CN105667499A - Energy management method for electric automobile in range extending mode - Google Patents

Energy management method for electric automobile in range extending mode Download PDF

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Publication number
CN105667499A
CN105667499A CN201511020923.4A CN201511020923A CN105667499A CN 105667499 A CN105667499 A CN 105667499A CN 201511020923 A CN201511020923 A CN 201511020923A CN 105667499 A CN105667499 A CN 105667499A
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power
output rating
increasing unit
soc
distance increasing
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CN105667499B (en
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张承宁
周维
王志福
李军求
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Beijing Institute of Technology BIT
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Beijing Institute of Technology BIT
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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
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0666—Engine power
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/24—Energy storage means
    • B60W2510/242—Energy storage means for electrical energy
    • B60W2510/244—Charge state

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention provides an energy management method for an electric automobile in a range extending mode. The method is put forward and achieved on the basis of the Pontryagin minimum principle in the optimal control theory, the lowest whole automobile fuel consumption serves as an optimization target, a Hamiltonian function of a system is established, and the value of the function is minimal, so that the optimal power distribution between a range extender and a power battery is guaranteed. A control factor, namely an association state variable lambda in the Hamiltonian function is updated online, and the adaptability of electric quantity maintenance control to the travel working condition is achieved. By the adoption of the engineering-feasible energy management method for the range-extending type electric automobile, the technical problems that a hybrid power system is low in energy efficiency, and electric quantity maintenance control of a power battery cannot well adapt to the changes of the travel working condition when an existing range-extending type electric automobile works in the range extending mode can be solved.

Description

A kind of electromobile increases the energy management method under journey pattern
Technical field
The invention belongs to Control of Electric Vehicles technical field, the energy management method being specifically related under a kind of electromobile increasing journey pattern.
Background technology
Stroke-increasing electric automobile installs a small-sized distance increasing unit additional as auxiliary energy source on the basis of pure electric automobile, effectively extend the continual mileage of pure electric automobile, eliminate " the mileage anxiety " of officer, it is considered as having the new-energy automobile type of development prospect. When vehicle operation is when increasing journey pattern, distance increasing unit and power cell two kinds of energy sources are simultaneously for vehicle movement provides energy, now, the how distribution of coordination requirement power between distance increasing unit and power cell, become and improve stroke-increasing electric automobile energy utilization efficiency, promote the gordian technique that user drives experience.
In current engineering, the normal stroke-increasing electric automobile energy management strategies adopted has: single-point control strategy, multiparty control strategy and power follower type control strategy. Under single-point control strategy, journey device is always operating at its pressure point of maximum efficiency when starting, although doing the working efficiency height of journey device like this, but power cell is owing to needing the road load adapting to constantly change, being in violent charging and discharging state for a long time, working efficiency and weather resistance all can be affected; Under power follower type control strategy, the output rating of journey device dynamically follows the tracks of the power demand of whole car in driving process, the working load of power cell can be alleviated like this, but the continuous dynamic change in working point due to journey device, its oil consumption and emission behavior are all not as single-point controls fashion; Multiparty control strategy is trading off under above-mentioned two kinds of control strategies, and under this control strategy, journey device is controlled in the two or more working points demarcated in advance, and switches according to whole car demand power. Although multiparty control strategy can take into account single-point control strategy and the advantage of power follower type control strategy to a certain extent, but the quality of control effects depends on the demarcation of working point and chooses, and one group of fixing calibrating parameters is difficult under different driving cycles all show good control effects. On the other hand, under above-mentioned three kinds of control strategies, the state-of-charge (SoC) of power cell all can only be maintained in set fixed interval, cannot realize the self-adaptation to driving cycle and maintain, this further restricts the raising of system energy efficiency.
Academia is to the research of energy management strategies, and the method adopted mainly contains dynamic programming method (DynamicProgramming), the equivalence minimum method of fuel oil consumption (EquivalentConsumptionMinimizationStrategy), Model Predictive Control method (ModelPredictiveControl) etc.Although dynamic programming method and model prediction can ensure the overall situation or the optimality of local, but the work information needing precognition following, and calculated amount is very big, is also difficult on the in-vehicle processor of present stage and realizes. Equivalence fuel oil consumption minimum method calculated amount is relatively little, but in order to ensure control effects, it is necessary at least demarcate two equivalent fuel consumption factors under electric discharge and charging state, and the dependency of model is very strong, and robustness is not high.
It is desirable to provide stroke-increasing electric automobile energy management method feasible in a kind of engineering, to solve, hybrid power system efficiency when current stroke-increasing electric automobile is operated in increasing journey pattern is not high, power cell electricity maintains the technical problem that control can not adapt to driving cycle change well.
Summary of the invention
The present invention proposes based on the Pang Te lia king mnm. principle (Pontryagins ' MinimumPrinciple) in the theory of optimal control and realizes, minimum as optimization aim taking whole car fuel oil consumption, by the Hamiltonian function of constructing system, and make the minimum power division guaranteeing to have between distance increasing unit and power cell the best of function value. Then, by online updating controlling elements, i.e. association's state variable λ value in Hamiltonian function, it is achieved electricity maintains control to the adaptability of driving cycle.
The energy management method that electromobile increases under journey pattern comprises the steps:
A) mapping form between Hamiltonian functional value, the car status information comprising distance increasing unit output rating and the factor lambda of control power cell SoC change is constructed, in memory;
B) entire car controller obtains the instantaneous SoC information of power cell, itself and current set reference SoC value are compared, the factor lambda controlling power cell SoC change in control strategy is adjusted and revises by the difference according to both, obtain the factor lambda (k) after revising, it is achieved electricity maintains control to the adaptability of driving cycle;
C) entire car controller is by the instantaneous output power information of distance increasing unit, the scope of the next control cycle distance increasing unit output rating of prediction, and this scope carries out discrete acquisition target power candidate collection;
D) entire car controller is according to the status information of current vehicle and step b) in revise after the value of factor lambda (k) look into step a) in mapping form, calculate each Hamiltonian functional value corresponding to candidate target power that target power candidate concentrates, choose the target output rating that the minimum candidate target power corresponding to Hamiltonian functional value is next control cycle distance increasing unit.
Preferably, also comprise step e) entire car controller determining step d) in determined target output rating whether continue to be less than or equal to a certain particular value in certain setting-up time, if not to, then target output rating is sent journey device controller; If stop instruction then sends to journey device controller, journey device is shut down.
Preferably, described a certain particular value is zero.
Preferably, described specified time is 5s
Preferably, the mapping relation in described mapping form is determined by following formula:
H = m f · + λ S o C ·
In formula,It it is the specific fuel oil consumption corresponding to distance increasing unit maximum efficiency curve;Represent the velocity of variation of power cell SoC.
Preferably,For the function of whole car demand power, journey device output rating, the current SoC of power cell and envrionment temperature, or demarcate based on the equivalent internal resistance model of power cell and testing data and obtain.
Preferably,For the function of the best fuel oil consumption curve of distance increasing unit, output rating and envrionment temperature, or platform experiment demarcates and obtains.
Preferably, factor lambda (k) after described correction is obtained by PI control module Dynamic gene λ.
Preferably, taking 0.5kW to be that spacing carries out discrete for the scope of described next control cycle distance increasing unit output rating.
The present invention also relates to a kind of stroke-increasing electric automobile, it may also be useful to energy management method as above.
Accompanying drawing explanation
A kind of electromobile that accompanying drawing 1 is proposed by the invention increases the flowchart of the energy management method under journey pattern.
Accompanying drawing 2 is mapping relation example between system Hamiltonian functional value and journey device output rating and whole car demand power under the instantaneous electricity SoC value of specific coordination variable λ and specified power battery.
Embodiment
Now illustrate further by reference to the accompanying drawings.
When power cell electricity drops to the threshold value of setting in entire car controller, vehicle enters after increasing journey pattern, entire car controller obtains the status information of the parts such as distance increasing unit, power cell and drive-motor in real time by CAN, and according to the value of these status informations online updating controlling elements λ and the value of computation of table lookup system Hamiltonian function, it is then determined that the minimum candidate target power corresponding to Hamiltonian functional value is the target output rating of distance increasing unit in this control cycle.
Concrete grammar comprises the following steps:
A) off-line constructs the mapping form between system Hamiltonian functional value state corresponding to vehicle, is stored in entire car controller flash. The corresponding state of vehicle comprises distance increasing unit output rating, power cell instantaneous electricity SoC, temperature, whole car demand power and controlling elements λ, and the mapping relation in mapping form is determined by following formula:
H = m f · + λ S o C ·
Mapping form example under certain specific λ and SoC value is as shown in Figure 2.
In formula,Being the specific fuel oil consumption corresponding to distance increasing unit maximum efficiency curve, it is the function of journey device output rating, or jointly determines by the best fuel oil consumption curve of distance increasing unit, output rating and envrionment temperature, it is possible to demarcates by platform experiment and obtains; λ is the factor that control power cell SoC changes;Represent the velocity of variation of power cell SoC.
Function for whole car demand power, journey device output rating, the current SoC of power cell and envrionment temperature:
S o C · = - U o c ( S o C , T ) - U o c 2 ( S o C , T ) - 4 ( P d c - P E ) R b ( S o C , T ) 2 R b ( S o C , T ) Q n o m
In formula, UocRepresent the open circuit voltage of power cell; T is temperature of powered cell; PdcFor whole car demand power; PEFor journey device output rating; RbFor power cell internal resistance; QnomFor power cell rated capacity, QnomFor constant value.
Also can demarcate based on the equivalent internal resistance model of power cell and testing data and obtain.
B) the instantaneous electricity SoC information of power cell that entire car controller is sent by CAN acquisition BMS, reference SoC value set under itself and present mode is compared, according to both differences, the controlling elements λ affecting SoC change in control strategy is adjusted and revises.
Being that power cell target is charged/maintain electricity under different mode with reference to SoC value, it is constant value. By adjusting controlling elements λ in real time, power cell SoC can be maintained near target value and adapt to the change of driving cycle: when driving cycle average demand power is lower, power cell SoC variation range is narrower, when driving cycle average demand power is higher, power cell SoC variation range is wider. The adjustment of controlling elements λ is realized by a PI control module:
λ (k)=λ0+kp(SoC(k)-SoCref(k))+kiΣSoC(i)-SoCref(k)
In formula, λ (k) is the controlling elements after revising, λ0、kpAnd kiIt is the controling parameters needing to demarcate, the instantaneous SoC value of power cell that SoC (k) sends, SoC for battery management system BMSrefFor set reference SoC value, according to the needs of different working modes, SoCrefIt is set as should the constant value of pattern.
C) the instantaneous output power information P of distance increasing unit that entire car controller is sent by CAN acquisition journey device controller HCUE(k), and the scope of the next control cycle distance increasing unit output rating of dynamical output ability prediction according to journey device:
PE(k+1)∈[PE(k)-δPE,1,PE(k)+δPE,2]
In formula, PE(k+1) it is the prediction output rating of next moment journey device; δ PE,1With δ PE,2Be respectively journey device maximum permission decline power and maximum permission on volume power. For the ease of computer control, it is necessary to above-mentioned power range is carried out discrete, to obtain target power candidate collection. Preferably, it is possible to it is discrete that 0.5kW is that spacing carries out, and the target power candidate collection obtained is [PE(k)-δPE,1:0.5:PE(k)+δPE,2]。
D) entire car controller is according to the status information of current vehicle and step b) in the value of controlling elements λ that upgrades look into step a) in mapping form calculate each Hamiltonian functional value corresponding to candidate target power, it is determined that the candidate target power corresponding to Hamiltonian function minimum is the target output rating of distance increasing unit under current control period. By making, function value is minimum guarantees to have best power division between distance increasing unit and power cell.
E) entire car controller determining step d) in determined target power whether to continue 5s be zero, if not, then send target power value to journey device controller HCU by CAN; If stop instruction then sends to journey device controller HCU, journey device is shut down.
Can be seen by above principle and implementation step, owing to entire car controller determined journey device target output rating can make system Hamiltonian function value minimum, so the energy management method proposed can improve the working efficiency of stroke-increasing electric automobile hybrid power system, distance increasing unit and power cell is made all to be operated in the higher state of efficiency. And, by step b) in modification method, it is ensured that the reliable maintenance of power cell SoC under different operating mode. Therefore, the method proposed is easy to online real-time implementation, has good future in engineering applications.
Although it has been shown and described that embodiments of the invention, for the ordinary skill in the art, be appreciated that and these embodiments can be carried out multiple change, amendment, replacement and modification without departing from the principles and spirit of the present invention, the scope of the present invention by claims and etc. jljl limit.

Claims (9)

1. the energy management method under an electromobile increasing journey pattern, it is characterised in that the method comprises the steps:
A) mapping form between system Hamiltonian functional value, the car status information at least comprising distance increasing unit output rating and the factor lambda of control power cell SoC change is constructed, in memory;
B) entire car controller obtains the instantaneous SoC information of power cell, itself and current set reference SoC value is compared, and according to both differences, factor lambda is carried out adjustment and revises, obtains the factor lambda (k) after revising;
C) by the instantaneous output power information of distance increasing unit, the scope of the next control cycle distance increasing unit output rating of prediction, and this scope is carried out discrete acquisition target power candidate collection;
D) according to status information and the step b of current vehicle) in revise after the value of factor lambda (k) look into step a) in mapping form, calculate each Hamiltonian functional value corresponding to candidate target power that target power candidate concentrates, choose the target output rating that the minimum candidate target power corresponding to Hamiltonian functional value is next control cycle distance increasing unit.
2. the method for claim 1, it is characterised in that: also comprise step:
E) entire car controller determining step d) in determined target output rating whether continue to be less than or equal to a certain particular value in certain setting-up time, if not to, then target output rating is sent journey device controller; If stop instruction then sends to journey device controller, journey device is shut down.
3. method as claimed in claim 2, it is characterised in that: described a certain particular value is zero, and specified time is 5s.
4. method as described in item as arbitrary in claim 1-3, it is characterised in that: the mapping relation in described mapping form is determined by following formula:
H = m f · + λ S o C ·
In formula,It it is the specific fuel oil consumption corresponding to distance increasing unit maximum efficiency curve;Represent the velocity of variation of power cell SoC.
5. method as described in item as arbitrary in claim 4, it is characterised in that:For the function of whole car demand power, journey device output rating, the current SoC of power cell and envrionment temperature, or demarcate based on the equivalent internal resistance model of power cell and testing data and obtain.
6. method as described in item as arbitrary in claim 4, it is characterised in that:For the function of the best fuel oil consumption curve of distance increasing unit, output rating and envrionment temperature, or platform experiment demarcates and obtains.
7. method as described in item as arbitrary in claim 1-3,5-6, it is characterised in that: the factor lambda (k) after described correction is obtained by PI control module Dynamic gene λ.
8. method as described in item as arbitrary in claim 1-7, it is characterised in that: it is discrete that the scope of described next control cycle distance increasing unit output rating taking 0.5kW is that spacing carries out.
9. a stroke-increasing electric automobile, it is characterised in that: use the method as described in item as arbitrary in claim 1-8.
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Cited By (11)

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CN106364337A (en) * 2016-08-26 2017-02-01 北京新能源汽车股份有限公司 Control method and device for generating power of range extender and automobile
CN106476643A (en) * 2016-10-25 2017-03-08 湖南大学 A kind of electricity Trajectory Planning System of stroke-increasing electric automobile and control method
CN107255921A (en) * 2017-07-04 2017-10-17 天津农学院 Range extender of electric vehicle optimal control method
CN107627864A (en) * 2017-08-09 2018-01-26 浙江吉利新能源商用车有限公司 A kind of power distribution method and control system of extended-range vehicle
CN107719358A (en) * 2017-09-13 2018-02-23 北京理工大学 A kind of distance increasing unit optimizes progress control method
CN107878445A (en) * 2017-11-06 2018-04-06 吉林大学 A kind of energy-optimised management method of hybrid vehicle for considering cell performance decay
CN111081069A (en) * 2019-12-31 2020-04-28 交通运输部公路科学研究所 Vehicle track control method for bottleneck area of expressway
CN111824119A (en) * 2020-06-18 2020-10-27 杭州赫日新能源科技有限公司 Instantaneous optimization control method for range extender
CN113525343A (en) * 2021-08-31 2021-10-22 湘潭大学 Energy flow optimization control method for extended range electric vehicle
CN114670804A (en) * 2022-04-29 2022-06-28 重庆长安汽车股份有限公司 Intelligent electric quantity management method and system for hybrid electric vehicle, vehicle and storage medium
CN116101087A (en) * 2023-03-10 2023-05-12 金彭车业无锡有限公司 Range extending system of electric vehicle

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CN106364337B (en) * 2016-08-26 2018-09-18 北京新能源汽车股份有限公司 Control method and device for generating power of range extender and automobile
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CN106476643A (en) * 2016-10-25 2017-03-08 湖南大学 A kind of electricity Trajectory Planning System of stroke-increasing electric automobile and control method
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CN107627864A (en) * 2017-08-09 2018-01-26 浙江吉利新能源商用车有限公司 A kind of power distribution method and control system of extended-range vehicle
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CN107878445A (en) * 2017-11-06 2018-04-06 吉林大学 A kind of energy-optimised management method of hybrid vehicle for considering cell performance decay
CN111081069A (en) * 2019-12-31 2020-04-28 交通运输部公路科学研究所 Vehicle track control method for bottleneck area of expressway
CN111824119A (en) * 2020-06-18 2020-10-27 杭州赫日新能源科技有限公司 Instantaneous optimization control method for range extender
CN111824119B (en) * 2020-06-18 2021-10-12 杭州赫日新能源科技有限公司 Instantaneous optimization control method for range extender
CN113525343A (en) * 2021-08-31 2021-10-22 湘潭大学 Energy flow optimization control method for extended range electric vehicle
CN114670804A (en) * 2022-04-29 2022-06-28 重庆长安汽车股份有限公司 Intelligent electric quantity management method and system for hybrid electric vehicle, vehicle and storage medium
CN116101087A (en) * 2023-03-10 2023-05-12 金彭车业无锡有限公司 Range extending system of electric vehicle
CN116101087B (en) * 2023-03-10 2024-03-08 金彭车业无锡有限公司 Range extending system of electric vehicle

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