CN105667499B - A kind of electric vehicle increases the energy management method under journey pattern - Google Patents
A kind of electric vehicle increases the energy management method under journey pattern Download PDFInfo
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- CN105667499B CN105667499B CN201511020923.4A CN201511020923A CN105667499B CN 105667499 B CN105667499 B CN 105667499B CN 201511020923 A CN201511020923 A CN 201511020923A CN 105667499 B CN105667499 B CN 105667499B
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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
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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
- 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
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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
- 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
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0666—Engine power
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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
- 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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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention provides the energy management method under a kind of electric vehicle increasing journey pattern, it is proposed and realized based on the Pang Te lia kings minimal principle in the theory of optimal control, with the minimum optimization aim of vehicle fuel consumption, by building the Hamiltonian functions of system, and function value minimum is made to ensure that there is best power distribution between distance increasing unit and power battery.By online updating controlling elements, i.e., association's state variable λ value in Hamiltonian functions realizes that electricity maintains adaptability of the control to driving cycle.The present invention is intended to provide stroke-increasing electric automobile energy management method feasible in a kind of engineering, to solve the technical issues of hybrid power system efficiency when current stroke-increasing electric automobile is operated in increasing journey pattern is not high, power battery electricity maintains control that cannot be well adapted for driving cycle variation.
Description
Technical field
The invention belongs to Control of Electric Vehicles technical fields, and in particular to a kind of electric vehicle increases the energy pipe under journey pattern
Reason method.
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, has
Effect extends the continual mileage of pure electric automobile, eliminates " the mileage anxiety " of driver, it is considered to be great development prospect
New-energy automobile type.When vehicle operation is when increasing journey pattern, two kinds of energy sources of distance increasing unit and power battery are simultaneously vehicle row
Offer energy is provided, at this point, how distribution of the coordination requirement power between distance increasing unit and power battery, become improve extended-range electricity
Electrical automobile energy utilization efficiency promotes the key technology of user's driving experience.
At present in engineering frequently with stroke-increasing electric automobile energy management strategies have：Single-point control strategy, multiparty control
Strategy and power follower type control strategy.Under single-point control strategy, distance increasing unit is always operating at its pressure point of maximum efficiency when starting, this
Although the working efficiency that sample does distance increasing unit is high, power battery adapts to continually changing road load due to needing, is chronically at
Violent charging and discharging state, working efficiency and durability can all be affected；Under power follower type control strategy, distance increasing unit it is defeated
Go out the power demand that power dynamically tracks vehicle in driving process, can mitigate the live load of power battery in this way, but due to
It is good when the continuous dynamic change in operating point of distance increasing unit, oil consumption and emission performance are not as good as single-point control；Multiparty control strategy is
Compromise under above two control strategy, under the control strategy, distance increasing unit is controlled in two or two demarcated in advance
Above operating point, and switched according to vehicle demand power.Although multiparty control strategy can take into account single-point control to a certain extent
The advantages of system strategy and power follower type control strategy, but the quality of control effect depends on the calibration and selection of operating point, and
One group of fixed calibrating parameters is difficult that good control effect is all shown under different driving cycles.On the other hand, it is above-mentioned
Under three kinds of control strategies, the state-of-charge (SoC) of power battery can only be maintained in set fixed interval, Wu Fashi
Now to the adaptive maintenance of driving cycle, this further restricts the raisings of system energy efficiency.
Research of the academia to energy management strategies, used method mainly have dynamic programming (Dynamic
Programming), equivalent fuel consumption minimum method (Equivalent Consumption Minimization
Strategy), Model Predictive Control method (Model Predictive Control) etc..Though dynamic programming and model prediction
It so can guarantee the optimality of global or local, but need to predict following work information, and calculation amount is very big, is also difficult to
It is realized on in-vehicle processor at this stage.Equivalent fuel consumption minimum method calculation amount is relatively small, but in order to ensure control effect,
Need two equivalent fuel consumption factors under at least calibration electric discharge and charged state, and, robustness very strong to the dependence of model
It is not high.
The present invention is intended to provide stroke-increasing electric automobile energy management method feasible in a kind of engineering, to solve to increase at present
Hybrid power system efficiency is not high when formula electric vehicle is operated in increasing journey pattern, the maintenance of power battery electricity controls cannot be fine
Ground adapts to the technical issues of driving cycle variation.
Invention content
The present invention is based on the Pang Te lia kings minimal principle (Pontryagins ' Minimum in the theory of optimal control
Principle it) proposes and realizes, with the minimum optimization aim of vehicle fuel consumption, by the Hamiltonian for building system
Function, and function value minimum is made to ensure that there is best power distribution between distance increasing unit and power battery.Then, by online
Controlling elements are updated, i.e., association's state variable λ value in Hamiltonian functions realizes that electricity maintains control to fit driving cycle
Ying Xing.
The energy management method that electric vehicle increases under journey pattern includes the following steps：
A) construction Hamiltonian functional values, the car status information including distance increasing unit output power and control power electric
Mapping form between the factor lambda of pond SoC variations, stores in memory；
B) entire car controller obtains the instantaneous SoC information of power battery, itself and current set reference SoC values are compared
Compared with the factor lambda for power battery SoC being controlled to change in control strategy is adjusted and is corrected according to the difference of the two, is repaiied
Factor lambda (k) after just realizes that electricity maintains adaptability of the control to driving cycle；
C) entire car controller predicts next controlling cycle distance increasing unit output work by distance increasing unit instantaneous output information
The range of rate, and discrete acquisition target power Candidate Set is carried out to the range；
D) entire car controller looks into step according to the value of revised factor lambda (k) in the status information of current vehicle and step b)
It is rapid a) in mapping form, calculate target power Candidate Set in each candidate target power corresponding to Hamiltonian
Functional value, it is next controlling cycle distance increasing unit to choose the candidate target power corresponding to minimum Hamiltonian functional values
Target output.
Preferably, whether identified target output is further included in step e) entire car controller judgment steps d) at certain
Continuously less than equal to a certain particular value in setting time, if it is not, then sending target output to distance increasing unit controller；If
It is then to send halt instruction to distance increasing unit controller, distance increasing unit is shut down.
Preferably, a certain particular value is zero.
Preferably, the specific time is 5s
Preferably, the mapping relations in the mapping form are determined by following formula：
In formula,Correspond to the fuel consumption rate of distance increasing unit maximal efficiency curve；Represent power battery SoC's
Change rate.
Preferably,For vehicle demand power, distance increasing unit output power, the current SoC of power battery and environment temperature
Function or equivalent internal resistance model based on power battery and test data demarcate to obtain.
Preferably,For the function of the best fuel consumption curve of distance increasing unit, output power and environment temperature, Huo Zhetai
Frame experimental calibration obtains.
Preferably, the revised factor lambda (k) is obtained by PI control module Dynamic genes λ.
Preferably, the range of next controlling cycle distance increasing unit output power carries out discrete using 0.5kW as spacing.
The invention further relates to a kind of stroke-increasing electric automobiles, use energy management method as described above.
Description of the drawings
Attached drawing 1 is the realization flow for the energy management method that a kind of electric vehicle proposed by the invention increases under journey pattern
Figure.
Attached drawing 2 is system Hamiltonian functions under specific coordination variable λ and the instantaneous electricity SoC values of specified power battery
Value and the mapping relations example between distance increasing unit output power and vehicle demand power.
Specific embodiment
It is further illustrated in conjunction with attached drawing.
When power battery electricity drops to the threshold value set in entire car controller, vehicle enters increase journey pattern after, vehicle control
Device processed obtains the status information of the components such as distance increasing unit, power battery and driving motor by CAN bus in real time, and according to these shapes
Then the value of state online updating information controlling elements λ and the value of computation of table lookup system Hamiltonian functions determine minimum
Target output of the candidate target power for distance increasing unit in the controlling cycle corresponding to Hamiltonian functional values.
Specific method includes the following steps：
A) the offline mapping form constructed between system Hamiltonian functional values and vehicle corresponding state, is stored in
In entire car controller flash.Vehicle corresponding state includes distance increasing unit output power, the instantaneous electricity SoC of power battery, temperature, whole
Vehicle demand power and controlling elements λ, the mapping relations in mapping form are determined by following formula：
Mapping form example under certain specific λ and SoC value is as shown in Figure 2.
In formula,The fuel consumption rate of distance increasing unit maximal efficiency curve is corresponded to, is the letter of distance increasing unit output power
Number is determined jointly by best fuel consumption curve, output power and the environment temperature of distance increasing unit, can also be demarcated by platform experiment
It obtains；λ is the factor for controlling power battery SoC variations；Represent the change rate of power battery SoC.
Function for vehicle demand power, distance increasing unit output power, the current SoC of power battery and environment temperature：
In formula, UocRepresent the open-circuit voltage of power battery；T is temperature of powered cell；PdcFor vehicle demand power；PETo increase
Journey device output power；RbFor power battery internal resistance；QnomFor power battery rated capacity, QnomFor constant value.
The equivalent internal resistance model and test data that may be based on power battery are demarcated to obtain.
B) the instantaneous electricity SoC information of power battery that entire car controller is sent by CAN bus acquisition BMS, by it
It is compared with reference SoC values set under present mode, according to the difference of the two on influencing what SoC changed in control strategy
Controlling elements λ is adjusted and corrects.
Charge with reference to SoC values for power battery target under different mode/electricity is maintained, it is constant value.By adjusting in real time
Controlling elements λ, power battery SoC can be maintained at desired value nearby and adapt to the variation of driving cycle：When driving cycle is put down
When demand power is relatively low, power battery SoC variation ranges are relatively narrow, when driving cycle average demand power is higher, power electric
Pond SoC variation ranges are 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) be revised controlling elements, λ0、kpAnd kiIt is the control parameter for needing to demarcate, SoC (k) is electricity
The instantaneous SoC values of power battery that pond management system BMS is sent, SoCrefFor set reference SoC values, according to different works
The needs of operation mode, SoCrefIt is set as corresponding to the constant value of the pattern.
C) the instantaneous output work of distance increasing unit that entire car controller is sent by CAN bus acquisition distance increasing unit controller HCU
Rate information PE(k), the range of next controlling cycle distance increasing unit output power and according to the dynamical output ability of distance increasing unit is predicted：
PE(k+1)∈[PE(k)-δPE,1,PE(k)+δPE,2]
In formula, PE(k+1) it is the prediction output power of next moment distance increasing unit；δPE,1With δ PE,2Respectively distance increasing unit
Maximum allowable decline power and maximum allowable ascending power.It is controlled for the ease of computer, needs to carry out above-mentioned power bracket
It is discrete, to obtain target power candidate collection.Preferably, discrete, to be obtained target power time can be carried out using 0.5kW as spacing
Selected works are combined into [PE(k)-δPE,1:0.5:PE(k)+δPE,2]。
D) entire car controller looks into step according to the value of controlling elements λ newer in the status information of current vehicle and step b)
A) mapping form in calculates the Hamiltonian functional values corresponding to each candidate target power, determines Hamiltonian
Target output of the candidate target power for distance increasing unit under current control period corresponding to function minimum.By making function
Value minimum ensures there is best power distribution between distance increasing unit and power battery.
E) it is zero that whether identified target power, which continues 5s, in entire car controller judgment step d), if it is not, then by target
Performance number sends distance increasing unit controller HCU to by CAN bus；If so, send halt instruction to distance increasing unit controller
HCU, distance increasing unit are shut down.
It can see by principles above and implementation steps, due to distance increasing unit target output work determined by entire car controller
Rate can make system Hamiltonian functions value minimum, so the energy management method proposed can improve the electronic vapour of extended-range
The working efficiency of vehicle hybrid power system makes distance increasing unit and power battery be operated in the higher state of efficiency.Moreover, pass through step
It is rapid b) in modification method, it is ensured that the reliable maintenance of power battery SoC under different operating modes.Therefore, the method proposed
It is easy to online real-time implementation, there is good future in engineering applications.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. a kind of electric vehicle increases the energy management method under journey pattern, it is characterised in that this method comprises the following steps：
A) system Hamiltonian functional values are constructed, are moved including at least the car status information of distance increasing unit output power and control
Mapping form between the factor lambda of power battery SoC variations, stores in memory；
B) entire car controller obtains the instantaneous SoC information of power battery, itself and current set reference SoC values are compared,
Amendment is adjusted factor lambda according to the difference of the two, obtains revised factor lambda (k)；
C) by distance increasing unit instantaneous output information, the range of next controlling cycle distance increasing unit output power is predicted, and right
The range carries out discrete acquisition target power Candidate Set；
D) mapping table in step a) is looked into according to the value of revised factor lambda (k) in the status information of current vehicle and step b)
Lattice calculate the Hamiltonian functional values corresponding to each candidate target power in target power Candidate Set, choose minimum
Hamiltonian functional values corresponding to candidate target power be next controlling cycle distance increasing unit target output.
2. the method as described in claim 1, it is characterised in that：Further include step：
E) in entire car controller judgment step d) identified target output whether in certain setting time continuously less than etc.
In a certain particular value, if it is not, then sending target output to distance increasing unit controller；If so, halt instruction is sent to
Distance increasing unit controller, distance increasing unit are shut down.
3. method as claimed in claim 2, it is characterised in that：The a certain particular value is zero, specific time 5s.
4. such as claim 1-3 any one of them methods, it is characterised in that：Mapping relations in the mapping form are by following formula
It determines：
In formula,Correspond to the fuel consumption rate of distance increasing unit maximal efficiency curve；Represent the variation of power battery SoC
Rate.
5. method as claimed in claim 4, it is characterised in that：For vehicle demand power, distance increasing unit output power, power
The current SoC of battery and the function of environment temperature or the equivalent internal resistance model based on power battery and test data demarcate to obtain.
6. method as claimed in claim 4, it is characterised in that：Best fuel consumption curve, output power for distance increasing unit
It demarcates to obtain with the function of environment temperature, or platform experiment.
7. such as claim 1-3,5-6 any one of them method, it is characterised in that：The revised factor lambda (k) passes through PI
Control module Dynamic gene λ is obtained.
8. the method as described in claim 1, it is characterised in that：The range of next controlling cycle distance increasing unit output power
It is carried out using 0.5kW as spacing discrete.
9. a kind of stroke-increasing electric automobile, it is characterised in that：Use such as claim 1-8 any one of them method.
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| 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 |
| CN107255921B (en) * | 2017-07-04 | 2021-02-12 | 天津农学院 | Optimal control method for range extender of electric vehicle |
| CN107627864B (en) * | 2017-08-09 | 2019-11-26 | 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 |
| CN107878445B (en) * | 2017-11-06 | 2019-01-18 | 吉林大学 | A kind of energy-optimised management method of hybrid vehicle considering cell performance decay |
| CN111081069B (en) * | 2019-12-31 | 2021-08-06 | 交通运输部公路科学研究所 | Vehicle track control method for bottleneck area of expressway |
| 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 |
| 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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