller, +.>For the observed vehicle speed of the observer, +.>Is in a system state comprising vehicle speed and total disturbance of the system, < ->Differentiating the system state, f is the total disturbance of the system, including external disturbance and internal disturbance, ++>For the speed of the vehicle>For driving resistance->For transmission gear ratio>Is the transmission ratio of the main speed reducer>For the transmission efficiency->For the radius of the wheel>For parameters to be adjusted, m is the mass of the whole vehicle, r is the running resistance reduced acceleration, K t And b is the reciprocal of the driving force arm and the reciprocal of the driving force arm is the vehicle weight.
4. The energy management control method based on the power split light truck cruise condition of claim 2, wherein step S12 comprises the following specific steps:
s121, establishing the following second-order expansion state observer model for estimating the vehicle speed and disturbance:
in the method, in the process of the invention,i.e. the observed vehicle speed Vobs, f is disturbance, < ->For vehicle speed->And the observed value of disturbance f ∈>For the controlled system to output measured values, i.e. the actual vehicle speed Vact +.>For speed observations, +.>、/>、/>For the parameters to be adjusted, k is the current time, is +.>Is a scheduling period;
s122, establishing a feedback controller model as follows:
wherein,for the control law of output->Is a nonlinear function +.>For the target vehicle speed +.>For the error between the target vehicle speed and the observed vehicle speed, +.>、/>Is a parameter that needs to be adjusted.
5. The energy management control method based on the power split light truck cruise condition according to claim 2, wherein in step S13, an actual vehicle speed Vact is obtained from a whole vehicle power system, and the actual vehicle speed Vact is input into a second-order extended state observer model to obtain an observed vehicle speed Vobs and a disturbance f;
in step S14, an error e between the target vehicle speed Vaim and the observed vehicle speed Vobs is calculated v Inputting a feedback controller model to obtain an output control law u0;
according to the output control law u0 and disturbance f, willConversion to driver demand torque u:
wherein b0 is a parameter to be adjusted.
6. The energy management control method based on the power split light truck cruise condition of claim 2, wherein step S2 comprises the following specific steps:
s21, taking a battery SOC of a power split architecture light truck as a state variable, taking battery output power as a control variable, taking minimum engine oil consumption and battery reduced oil consumption and maximum motor efficiency and generator efficiency as optimization targets, and establishing an optimization objective function of the oil consumption of the whole vehicle;
s22, constraint conditions are set for the rotation speed and torque of an engine, the rotation speed and torque of a motor and the rotation speed and torque of a generator, and constraint conditions are set for the SOC of a battery and the power of the battery;
s23, setting constraint conditions for the torque of a gear ring of the power split light-truck structure, setting constraint conditions for the torque of a motor, and constraining the rotation speeds of the motor, an engine and a generator by using a planet row lever principle of the power split light-truck structure;
s24, inputting constraint conditions into an optimization objective function of the fuel consumption of the whole vehicle by using a quadratic programming algorithm to obtain the required engine torque and the required rotating speed, and the required generator torque and the required rotating speed and the required motor torque and the required rotating speed.
7. The energy management control method based on the power split light truck cruise condition of claim 6, wherein step S21 comprises the following specific steps:
s211, setting SOC as a state variable x, and setting battery output powerIs the control variable y;
s212, the minimum fuel consumption of the engine and the minimum fuel consumption of the battery are used, the maximum motor efficiency and the maximum generator efficiency are achieved, and the minimum comprehensive target is the optimal optimization target;
s213, setting an optimization objective function as follows:
for engine fuel consumption>For electric fuel consumption->For driving the motor efficiency, < >>Is generator efficiency.
8. The energy management control method based on the power split light truck cruise condition of claim 6, wherein step S22 comprises the following specific steps:
s221, setting the engine speed between idle speed and maximum engine speed, and setting the engine torque between the minimum torque interpolated by the current engine speed and the external characteristic curve and the maximum torque of the current engine speed;
s222, setting the motor rotation speed between the minimum motor rotation speed and the maximum motor rotation speed, and setting the motor torque between the motor minimum torque interpolated by the current motor rotation speed and the external characteristic curve and the current motor rotation speed maximum torque;
s223, setting the rotation speed of the generator between the minimum rotation speed of the generator and the maximum rotation speed of the generator, and setting the torque of the generator between the minimum torque of the generator interpolated by the current rotation speed of the generator and the external characteristic curve and the maximum torque of the current rotation speed of the generator;
s224, setting the SOC between a minimum SOC threshold value and a maximum SOC threshold value;
s225, the battery power is between the minimum battery allowable power and the maximum battery allowable power;
the specific steps of step S23 are as follows:
s231, limiting the sum of motor end driver torque obtained by multiplying the equivalent whole vehicle rotational inertia of the motor end and the equivalent acceleration of the motor end and the gear folding to be equal to the sum of motor torque and gear ring torque;
s232, limiting the torque of the gear ring to be the torque equivalent gear ring torque of the generator and the torque equivalent gear ring torque of the engine;
s233, limiting the motor rotating speed, the engine rotating speed and the generator rotating speed to accord with the planetary gear lever principle of the power split light clamp structure.
9. The energy management control method based on the power split light truck cruise condition of claim 6, wherein step S3 comprises the following specific steps:
s31, transmitting the required engine torque, the generator torque and the motor torque to an object model of the whole vehicle power control system to perform cruise condition vehicle speed control simulation, and acquiring the actual vehicle speed output by the simulation;
s32, providing the actual vehicle speed to a second-order extended state observer model to calculate the observed vehicle speed and disturbance.
10. The energy management control method based on the power split light truck cruise condition of claim 6, wherein step S3 comprises the steps of:
S31A, transmitting the required engine torque, the generator torque and the motor torque to a whole vehicle power control system to control the vehicle speed under the cruising working condition, and acquiring the actual vehicle speed;
S32A, providing the actual vehicle speed to a second-order extended state observer model to calculate the observed vehicle speed and disturbance.
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