CN106444422A

CN106444422A - Simulation method and device for power system of pure electric vehicle

Info

Publication number: CN106444422A
Application number: CN201610878182.1A
Authority: CN
Inventors: 张龙聪; 秦兴权; 张兆龙; 周金龙; 王楠
Original assignee: Beijing Electric Vehicle Co Ltd
Current assignee: Beijing Electric Vehicle Co Ltd
Priority date: 2016-10-08
Filing date: 2016-10-08
Publication date: 2017-02-22
Anticipated expiration: 2036-10-08
Also published as: CN106444422B

Abstract

The invention discloses a simulation method and device for a power system of a pure electric vehicle. The method comprises the following steps that a physical model and a control model of the pure electric vehicle are acquired; the type selection constraint conditions for parts in the power system are determined according to the physical model, and matched parts are selected according to the type selection constraint conditions for the parts; real parameters of the matched parts are substituted into the physical model to acquire a real physical model, and simulation is conducted according to the real physical model and the control model. Accordingly, the power system of the pure electric vehicle is simulated on the basis of the physical model and the control model, the method better accords with the actual vehicle driving condition, a simulation result has the higher reference significance, therefore, a reasonable and valid basis can be provided for type selection of the key parts of the pure electric vehicle, the cost is reduced, the development cycle is shortened, and the product performance is guaranteed.

Description

The dynamical system emulation mode of pure electric automobile and device

Technical field

The present invention relates to technical field of vehicle, particularly to a kind of dynamical system emulation mode and of pure electric automobile Plant the dynamical system simulator of pure electric automobile.

Background technology

Because having, cleanliness without any pollution no discharges new-energy automobile, energy conversion efficiency is high, structure is simple, working service side Just the advantages of, add that country has promulgated that the new-energy automobile of many encourages popularization policy successively at present, evoked each cart enterprise Upsurge to new-energy automobile research.

The influence factor that the design of new-energy automobile dynamical system is related to is a lot, how by excellent in electric motor car design process Change power system parameter, with up to standard and optimize, shorten construction cycle and cost-effective, always dynamical system coupling of realizing performance Difficult point in work and emphasis.Correlation technique proposes a kind of pure electric vehicle power system matching method, but the method power Performance parameter considers comprehensively, and is purely calculated according to automobile dynamics equation, and the result reference significance simulating is not It is very big.

Content of the invention

It is contemplated that at least solving one of technical problem in correlation technique to a certain extent.For this reason, the present invention One purpose is to propose a kind of dynamical system emulation mode of pure electric automobile, and the method can be the key of pure electric automobile Parts type selecting provides rationally effectively foundation.

Further object is that proposing a kind of dynamical system simulator of pure electric automobile.

For reaching above-mentioned purpose, one aspect of the present invention embodiment proposes a kind of dynamical system emulation side of pure electric automobile Method, comprises the following steps：Obtain physical model and the Controlling model of described pure electric automobile；Determined dynamic according to described physical model The type selecting constraints of parts in Force system, selects the parts of coupling with the type selecting constraints according to described parts； The actual parameter of the parts of described coupling is brought into described physical model to obtain actual physical model, and according to described true Physical model and described Controlling model are emulated.

The dynamical system emulation mode of the pure electric automobile proposing according to embodiments of the present invention, first determines according to physical model The type selecting constraints of parts, and select the parts of coupling according to the type selecting constraints of parts, then by coupling The actual parameter of parts brings physical model into obtain actual physical model, and is entered according to actual physical model and Controlling model Row emulation.Thus, the method is by being emulated to the dynamical system of pure electric automobile based on physical model and Controlling model, more Plus meeting actual automobile running condition, simulation result has more reference significance, such that it is able to the key components and parts for pure electric automobile Type selecting provides rationally effectively foundation, and the cost-effective and construction cycle is it is ensured that properties of product.

According to one embodiment of present invention, in described dynamical system, parts include motor, gearbox and battery.

According to one embodiment of present invention, described imitated according to described actual physical model and described Controlling model Very, including：Determine and treat emulation driving operating mode, and treat that emulation driving operating mode and described actual physical model obtain physics according to described Demand parameter；Actual control parameter is generated according to described Controlling model and described physical requirement parameter.

According to one embodiment of present invention, described physical model include operating mode select submodel, drag evaluation submodel, Wheel torque calculating submodel, main reducing gear submodel, gearbox submodel, motor submodel and battery submodel, described Treat that emulation driving operating mode and described actual physical model obtain physical requirement parameter and include according to described：Treat emulation driving according to described Operating mode and operating mode select submodel output speed；Running resistance, wherein, institute are calculated according to described drag evaluation submodel and speed State drag evaluation submodel and include automobile dynamics equation or real vehicle taxi data；According to described wheel torque calculate submodel and Described running resistance calculates wheel torque, and wherein, described wheel torque calculates submodel and includes wheel Dynamic Radius；According to described Main reducing gear submodel and described wheel torque calculate main reducing gear moment of torsion, and wherein, described main reducing gear submodel includes master and subtracts Fast device gearratio and the transmission efficiency of main reducing gear；According to described gearbox submodel and described main reducing gear torque arithmetic speed change Case moment of torsion, wherein, described gearbox submodel includes the transmission efficiency of transmission ratio and gearbox；According to described motor Model and described gearbox torque calculate motor demand rotating speed and motor demand torque to export to described Controlling model, wherein, Described motor submodel includes motor actual parameter and electric efficiency；According to described battery submodel, described motor demand rotating speed Calculate battery charging and discharging demand power with described motor demand torque to export to described Controlling model, wherein, described battery Model includes battery actual parameter and battery efficiency.

According to one embodiment of present invention, described Controlling model includes battery control submodel and motor control submodule Type, generates actual control parameter according to described Controlling model and described physical requirement parameter and includes：Son is controlled according to described battery Model and described battery charging and discharging demand power generate battery actual charging electrical power, and wherein, described battery controls submodel bag Include battery behavior parameter, battery operating temperature and battery control strategy；According to described motor control submodel, described motor demand Rotating speed and described motor demand torque generate motor actual torque and motor actual speed, wherein, described motor control submodel Including motor characteristic parameter and motor control strategy, described motor characteristic parameter includes Motor torque power peak and motor effect Rate.

According to one embodiment of present invention, described Controlling model also includes power limit submodel, and methods described is also wrapped Include：Real to described battery actual charging electric work, described motor actual torque and described motor according to described power limit submodel Border rotating speed carries out power limit, and wherein, power limit submodel includes motor external characteristics, battery maximum charge-discharge electric power and power Restriction strategy.

According to one embodiment of present invention, described Controlling model also includes gear control submodel, and methods described is also wrapped Include：Battery actual charging electric work after submodel and power limit, motor actual torque and motor are controlled according to described gear Actual speed generates gearbox actual-gear, and wherein, described gear controls submodel to include gear control strategy and shift mode.

According to one embodiment of present invention, the dynamical system emulation mode of described pure electric automobile also includes：According to Whether the actual performance parameter of dynamical system described in simulation results show meets target capabilities index；If being unsatisfactory for described target Performance indications, then judge to reselect the parts of coupling.

According to one embodiment of present invention, the actual performance parameter of described dynamical system according to simulation results show Whether meet target capabilities index, including：Obtain the max. climb slope, of described dynamical system according to described actual physical model High speed and climbing speed, and verify whether the max. climb slope of described dynamical system reaches target maximum climbable gradient, highest car Speed whether reaches target max. speed and whether speed of climbing reaches target climbing speed.

According to one embodiment of present invention, the actual performance parameter of described dynamical system according to simulation results show Whether meet target capabilities index, including：According to described actual physical model, described battery actual charging electrical power, described electricity Machine actual torque and described motor actual speed and the first speed obtain to the second speed and accelerate to institute from described first speed State the time used by the second speed, to obtain the acceleration parameter of described dynamical system, and judge described acceleration parameter Whether meet target acceleration parameter.

According to one embodiment of present invention, the actual performance parameter of described dynamical system according to simulation results show Whether meet target capabilities index, including：Obtained described continuous according to described Controlling model when judging that emulation end condition meets Sail mileage and described unit mounted mass energy consumption.

For reaching above-mentioned purpose, another aspect of the present invention embodiment proposes a kind of dynamical system emulation of pure electric automobile Device, including：First acquisition module, for obtaining physical model and the Controlling model of described pure electric automobile；Parameter mates mould Block, for determining the type selecting constraints of parts in dynamical system according to described physical model, with according to described parts Type selecting constraints selects the parts of coupling；Emulation module, for bringing the actual parameter of the parts of described coupling into institute State physical model to obtain actual physical model, and emulated according to described actual physical model and described Controlling model

The dynamical system simulator of the pure electric automobile proposing according to embodiments of the present invention, parameter matching module elder generation basis Physical model determines the type selecting constraints of parts, selects the parts of coupling with the type selecting constraints according to parts, Then emulation module brings the actual parameter of the parts of coupling into physical model to obtain actual physical model, and according to true Physical model and Controlling model are emulated.Thus, this device by based on physical model and Controlling model to pure electric automobile Dynamical system emulated, more conform to actual automobile running condition, simulation result has more reference significance, such that it is able to for pure The key components and parts type selecting of electric automobile provides rationally effectively foundation, and the cost-effective and construction cycle is it is ensured that properties of product.

According to one embodiment of present invention, described emulation module is further used for, and determines and treats emulation driving operating mode, and root Treat that emulation driving operating mode and described actual physical model obtain physical requirement parameter according to described, and according to described Controlling model and Described physical requirement parameter generates actual control parameter.

According to one embodiment of present invention, described physical model include operating mode select submodel, drag evaluation submodel, Wheel torque calculates submodel, main reducing gear submodel, gearbox submodel, motor submodel and battery submodel, described imitative True module is further used for：Treat that emulation driving operating mode and operating mode select submodel output speed according to described；According to described resistance Calculate submodel and speed calculates running resistance, wherein, described drag evaluation submodel includes automobile dynamics equation or real vehicle Taxi data；Submodel is calculated according to described wheel torque and described running resistance calculates wheel torque, wherein, described wheel is turned round Square calculates submodel and includes wheel Dynamic Radius；Main reducing gear is calculated according to described main reducing gear submodel and described wheel torque Moment of torsion, wherein, described main reducing gear submodel includes the transmission efficiency of final driver ratio and main reducing gear；According to described change Fast chest model and described main reducing gear torque arithmetic gearbox torque, wherein, it is true that described gearbox submodel includes gearbox The transmission efficiency of real parameter, transmission ratio and gearbox；Calculated according to described motor submodel and described gearbox torque , to export to described Controlling model, wherein, it is true that described motor submodel includes motor for motor demand rotating speed and motor demand torque Real parameter and electric efficiency；Electricity is calculated according to described battery submodel, described motor demand rotating speed and described motor demand torque To export to described Controlling model, wherein, described battery submodel includes battery actual parameter and electricity to pond charge-discharge power demand power Pond efficiency for charge-discharge.

According to one embodiment of present invention, described Controlling model includes battery control submodel and motor control submodule Type, described emulation module is further used for：Submodel and described battery charging and discharging demand power is controlled to generate according to described battery Battery actual charging electrical power, wherein, described battery controls submodel to include battery behavior parameter, battery operating temperature and battery Control strategy；Motor is generated according to described motor control submodel, described motor demand rotating speed and described motor demand torque real Border moment of torsion and motor actual speed, wherein, described motor control submodel includes motor characteristic parameter and motor control strategy, institute State motor characteristic parameter and include Motor torque power peak and electric efficiency.

According to one embodiment of present invention, described Controlling model also includes power limit submodel, described emulation module It is further used for：According to described power limit submodel to described battery actual charging electric work, described motor actual torque and institute State motor actual speed and carry out power limit, wherein, power limit submodel includes motor external characteristics, battery maximum charge and discharge electric work Rate and power limit strategy.

According to one embodiment of present invention, described Controlling model also includes gear control submodel, described emulation module It is further used for：The actual torsion of battery actual charging electric work after submodel and power limit, motor is controlled according to described gear Square and motor actual speed generate gearbox actual-gear, wherein, described gear control submodel include gear control strategy and Shift mode.

According to one embodiment of present invention, the dynamical system simulator of described pure electric automobile also includes verifying mould Block, whether described authentication module meets target capabilities for the actual performance parameter of dynamical system according to simulation results show Index, if being unsatisfactory for described target capabilities index, judges to reselect the parts of coupling.

According to one embodiment of present invention, described authentication module is further used for, and is obtained according to described actual physical model Take max. climb slope, max. speed and the climbing speed of described dynamical system, and verify the max. climb slope of described dynamical system Whether reach target maximum climbable gradient, whether max. speed reaches target max. speed and whether speed of climbing reaches target and climb Slope speed.

According to one embodiment of present invention, described authentication module is further used for, according to described actual physical model, institute State battery actual charging electrical power, described motor actual torque and described motor actual speed and the first speed to the second speed Acquisition accelerates to the time used by described second speed from described first speed, is joined with the acceleration obtaining described dynamical system Number, and judge whether described acceleration parameter meets target acceleration parameter.

According to one embodiment of present invention, described authentication module is further used for, and is judging emulation end condition satisfaction When described continual mileage and described unit mounted mass energy consumption are obtained according to described Controlling model.

Brief description

Fig. 1 is the flow chart of the dynamical system emulation mode of pure electric automobile according to embodiments of the present invention；

Fig. 2 is the flow chart of the dynamical system emulation mode of the pure electric automobile according to one specific embodiment of the present invention；

Fig. 3 is the flow chart of the dynamical system emulation mode of pure electric automobile according to an embodiment of the invention；

Fig. 4 is the simulating schematic diagram of the dynamical system emulation mode of pure electric automobile according to an embodiment of the invention；

Fig. 5 be pure electric automobile according to an embodiment of the invention dynamical system emulation mode in physical model emulation The flow chart of method；

Fig. 6 be pure electric automobile according to an embodiment of the invention dynamical system emulation mode in physical model imitative True schematic diagram；

Fig. 7 be pure electric automobile according to an embodiment of the invention dynamical system emulation mode in Controlling model emulation The flow chart of method；

Fig. 8 be pure electric automobile according to an embodiment of the invention dynamical system emulation mode in Controlling model imitative True schematic diagram；

Fig. 9 be the pure electric automobile according to one specific embodiment of the present invention dynamical system emulation mode in acceleration The simulating schematic diagram of checking；

Figure 10 is the simulating schematic diagram of vehicle acceleration time performance computation model in Fig. 9；

Figure 11 is the block diagram of the dynamical system simulator of pure electric automobile according to embodiments of the present invention；And

Figure 12 is the block diagram of the dynamical system simulator of pure electric automobile according to an embodiment of the invention.

Specific embodiment

Embodiments of the invention are described below in detail, the example of described embodiment is shown in the drawings, wherein from start to finish The element that same or similar label represents same or similar element or has same or like function.Below with reference to attached The embodiment of figure description is exemplary it is intended to be used for explaining the present invention, and is not considered as limiting the invention.

Below with reference to the accompanying drawings the dynamical system emulation mode of pure electric automobile and the dress of embodiment of the present invention proposition to be described Put.

It should be noted that the pure electric automobile of the embodiment of the present invention can be based on fuel-engined vehicle reequiped preposition Forerunner can trickle charge and the pure electric automobile filling soon.On the basis of retaining former car system, use lithium-ion-power cell, permanent magnetism instead together Step motor-driven vehicle travels and electric air-conditioning freezes, PTC heats, DC/DC is charged as 12V battery, electric vacuum pump etc..According to Target capabilities index according to the pure electric automobile that the fundamental performance parameter marking vehicle is determined with the embodiment of the present invention.

Fig. 1 is the flow chart of the dynamical system emulation mode of pure electric automobile according to embodiments of the present invention.As Fig. 1 institute Show, the method comprises the following steps：

S1：Obtain physical model and the Controlling model of pure electric automobile.

Wherein, the physical model of pure electric automobile includes car load basic parameter, such as car kerb weight, fully loaded quality, car Length, width and height, tire rolling radius, front face area, coefficient of rolling resistance, coefficient of air resistance etc..

S2：Determine the type selecting constraints of parts in dynamical system according to physical model, with the type selecting according to parts Constraints selects the parts of coupling.

Wherein, in dynamical system, parts include motor, gearbox and battery etc..

Specifically, single small-sized physical simulation model block such as simulation model of motor block, battery simulation model can be set up Block and main reducing gear simulation model block, and the physical model of pure electric automobile is constructed by multiple small-sized physical simulation model blocks. Single small-sized physical simulation model block mainly uses automobile dynamics equation and knowwhy is built, such as motor, battery and The efficiency data of the parts such as main reducing gear can take a relatively reasonable value according to previous experiences, can be according to conventional vehicle Parts efficiency is guarded selection relatively, so that it is determined that in dynamical system parts type selecting constraints.

S3：The actual parameter of the parts of coupling is brought into physical model to obtain actual physical model, and according to true Physical model and Controlling model are emulated.

That is, the parameter of the key components and parts that can be gone out according to physical model simulation calculation, to carry out existing parts Selection, after choosing parts, the actual parameter of the parts of selection can be brought into physical model and Controlling model is carried out Associative simulation, to carry out positive checking.

Specifically, as shown in Fig. 2 the simulation process of the embodiment of the present invention is roughly divided into following steps：

S10：Determine the target capabilities index of car load.

Wherein, target capabilities index includes target capabilities index and includes target maximum climbable gradient, target max. speed, target Acceleration parameter (include 0-30km/h acceleration and 30-50km/h acceleration), target climbing speed, in target driving Journey and target unit mounted mass energy consumption etc..

S20：Determine the basic parameter of car load.

Wherein, the basic parameter of car load mainly includes car kerb weight, fully loaded quality, the length, width and height of car, tire rolling half Footpath, front face area, coefficient of rolling resistance, coefficient of air resistance etc..

S30：Set up single small-sized physical simulation model block.

S40：Set up physical model and Controlling model.

S50：Determine the type selecting constraints of parts according to single small-sized physical simulation model block, to carry out existing zero Part type selecting, the actual parameter of the parts of coupling is brought into physical model to set up actual physical model, and according to actual physical Model and Controlling model carry out associative simulation to carry out positive checking.

Below the emulation mode of the embodiment of the present invention is described in detail.

According to one embodiment of present invention, according to following matching principle be type selecting constraints select coupling motor, Specifically, the matching principle of (1) parameter of electric machine is as follows for gearbox and battery, and wherein, the parameter of electric machine includes Rated motor characteristic, electricity The rated voltage of the peak feature of machine, motor base speed N and maximum speed Nmax and motor.

For Rated motor characteristics match, the rated power of motor need to meet 30 minutes max. speed of vehicle, 4% Ramp climbing speed requires, 12% ramp climbing speed requires, and that is, the rated power of motor needs more than or equal to above-mentioned three's work( The maximum of rate, is P_Specified>=max (Pe30, Pe4, Pe12), wherein, P_SpecifiedFor the rated power of motor, Pe30 is 30 minutes The power demand of max. speed, Pe4 is the power demand of 4% ramp climbing speed, and Pe12 is the work(of 12% ramp climbing speed Rate demand；The nominal torque of motor needs vehicle max. speed, 4% ramp climbing speed requirement, 12% ramp climbing in 30 minutes Speed requires, and specifically can be determined according to rated power and base speed, i.e. T_Specified>=(Te30, Te4, Te12), wherein, T_SpecifiedFor motor Nominal torque, Te30 is the torque demand of 30 minutes max. speed, Te4 be 4% ramp climb speed torque demand, Te12 The torque demand of speed of climbing for 12% ramp.

For the peak feature coupling of motor, the peak power of motor needs to meet the vehicle 0-50km/h acceleration time will Ask, the 50-80km/h acceleration time requires, the 0-100km/h acceleration time requires and NEDC working condition requirement, is P_{Peak value}≥(Pmax0- 50, Pmax50-80, Pmax0-100, PmaxNedc), wherein, P_{Peak value}For peak power, when Pmax0-50 accelerates for 0-50km/h Power demand, power demand when Pmax50-80 accelerates for 50-80km/h, when Pmax0-100 accelerates for 0-1000km/h Power demand, PmaxNedc is the power demand under NEDC operating mode；The peak power duration needs to meet 0-50km/h acceleration Time requirement, the 50-80km/h acceleration time requires, the 0-100km/h acceleration time requires, and is Pt_{Peak value}≥(Ptmax0-50, Ptmax50-80, Ptmax0-100) wherein, Pt_{Peak value}For peak torque, moment of torsion when Ptmax0-50 accelerates for 0-50km/h need to Ask, torque demand when Ptmax50-80 accelerates for 50-80km/h, moment of torsion when Ptmax0-100 accelerates for 0-1000km/h needs Ask；The peak torque time needs to meet the requirement of uphill starting, travels 10 according at least per minute during Standard uphill starting Rice.

For motor base speed N and maximum speed Nmax coupling, motor base speed needs to be expert at according to the vehicle most of the time Car speed, to determine, also refers to state of the art such as 1500 3000rpm of domestic and international motor producer；Motor maximum speed needs The max. speed of vehicle to be met requires, and also refers to the state of the art of domestic and international motor producer.

For the rated voltage coupling of motor, the rated voltage of motor meets the electric pressure of Full Vehicle System.

(2) matching principle of gearbox parameter is as follows, and wherein, gearbox parameter includes speed ratio minimum of a value and speed ratio is maximum Value.

Speed ratio minimum of a value is limited by max. speed and the maximum adhesion power requirement of driving wheel obtained ground；

Speed ratio maximum is limited by the minimum stabilizing speed of vehicle and maximum climbable gradient of vehicle requirement.

If it should be noted that pure electric automobile coupling gearbox, at this, calculated speed ratio value is gearbox speed Than and fixing base ratio product.

(3) matching principle of battery parameter is as follows, and wherein, battery match parameter includes battery rated voltage coupling, battery Rated capacity, the crest discharge power of battery, the operating mode discharge power of battery and battery electric quantity.

For battery rated voltage coupling, the rated voltage of rated voltage Battery_V for battery and motor in principle Motor_V matches, and can be calculated according to Battery_V=Motor_V/a, and wherein a is voltage matches coefficient, typically takes 0.9—0.95.In addition, the selection of electric pressure also will be carried out according to existing GB, specific standards require to see GB.

For battery rated capacity, battery rated capacity will meet the requirement of continual mileage, it should be noted herein that clear and definite temperature Condition and constant speed method continual mileage, NEDC operating condition method continual mileage.In a specific example of the present invention, battery can for lithium from Sub- battery, the battery capacity of lithium ion battery and performance temperature influence are larger, thus in type selecting certain it is noted that the clear and definite winter Continual mileage under season or other conditions, and simulation calculation respectively.

For the crest discharge power of battery, the crest discharge power Bp_max of battery will meet the peak power of motor P_{Peak value}Require, and the duration also will equally meet, in addition, it is also contemplated that in vehicle travel process electrical accessory is (for example Electric air-conditioning, DC/DC etc.) electrical power P_Annex, so Bp_max=P_{Peak value}/η+P_Annex, η is electric efficiency.

For the operating mode discharge power of battery, the operating mode discharge power of battery will meet the power demand of NEDC operating mode, and And meet the power demand of 30 points of max. speed.

For battery electric quantity, the continual mileage that battery electric quantity will meet NEDC operating mode requires, and constant speed method continual mileage requires, And meet the demand of 30 points of max. speed.In order to protect battery, try not for the electricity of battery to be put into 0, so in emulation Depth of discharge condition will be added during calculating.

It should be noted that NEDC operating mode is a kind of operating mode inside standard, it is the time dependent relation table of speed.

Thus, the development Experience based on current most domestic automobile production producer and the quick demand of existing market, section About the construction cycle seizes market, goes out battery type selecting constraints, choice of electrical machine constraints and gearbox type selecting in simulation calculation After constraints, can select to meet battery, motor and the production transmissions of type selecting constraints from current supplier.

Further, according to one embodiment of present invention, as shown in Figures 3 and 4, according to actual physical model and control mould Type is emulated, including：

S101：Determine treat emulation driving operating mode, and according to treat emulation driving operating mode and actual physical model obtain physics need Seek parameter.

S102：Actual control parameter is generated according to Controlling model and physical requirement parameter.

Specifically, after the match parameter according to parts selects the parts of coupling, real physics can be built Model and Controlling model, then, as shown in figure 4, physical model output physics demand parameter signal, physical requirement parameter signal master Including motor demand torque, motor demand rotating speed, battery charging and discharging demand power etc., Controlling model is in predetermined control strategy On the basis of output motor actual torque, motor actual speed, battery actual power and current most optimal gear.

The principle of simulation of physical model is described with reference to Fig. 5 and 6.

Specifically, according to one embodiment of present invention, as it can be seen in figures 5 and 6, physical model includes operating mode selects submodule Type, drag evaluation submodel, wheel torque calculate submodel, main reducing gear submodel, gearbox submodel, motor submodel and Battery submodel, according to treat emulation driving operating mode and actual physical model obtain physical requirement parameter include：

S201：According to treat emulation driving operating mode and operating mode select submodel output speed；

S202：Running resistance is calculated according to drag evaluation submodel and speed, wherein, drag evaluation submodel includes automobile Kinetics equation or real vehicle taxi data；

S203：Submodel is calculated according to wheel torque and running resistance calculates wheel torque, wherein, wheel torque calculates son Model includes wheel Dynamic Radius；

S204：Main reducing gear moment of torsion, wherein, main reducing gear submodel are calculated according to main reducing gear submodel and wheel torque Transmission efficiency including final driver ratio and main reducing gear；

S205：According to gearbox submodel and main reducing gear torque arithmetic gearbox torque, wherein, gearbox submodel bag Include the transmission efficiency of transmission ratio and gearbox；

S206：According to motor submodel and gearbox torque calculate motor demand rotating speed and motor demand torque with export to Controlling model, wherein, motor submodel includes motor actual parameter and electric efficiency；

S207：Battery charging and discharging demand power is calculated according to battery submodel, motor demand rotating speed and motor demand torque To export to Controlling model, wherein, battery submodel includes battery actual parameter and battery efficiency.

Further, physical model may also include annex power consumption submodel and physical requirement output submodel, wherein, according to Annex power consumption submodel can calculate annex demand power consumption, such as air-conditioning power consumption, and then in step S207, can be according to battery Model, annex demand power consumption, motor demand rotating speed and motor demand torque calculate battery charging and discharging demand power；Physical requirement is defeated Go out submodel exportable motor demand rotating speed, motor demand torque and battery charging and discharging demand power etc. to Controlling model.

Specifically, the principle of simulation of physical model can be as shown in fig. 6, the course of work of physical model be as follows：In operating mode choosing Select and in submodel, pass through switch optional emulation operating mode such as NEDC operating mode or cruising mode to be carried out, wherein, operating mode is Bivariate table with regard to speed and time；Then, carry out running resistance calculating by speed (include accelerating inertia resistance, roll resistance Power, gradient resistance, air drag etc.), drag evaluation submodel includes automobile dynamics equation or real vehicle taxi data, resistance gauge Calculation can be set up by automobile dynamics equation or is fitted by real vehicle taxi data calculating, and do not describe in detail at this； Wheel torque calculating submodel can be passed sequentially through and wheel Dynamic Radius derive wheel torque after drag evaluation, be subtracted by master Fast device submodel and wheel torque derive the moment of torsion of main reducing gear input and output shaft, by gearbox submodel and main reducing gear The moment of torsion of torque arithmetic gearbox input and output shaft and the demand gear of gearbox, wherein, add in moment of torsion transmittance process and can pass The efficiency of efficiency of movement, such as main reducing gear transmission and the transmission efficiency of gearbox, both change with rotating speed and gear moment 's；Finally, rotating speed and the moment of torsion needed for motor is simulated according to the torque arithmetic of motor submodel and gearbox input and output shaft And the rotating speed according to needed for battery submodel, motor and torque arithmetic simulate the charge-discharge electric power needed for battery, motor It is separately added into electric system efficiency and battery efficiency, so that simulation result more conforms in model and battery submodel Reality is reliable effective.

That is, physical model is that speed backstepping goes out according to demand, dynamical system is realized needed for motor during this speed Charge-discharge electric power needed for the rotating speed of output and moment of torsion and battery.

It should be noted that calculating wheel torque, the moment of torsion of main reducing gear input and output shaft and gearbox input and output After the moment of torsion of axle, type selecting can be carried out to these parts, it is known that these parts need the maximum torsion providing and bearing Square is how many.

Principle of simulation with reference to Fig. 7 and 8 pair of Controlling model is described in detail.

Specifically, according to one embodiment of present invention, as shown in FIG. 7 and 8, Controlling model includes battery control submodel With motor control submodel, actual control parameter is generated according to Controlling model and physical requirement parameter and includes：

S301：Submodel and battery charging and discharging demand power is controlled to generate battery actual charging electrical power according to battery, its In, battery controls submodel to include battery behavior parameter, battery operating temperature and battery control strategy；

Wherein, battery control strategy can be the calculating of the calculating, the power of battery and active volume of battery soc.

S302：According to motor control submodel, motor demand rotating speed and motor demand torque generate motor actual torque and Motor actual speed, wherein, motor control submodel includes motor characteristic parameter and motor control strategy, motor characteristic parameter bag Include Motor torque power peak and electric efficiency.

Wherein, motor control strategy can be the meter of Motor torque restriction, electric system efficiency, energy regenerating torque module Calculate.

Further, as shown in FIG. 7 and 8, Controlling model also includes power limit submodel, and method also includes：

S303：According to power limit submodel to battery actual charging electric work, motor actual torque and motor actual speed Carry out power limit, wherein, power limit submodel includes motor external characteristics, battery maximum charge-discharge electric power and power limit plan Slightly.

Further, as shown in FIG. 7 and 8, Controlling model also includes gear control submodel, and method also includes：

S304：Battery actual charging electric work after submodel and power limit, motor actual torque are controlled according to gear Generate gearbox actual-gear with motor actual speed, wherein, gear controls submodel to include gear control strategy and gearshift mould Formula.

If it should be noted that gearbox is single reduction final drive, gear controls submodel to be not related to gearshift problem.

Further, as shown in figure 8, Controlling model also includes physical requirement input submodel and control signal output submodule Type, wherein, physical requirement inputs motor demand rotating speed, motor demand torque and the battery that submodel can receive physical model output Charge-discharge power demand power etc.；It is real for the battery actual charging electrical power after export-restriction and motor that control signal exports submodel Border moment of torsion and motor actual speed and gearbox actual-gear.

Specifically, the principle of simulation of Controlling model can as shown in figure 8,.The course of work of Controlling model is as follows：Control mould Type obtains after physical requirement parameter is battery charging and discharging demand power, motor demand rotating speed and motor demand torque, according to motor Control submodel i.e. for example selected motor and property calculation motor actual torque and motor actual speed, including the moment of torsion work(of motor It is actual that rate peak feature, the efficiency characteristic of electric system and battery control the charge-discharge characteristic of submodel such as battery to calculate battery Charging electrical power, then real to battery actual charging electrical power, motor actual torque and motor by power limit submodel Border rotating speed carries out the restriction output of power and moment of torsion, finally obtains the actual charging of battery after actual control parameter output limits Electrical power, motor actual torque and motor actual speed.In simulation process, submodel is controlled individually to set battery by battery Operating temperature, be to work under which kind of state of temperature to set battery, from having very much ginseng to this to vehicle dynamic performance calculation Examine meaning；Battery controls the battery SOC calculative strategy that prestores in submodel, calculates battery soc according to ampere-hour integration method, and Battery controls in submodel, adds, according to selected battery behavior, the charge-discharge electric power table changing with soc and temperature, so that meter Calculating simulation result is that battery actual charging electrical power tallies with the actual situation；And add in motor control submodel and turn with motor Speed and moment of torsion and the moment change electric system efficiency such that it is able to obtain motor actual torque and motor actual speed；Power Torque limit submodel is defencive function module, and it is the limit being carried out according to motor external characteristics and battery maximum charge-discharge electric power Output module processed；Gear controls submodel mainly to solve, when vehicle adopts many speed transmission, to be entered according to efficiency optimization principle The judgement of row gear, makes whole power assembly always work in optimum efficiency state, really calculates the energy consumption data of car load, Dynamic property gearshift and economy gearshift both of which can be subdivided in gear control submodel；Final control signal exports submodel Output motor actual torque, motor actual speed, the actual charge-discharge electric power of battery and gear coherent signal.

Further, according to one embodiment of present invention, the dynamical system emulation mode of pure electric automobile also includes：Root Whether the actual performance parameter according to simulation results show dynamical system meets target capabilities index；If being unsatisfactory for target capabilities to refer to Mark, then judge to reselect the parts of coupling.

That is, can determine whether whether the actual performance parameter of dynamical system meets target capabilities index, if it is satisfied, then Judge respective model parts be coupling；If being unsatisfactory for, judging that the parts of respective model are unmatched, can weigh New selection parts.So, can repeatedly calculation optimization go out to fully meet the power of performance indications by above method and model The parts that systematic parameter is mated, significant for saving construction cycle and cost, simulation result is to real vehicle performance data There is the effect of reality.

Specifically, whether target capabilities index is met according to the actual performance parameter of simulation results show dynamical system, bag Include：Obtain max. climb slope, max. speed and the climbing speed of dynamical system according to actual physical model, and verify dynamical system Max. climb slope whether reach target maximum climbable gradient, whether max. speed reaches target max. speed and speed of climbing is No reach target climbing speed.

Further, according to one embodiment of present invention, the actual performance according to simulation results show dynamical system is joined Whether number meets target capabilities index, including：According to actual physical model, battery actual charging electrical power, motor actual torque Accelerate to the time used by the second speed with motor actual speed and the first speed to the second speed acquisition from the first speed, with Obtain the acceleration parameter of dynamical system, and judge whether acceleration parameter meets target acceleration parameter.

Wherein, acceleration may include the acceleration of 0-30km/h and the acceleration of 30-50km/h.For 0- The acceleration of 30km/h, the first speed is 0, and the second speed is 30km/h；For the acceleration of 30-50km/h, the first car Speed is 30km/h, and the second speed is 50km/h.

Further, according to one embodiment of present invention, the actual performance according to simulation results show dynamical system is joined Whether number meets target capabilities index, including：When judging that emulation end condition meets, continual mileage is obtained according to Controlling model With unit mounted mass energy consumption.

Specifically, the positive checking of power system performance may include following three kinds of modes：

(1) the positive checking of max. speed, climbing speed and max. climb slope can be by dynamics of vehicle equation and true Physical model is realized, and adds efficiency data during emulation.

Specifically, can according to the maximum torque required for the parts such as motor, battery, gearbox, main reducing gear, turn The parameters such as fast value, performance number are worth to max. speed, climbing speed and max. climb slope.

(2) continual mileage and unit mounted mass energy consumption can obtain in emulation end condition satisfaction, that is, when emulation is whole When only condition meets, the exportable continual mileage of Controlling model, energy content of battery consumption, unit mounted mass energy consumption, soc become The data such as change value.

Specifically, Controlling model may also include continual mileage and calculates submodel, and continual mileage calculates submodel can be in meter Calculate the continual mileage during emulation start to finish.Gear controls submodel can calculate unit mounted mass in simulation process Energy consumption.

It should be noted that emulation end condition can be the termination condition of acceleration emulation in example below, i.e. root Judge whether emulation terminates according to speed, taking the acceleration of 0-30km/h as a example, can determine whether that current vehicle speed reaches and sentence during 30km/h Disconnected emulation terminates.

It should be appreciated that different acceleration areas, emulation termination condition difference, accordingly, continual mileage, the energy content of battery The data such as consumption, unit mounted mass energy consumption, soc changing value are also to change, now can be with corresponding property Can index be compared, to carry out positive checking.

(3) the acceleration simulation model as shown in Figures 9 and 10 according to really physical model construction, acceleration parameter can Acceleration simulation model according to Fig. 9 and Figure 10 obtains, and wherein, can judge according to speed whether emulation terminates.

As shown in figure 9, acceleration simulation model includes speed submodel, speed judges submodel, acceleration calculates Submodel and acceleration time display submodel.

Wherein, speed submodel is used for calculating current vehicle speed；Speed judges that submodel is used for judging whether current vehicle speed reaches To preset vehicle speed, taking the acceleration of 0-30km/h as a example, can determine whether whether current vehicle speed reaches 30km/h.

As shown in Figure 10, acceleration calculates submodel and may include battery submodel, motor submodel, gearbox submodel Module, main reducing gear submodel, wheel torque calculate submodel, drag evaluation submodule and acceleration and speed meter operator Model.

Wherein, battery realtime power is exported according to battery submodule, and then according to motor submodel and battery realtime power Calculate motor demand torque, and defeated according to the input of gearbox under gearbox submodel and motor demand torque calculating current gear Shaft moment of torsion, and turned round according to the demand of the input and output shaft torque arithmetic main reducing gear of main reducing gear submodel and gearbox Square, calculates submodel according to wheel torque and main reducing gear demand torque calculates wheel demand torque, meanwhile, according to speed submodule Type calculates current vehicle speed, and then calculates running resistance in real time according to drag evaluation submodel and current vehicle speed.Then, according to acceleration Degree and speed meter Operator Model, running resistance and wheel demand torque calculate real-time vehicle acceleration and car.

Acceleration time display submodel display vehicle accelerates to the concrete time used during the second speed such as 30km/h.By According to the acceleration time, this, show that the time that submodel shows can verify that acceleration.

Specifically, the course of work of vehicle accelerating ability energy simulation model is as follows：According to the external characteristics of selected motor, in electricity Selected by input in loom model, the actual parameter of the external characteristics of motor, then draws the wheel demand torque and row acting on wheel Sail the moment of resistance, then acceleration is obtained according to Newton's second law, and calculate current vehicle speed with integration method, work as current vehicle Speed reaches target vehicle speed when being the second speed, and display accelerates the time used, for verifying acceleration.Thus, the present invention The dynamical system emulation mode of embodiment, during type selecting, power performance and economic performance parameter consider comprehensively, and add annex work( Consumption, simulation result is relatively reliable.And not only consider physical model, it is additionally added Controlling model, more conform to actual vehicle Travel situations, simulation result has more reference significance.In addition, model module, highly versatile, can be also used for the imitative of other vehicles True calculating, can delete for module therein or increase, have hardware and software platform meaning.

In one embodiment of the invention, simulation model set up by available MATLAB/simulink software.Certainly, Can complete to emulate using other different modeling softwares.

To sum up, the dynamical system emulation mode of the pure electric automobile proposing according to embodiments of the present invention, first according to physics mould Type determines the type selecting constraints of parts, and selects the parts mating according to the type selecting constraints of parts, then will The actual parameter of the parts of coupling brings physical model into obtain actual physical model, and according to actual physical model and control Model is emulated.Thus, the method is by being carried out to the dynamical system of pure electric automobile based on physical model and Controlling model Emulation, more conforms to actual automobile running condition, simulation result has more reference significance, such that it is able to the key for pure electric automobile Parts type selecting provides rationally effectively foundation, and the cost-effective and construction cycle is it is ensured that properties of product.

Figure 11 is the block diagram of the dynamical system simulator of pure electric automobile according to embodiments of the present invention.As figure Shown in 11, the dynamical system simulator of this pure electric automobile includes：First acquisition module 10, parameter matching module 20 and emulation Module 30.

Wherein, the first acquisition module 10 is used for obtaining physical model and the Controlling model of pure electric automobile；Parameter mates mould Block 20 is used for determining the type selecting constraints of parts in dynamical system according to physical model, with the type selecting constraint according to parts Condition selects the parts of coupling；Emulation module 30 is used for bringing the actual parameter of the parts of coupling into physical model to obtain Actual physical model, and emulated according to actual physical model and Controlling model.

Wherein, in dynamical system, parts include motor, gearbox and battery.

According to one embodiment of present invention, emulation module 30 is further used for, and determines and treats emulation driving operating mode, and according to Described treat emulation driving operating mode and actual physical model obtain physical requirement parameter, and according to Controlling model and physical requirement ginseng Number generates actual control parameter.

According to one embodiment of present invention, physical model includes operating mode selection submodel, drag evaluation submodel, wheel Torque arithmetic submodel, main reducing gear submodel, gearbox submodel, motor submodel and battery submodel, emulation module 30 It is further used for：According to treat emulation driving operating mode and operating mode select submodel output speed；According to drag evaluation submodel and car Speed calculates running resistance, and wherein, drag evaluation submodel includes automobile dynamics equation or real vehicle taxi data；Turned round according to wheel Square calculates submodel and running resistance calculates wheel torque, and wherein, wheel torque calculates submodel and includes wheel Dynamic Radius；Root Calculate main reducing gear moment of torsion according to main reducing gear submodel and wheel torque, wherein, main reducing gear submodel includes main reducing gear and passes Dynamic ratio and the transmission efficiency of main reducing gear；According to gearbox submodel and main reducing gear torque arithmetic gearbox torque, wherein, become Fast chest model includes the transmission efficiency of gearbox actual parameter, transmission ratio and gearbox；According to motor submodel and Gearbox torque calculates motor demand rotating speed and motor demand torque to export to Controlling model, and wherein, motor submodel includes Motor actual parameter and electric efficiency；Battery charge and discharge is calculated according to battery submodel, motor demand rotating speed and motor demand torque To export to Controlling model, wherein, battery submodel includes battery actual parameter and battery efficiency to electric demand power.

According to one embodiment of present invention, Controlling model includes battery control submodel and motor control submodel, imitates True module 30 is further used for：Submodel and battery charging and discharging demand power is controlled to generate battery actual charging electric work according to battery Rate, wherein, battery controls submodel to include battery behavior parameter, battery operating temperature and battery control strategy；According to motor control System model, motor demand rotating speed and motor demand torque generate motor actual torque and motor actual speed, wherein, motor control System model includes motor characteristic parameter and motor control strategy, and motor characteristic parameter includes Motor torque power peak and motor Efficiency.

According to one embodiment of present invention, Controlling model also includes power limit submodel, and emulation module 30 is further For：Power is carried out to battery actual charging electric work, motor actual torque and motor actual speed according to power limit submodel Limit, wherein, power limit submodel includes motor external characteristics, battery maximum charge-discharge electric power and power limit strategy.

According to one embodiment of present invention, Controlling model also includes gear control submodel, and emulation module 30 is further For：Control the battery actual charging electric work after submodel and power limit, motor actual torque and motor real according to gear Border rotating speed generates gearbox actual-gear, and wherein, gear controls submodel to include gear control strategy and shift mode.

According to one embodiment of present invention, as shown in figure 12, the dynamical system simulator of pure electric automobile also includes： Authentication module 40, wherein, whether authentication module 40 is used for being met according to the actual performance parameter of simulation results show dynamical system Target capabilities index, if being unsatisfactory for target capabilities index, judges to reselect the parts of coupling.

According to one embodiment of present invention, authentication module 40 is further used for：Power is obtained according to actual physical model The max. climb slope of system, max. speed and climbing speed, and verify whether the max. climb slope of dynamical system reaches target Big climbable gradient, max. speed whether reach target max. speed and whether speed of climbing reaches target climbing speed.

According to one embodiment of present invention, authentication module 40 is further used for：Actual according to actual physical model, battery Charging electrical power, motor actual torque and motor actual speed and the first speed obtain to the second speed and accelerate from the first speed To the time used by the second speed, to obtain the acceleration parameter of dynamical system, and judge whether acceleration parameter meets Target acceleration parameter.

According to one embodiment of present invention, authentication module 40 is further used for：When judging that emulation end condition meets Continual mileage and unit mounted mass energy consumption are obtained according to Controlling model.

To sum up, the dynamical system simulator of the pure electric automobile proposing according to embodiments of the present invention, parameter matching module First determine the type selecting constraints of parts according to physical model, and according to parts type selecting constraints select coupling Parts, then emulation module the actual parameter of the parts of coupling is brought into physical model to obtain actual physical model, and Emulated according to actual physical model and Controlling model.Thus, this device by based on physical model and Controlling model to pure The dynamical system of electric automobile is emulated, and more conforms to actual automobile running condition, and simulation result has more reference significance, thus Effectively foundation can be provided rationally for the key components and parts type selecting of pure electric automobile, the cost-effective and construction cycle is it is ensured that produce Moral character energy.

In describing the invention it is to be understood that term " " center ", " longitudinal ", " horizontal ", " length ", " width ", " thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward ", " up time The orientation of instruction such as pin ", " counterclockwise ", " axial ", " radially ", " circumferential " or position relationship be based on orientation shown in the drawings or Position relationship, is for only for ease of the description present invention and simplifies description, rather than the device of instruction or hint indication or element must Must have specific orientation, with specific azimuth configuration and operation, be therefore not considered as limiting the invention.

Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or hint relative importance Or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or Implicitly include at least one this feature.In describing the invention, " multiple " are meant that at least two, such as two, three Individual etc., unless otherwise expressly limited specifically.

In the present invention, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection ", " fixation " etc. Term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integral；Can be that machinery connects Connect or electrically connect；Can be to be joined directly together it is also possible to be indirectly connected to by intermediary, can be in two elements The connection in portion or the interaction relationship of two elements, limit unless otherwise clear and definite.For those of ordinary skill in the art For, above-mentioned term concrete meaning in the present invention can be understood as the case may be.

In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score permissible It is the first and second feature directly contacts, or the first and second features pass through intermediary mediate contact.And, fisrt feature exists Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height and is less than second feature.

In the description of this specification, reference term " embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means specific features, structure, material or the spy describing with reference to this embodiment or example Point is contained at least one embodiment or the example of the present invention.In this manual, to the schematic representation of above-mentioned term not Identical embodiment or example must be directed to.And, the specific features of description, structure, material or feature can be in office Combine in an appropriate manner in one or more embodiments or example.Additionally, in the case of not conflicting, the skill of this area The feature of the different embodiments described in this specification or example and different embodiment or example can be tied by art personnel Close and combine.

Although embodiments of the invention have been shown and described above it is to be understood that above-described embodiment is example Property it is impossible to be interpreted as limitation of the present invention, those of ordinary skill in the art within the scope of the invention can be to above-mentioned Embodiment is changed, changes, replacing and modification.

Claims

1. a kind of dynamical system emulation mode of pure electric automobile is it is characterised in that comprise the following steps：

Obtain physical model and the Controlling model of described pure electric automobile；

Determine the type selecting constraints of parts in dynamical system according to described physical model, with the type selecting according to described parts Constraints selects the parts of coupling；

The actual parameter of the parts of described coupling is brought into described physical model to obtain actual physical model, and according to described Actual physical model and described Controlling model are emulated.

2. the dynamical system emulation mode of pure electric automobile according to claim 1 is it is characterised in that wherein, described dynamic In Force system, parts include motor, gearbox and battery.

3. the dynamical system emulation mode of pure electric automobile according to claim 1 is it is characterised in that described in described basis Actual physical model and described Controlling model are emulated, including：

Determine and treat emulation driving operating mode, and treat that emulation driving operating mode and described actual physical model obtain physical requirement according to described Parameter；

Actual control parameter is generated according to described Controlling model and described physical requirement parameter.

4. the dynamical system emulation mode of pure electric automobile according to claim 3 is it is characterised in that described physical model Submodel, drag evaluation submodel, wheel torque is selected to calculate submodel, main reducing gear submodel, speed change chest including operating mode Model, motor submodel and battery submodel, treat that emulation driving operating mode and described actual physical model obtain described in described basis Physical requirement parameter includes：

Treat that emulation driving operating mode and operating mode select submodel output speed according to described；

Running resistance is calculated according to described drag evaluation submodel and speed, wherein, described drag evaluation submodel includes automobile Kinetics equation or real vehicle taxi data；

Submodel is calculated according to described wheel torque and described running resistance calculates wheel torque, wherein, described wheel torque meter Operator Model includes wheel Dynamic Radius；

Main reducing gear moment of torsion is calculated according to described main reducing gear submodel and described wheel torque, wherein, described main reducing gear Model includes the transmission efficiency of final driver ratio and main reducing gear；

According to described gearbox submodel and described main reducing gear torque arithmetic gearbox torque, wherein, described gearbox submodule Type includes the transmission efficiency of transmission ratio and gearbox；

According to described motor submodel and described gearbox torque calculate motor demand rotating speed and motor demand torque with export to Described Controlling model, wherein, described motor submodel includes motor actual parameter and electric efficiency；

Battery charging and discharging demand work(is calculated according to described battery submodel, described motor demand rotating speed and described motor demand torque To export to described Controlling model, wherein, described battery submodel includes battery actual parameter and battery efficiency to rate.

5. the dynamical system emulation mode of pure electric automobile according to claim 4 is it is characterised in that described Controlling model Control submodel and motor control submodel including battery, generated according to described Controlling model and described physical requirement parameter actual Control parameter includes：

Submodel and described battery charging and discharging demand power is controlled to generate battery actual charging electrical power according to described battery, its In, described battery controls submodel to include battery behavior parameter, battery operating temperature and battery control strategy；

Motor actual torque is generated according to described motor control submodel, described motor demand rotating speed and described motor demand torque With motor actual speed, wherein, described motor control submodel includes motor characteristic parameter and motor control strategy, described motor Characterisitic parameter includes Motor torque power peak and electric efficiency.

6. the dynamical system emulation mode of pure electric automobile according to claim 5 is it is characterised in that described Controlling model Also include power limit submodel, methods described also includes：

Real to described battery actual charging electric work, described motor actual torque and described motor according to described power limit submodel Border rotating speed carries out power limit, and wherein, power limit submodel includes motor external characteristics, battery maximum charge-discharge electric power and power Restriction strategy.

7. the dynamical system emulation mode of pure electric automobile according to claim 6 is it is characterised in that described Controlling model Also include gear and control submodel, methods described also includes：

Battery actual charging electric work after submodel and power limit, motor actual torque and motor are controlled according to described gear Actual speed generates gearbox actual-gear, and wherein, described gear controls submodel to include gear control strategy and shift mode.

8. the dynamical system emulation mode of pure electric automobile according to claim 7 is it is characterised in that also include：

Whether the actual performance parameter of dynamical system according to simulation results show meets target capabilities index；

If being unsatisfactory for described target capabilities index, judge to reselect the parts of coupling.

9. pure electric automobile according to claim 8 dynamical system emulation mode it is characterised in that described according to emulation Whether the actual performance parameter of dynamical system described in result verification meets target capabilities index, including：

Obtain max. climb slope, max. speed and the climbing speed of described dynamical system according to described actual physical model, and test Whether the max. climb slope demonstrate,proving described dynamical system reaches target maximum climbable gradient, whether max. speed reaches target max. speed And whether speed of climbing reaches target climbing speed.

10. the dynamical system emulation mode of pure electric automobile according to claim 8 is it is characterised in that described basis is imitated Described in true result verification, whether the actual performance parameter of dynamical system meets target capabilities index, including：

Real according to described actual physical model, described battery actual charging electrical power, described motor actual torque and described motor Border rotating speed and the first speed to the second speed acquisition accelerate to the time used by described second speed from described first speed, with Obtain the acceleration parameter of described dynamical system, and judge whether described acceleration parameter meets target acceleration ginseng Number.

The dynamical system emulation mode of 11. pure electric automobiles according to claim 8 is it is characterised in that described basis is imitated Described in true result verification, whether the actual performance parameter of dynamical system meets target capabilities index, including：

When judging that emulation end condition meets, described continual mileage and described unit mounted mass are obtained according to described Controlling model Energy consumption.

A kind of dynamical system simulator of 12. pure electric automobiles is it is characterised in that include：

First acquisition module, for obtaining physical model and the Controlling model of described pure electric automobile；

Parameter matching module, for determining the type selecting constraints of parts in dynamical system according to described physical model, with root Type selecting constraints according to described parts selects the parts of coupling；

Emulation module, for bringing the actual parameter of the parts of described coupling into described physical model to obtain actual physical mould Type, and emulated according to described actual physical model and described Controlling model.

The dynamical system simulator of 13. pure electric automobiles according to claim 8 is it is characterised in that wherein, described dynamic In Force system, parts include motor, gearbox and battery.

The dynamical system simulator of 14. pure electric automobiles according to claim 12 is it is characterised in that described emulation mould Block is further used for, and determines and treats emulation driving operating mode, and treats that emulation driving operating mode and described actual physical model obtain according to described Take physical requirement parameter, and actual control parameter is generated according to described Controlling model and described physical requirement parameter.

The dynamical system simulator of 15. pure electric automobiles according to claim 14 is it is characterised in that described physics mould Type includes operating mode and selects submodel, drag evaluation submodel, wheel torque to calculate submodel, main reducing gear submodel, gearbox Submodel, motor submodel and battery submodel, described emulation module is further used for：

According to described gearbox submodel and described main reducing gear torque arithmetic gearbox torque, wherein, described gearbox submodule Type includes the transmission efficiency of gearbox actual parameter, transmission ratio and gearbox；

The dynamical system simulator of 16. pure electric automobiles according to claim 15 is it is characterised in that described control mould Type includes battery and controls submodel and motor control submodel, and described emulation module is further used for：

The dynamical system simulator of 17. pure electric automobiles according to claim 16 is it is characterised in that described control mould Type also includes power limit submodel, and described emulation module is further used for：

The dynamical system simulator of 18. pure electric automobiles according to claim 17 is it is characterised in that described control mould Type also includes gear and controls submodel, and described emulation module is further used for：

The dynamical system simulator of 19. pure electric automobiles according to claim 18 is it is characterised in that also include verifying Module, whether described authentication module meets Objective for the actual performance parameter of dynamical system according to simulation results show Energy index, if being unsatisfactory for described target capabilities index, judges to reselect the parts of coupling.

The dynamical system simulator of 20. pure electric automobiles according to claim 19 is it is characterised in that described checking mould Block is further used for：

The dynamical system simulator of 21. pure electric automobiles according to claim 19 is it is characterised in that described checking mould Block is further used for：

The dynamical system simulator of 22. pure electric automobiles according to claim 19 is it is characterised in that described checking mould Block is further used for：When judging that emulation end condition meets, described continual mileage and described list are obtained according to described Controlling model Position mounted mass energy consumption.