CN108189674A - A kind of hybrid power tramcar method for recovering brake energy and system - Google Patents
A kind of hybrid power tramcar method for recovering brake energy and system Download PDFInfo
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- CN108189674A CN108189674A CN201810214159.1A CN201810214159A CN108189674A CN 108189674 A CN108189674 A CN 108189674A CN 201810214159 A CN201810214159 A CN 201810214159A CN 108189674 A CN108189674 A CN 108189674A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/22—Dynamic electric resistor braking, combined with dynamic electric regenerative braking
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Abstract
The present invention discloses a kind of hybrid power tramcar method for recovering brake energy and system, by in tramcar operational process from start to braking initial time be considered as a separate unit, each independent unit uses extremum search energy management algorithm, the SOC of super capacitor is maintained near a smaller value when purpose is to make the tramcar brake, and braking energy has larger memory space during ensuring braking.Therefore each independent unit is according to the difference of Startup time SOC initial values, there to be one group of corresponding λ value, the effect of this λ is that adjusting fuel cell and super capacitor output power distributes, meet super capacitor SOC braking moment a smaller value requirement.The present invention can ensure that super capacitor has enough surpluses to receive braking energy during tramcar braking, improves the organic efficiency of tramcar braking energy.
Description
Technical field
The invention belongs to hybrid power tramcar technical fields, are braked more particularly to a kind of hybrid power tramcar
Energy reclaiming method and system.
Background technology
The CO2 emissions of Traffic Systems have accounted for a quarter of whole world total emission volumn, low-carbon, energy saving
The trip mode of emission reduction has become the trip mode that China is mainly advocated in field of traffic, and with people's environmental consciousness not
The disconnected concept for strengthening " Green Travel, low-carbon trip " is increasingly rooted in the hearts of the people, using cleaning, energy saving, the green vehicles
The primary selection gone on a journey as everybody.Fuel cell hybrid tramcar is since handling capacity of passengers is big, speed in field of traffic
Soon, efficient and using electric drive, compared to other vehicles, feature mainly has environmental protection, cleaning, higher operation
Speed, but due to tramcar, station spacing is shorter in operation, exists frequently to start in driving conditions and brake, starts
When, electric energy is converted into mechanical energy, and electric car accelerates, and during braking, mechanical energy is converted into the energy of other forms.Tramcar was run
Frequently braking causes a large amount of mechanical energy to be braked the consumption of the equipment such as resistance in journey, and only small part, which is absorbed, recycles, greatly
The heat of amount is arranged to ambient enviroment, and ambient temperature is caused to increase, therefore improves tramcar Brake energy recovery rate
The problem of being in the urgent need to address.Study the capacity usage ratio that its braking characteristic will not only greatly improve electric car, but also electric car
Properties will be generated and greatly be improved, and increase the service life of electric car.The raising of the rate of recovery of braking energy, also will be great
Increase the distance travelled of tramcar.
The mode of braking that existing majority tramcar is cooperated using tradition machinery braking with electric braking, electric braking are divided into
For use braking resistor consume braking energy type, also have braking energy is stored by accumulator, super capacitor etc., it is right
Braking energy is recycled, is stored, is recycled so that the energy expenditure of tramcar will obtain very big reduction, and will reduce
To the heat dissipation of environment, ambient temperature effect will be reduced largely.But in existing tramcar braking process only
Braking energy is stored using energy-storage travelling wave tube, it is less the considerations of braking moment energy-storage travelling wave tube state to the shadow that recovers energy
It rings, if energy-storage travelling wave tube SOC has reached higher state during braking, the braking energy that can be recycled is by very little.
Invention content
To solve the above-mentioned problems, the present invention proposes a kind of hybrid power tramcar method for recovering brake energy and is
System can ensure that tramcar is in the SOC of braking moment super capacitor near a smaller setting value, to ensure making
Dynamic moment super capacitor has larger memory space；Realize the energy pipe that braking process is started in tramcar operational process
Reason strategy and the energy regenerating of braking process are combined closely；It can ensure that super capacitor has enough surpluses during tramcar braking
Receive braking energy, improve the organic efficiency of tramcar braking energy.
In order to achieve the above objectives, the technical solution adopted by the present invention is：A kind of hybrid power tramcar braking energy returns
Receiving method, including step：
S100 initializes system, obtains the operating mode in tramcar operational process；
Operating mode in tramcar operational process is divided into multiple separate units by S200 by operating mode partition strategy；
S300 asks for control parameter to separate unit each described using extremum search energy management algorithm；
S400 adjusts the power distribution of fuel cell and super capacitor by the control parameter, by fuel cell
Output control, super capacitor output control, super capacitor SOC limitation and busbar voltage control, make tramcar braking when by
Super capacitor collocation braking resistor absorbs braking energy.
Further, calculated in order to which the operating mode in tramcar operational process is divided into multiple stages, it is described
Operating mode partition strategy includes step：Operating mode in tramcar operational process is segmented, by operating mode from Startup time t0
To braking moment tfThis process is as a separate unit；If having n sections in operating mode from the process for starting to braking, from whole
Operating mode [the P of n separate unit and separate unit is obtained in section operating modei,Pi+1]。
Further, for the hydrogen consumption for effectively calculating the power distribution between each power part to obtain minimum
And ensure values of the super capacitor soc (t) in braking moment, the extremum search energy management algorithm is exported with super capacitor
Power PsControl variable u is, state variable is done with super capacitor soc (t), in operating mode [Pi, Pi+1] in distribution fuel cell and super
Power distribution between grade capacitance and obtain minimum hydrogen consumption and ensure super capacitor soc (t) in braking moment tfIt is full
Foot:|soc(tf)-soc*|≤ε；Wherein, soc*For braking moment tfSuper capacitor SOC needs setting value to be achieved.
Further, described use extremum search energy management algorithm to separate unit each described, including step：
S301, in each separate unit has the operating mode of limit, the performance objective function of energy management is：
Wherein, instantaneous hydrogen consumption related for the state of fuel cell L (u (t), soc (t), t), h (soc (t), t) are
The control penalty of super capacitor energy state；
S302 for the performance objective function of the energy management, is turned its constrained problem using minimal principle
It turns to unconfined problem to be solved, the Hamiltonian function for obtaining the performance objective function of energy management is:
H (u (t), soc (t), λ, t)=L (u (t), soc (t), t)+λ f (soc (t), u (t), t)；
Wherein, f (soc (t), u (t), t) is super capacitor SOC and power function,
S303, converting the Hamiltonian function is：
S304, for [t0,tf] time span operating mode in, there are Optimal Control variables：u0(t)∈[umin(t),umax
(t)] the Hamiltonian function H (SOC, u, λ, t), is made to be as globally optimal solution：H(SOC,u0, λ, t) and≤H (SOC, u, λ, t)；
S305 ensures that super capacitor SOC meets condition：|soc(tf)-soc*Under |≤ε, control parameter λ is asked for.
Include further, asking for control parameter λ steps in the extremum seeking algorithm：
S3051, setting super capacitor SOC initial values SOC0；
The time of each separate unit is set as t ∈ (t by S30520,tf), by demand power Pref(t), super capacitor is determined
The selection range of output power：
S3053 calculates Δ u=(umax(t)-umin(t))/n, by [umin(t),umax(t)] it is discrete to turn to u ∈ [umin(t):
Δu:umax(t)]；
S3054 obtains each candidate's control variable uiThe H of responsei=Hi(ui), search selection is so that HiMinimum is corresponding
Control variable u*=argmin (H (u))；
S3055 calculates soc (tf) and with the soc of setting*More whether meet | soc (tf)-soc*|≤ε；It is if discontented
Foot then chooses control parameter λ and performs step S3052 again；If it is satisfied, carry out next step；
S3056 changes super capacitor SOC initial values soc0, return to step S3052, until the value of super capacitor SOC reaches
100%, then the calculating in this separate unit operating mode terminates, and performs next step；
S3057 selects the operating mode [P of next separate uniti,Pi+1], and followed by above-mentioned steps S3052 to step S3056
Ring calculates, until all separate units perform next step after calculating；
S3058 calculates the soc that each separate unit carves when initiated by step S3052 to step S30560When different,
Braking moment will reach desired value soc*Control parameter λ it is different, it can thus be concluded that soc of each separate unit due to initial time0
Difference is by the different control parameter λ of correspondence；By different unit operating mode and initial value soc0Table is made in corresponding parameter lambda.
Further, the output control to fuel cell and the output control to super capacitor are：According to control
Parameter lambda, the reference power P exported using optimal control power as super capacitors(t), and according to demand power Pref(t) it counts
Calculate fuel cell output reference power Pfc(t)；
The bicyclic PID control that the super capacitor power output control is combined using voltage with electric current loop, to control mother
Line voltage and super capacitor output current, due to having added limitation to super capacitor charging current during braking, and power does not have when braking
It changes, is bound to cause the pump liter of DC bus-bar voltage, DC bus-bar voltage is controlled.The fuel cell output
Power control is using the control monocyclic PID control of electric current.
Further, it is attached to ensure that tramcar in the SOC of braking moment super capacitor is in a smaller setting value
Closely, to ensure to have larger memory space in braking moment super capacitor；The super capacitor SOC limitation controls process includes step
Suddenly：The detection of super capacitor SOC, super capacitor detect super capacitor SOC when absorbing braking energy；If super capacitor SOC reaches
The connection for then disconnecting two-way DC/DC converters and busbar to more than 95%, remaining braking energy are consumed with braking resistor, protection
Super capacitor；If the SOC of super capacitor is not up to the condition that tramcar starts operation, fuel cell when tramcar starts
It is first charged with certain power to super capacitor, restarts operation after condition is met.
Further, due to having added limitation to super capacitor charging current when electric car is braked, therefore super capacitor absorption
Power is raising certain, that remaining braking power will cause busbar voltage；Therefore, the DC bus-bar voltage control includes
Step：It measures busbar voltage and relatively obtains error with the limit value of busbar voltage；IGBT copped waves electricity is adjusted by PID controller
So as to change the equivalent resistance of braking resistor, remaining braking power is consumed in braking resistor for duty ratio in the combination of road
On.
On the other hand, the present invention also provides a kind of hybrid power tramcar brake energy recovering system, including fuel
Battery system, super capacitor system, trailer system, brake resistor system, two-way DC/DC converters, unidirectional DC/DC converters,
Braking resistor circuit for regulating and controlling, DC/AC inverters, measuring system, control circuit and dc bus；
The output terminal of the fuel cell system is connected to unidirectional DC/DC converters, the power supply of the super capacitor system
End is connected to two-way DC/DC converters, and the unidirectional DC/DC converters are connected to dc bus with two-way DC/DC converters,
The brake resistor system is connected to dc bus through braking resistor circuit for regulating and controlling, and the dc bus connects through DC/AC inverters
Trailer system is connected to, the measuring system measures the voltage and current of subsystems and the SOC value of super capacitor system, institute
Stating control circuit, to be respectively connected to two-way DC/DC converters, unidirectional DC/DC converters, braking resistor circuit for regulating and controlling and DC/AC inverse
Become the control terminal of device.
Further, shown control system includes hybrid power control system and busbar voltage control system, it can be simultaneously
Realize the control operation of hybrid power system and busbar voltage；
The brake resistor system includes multigroup braking resistor parallel with one another, and the braking resistor circuit for regulating and controlling is IGBT
Chopper circuit, is both provided with IGBT chopper circuits in every group of braking resistor, the control circuit by compare busbar voltage and
Reference voltage level sends out the duty ratio in modulating wave adjusting IGBT chopper circuit combinations by PID controller and PWM generator, from
And adjust braking resistor and consume extra braking energy with the mode that IGBT chopper circuits combine, it is ensured that the stabilization of busbar voltage；
The selection of braking resistor is obtained by condition calculating, it is desirable that braking resistor can absorb maximum brake power.
Using the advantageous effect of the technical program：
Operating mode of the present invention according to known tramcar in the process of running is being braked by extremum seeking algorithm adjusting
The SOC of moment super capacitor, so as to ensure that tramcar is in a smaller setting value in the SOC of braking moment super capacitor
Near, to ensure to have larger memory space in braking moment super capacitor；
The present invention realizes the energy management strategies and braking process that braking process is started in tramcar operational process
Energy regenerating combine closely；
The present invention can ensure that super capacitor has enough surpluses to receive braking energy during tramcar braking, has improved
The organic efficiency of rail electric car braking energy improves the service life of system.
Description of the drawings
Fig. 1 is a kind of flow diagram of hybrid power tramcar method for recovering brake energy of the present invention；
Fig. 2 is the flow diagram of hybrid power tramcar method for recovering brake energy in the embodiment of the present invention；
Fig. 3 is a kind of structure diagram of hybrid power tramcar brake energy recovering system of the present invention；
Fig. 4 is brake resistor system and its topological schematic diagram of control system in the embodiment of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention is made into one below in conjunction with the accompanying drawings
Step illustrates.
In the present embodiment, shown in Figure 1, the present invention proposes a kind of hybrid power tramcar Brake energy recovery
Method, including step：
S100 initializes system, obtains the operating mode in tramcar operational process；
Super capacitor SOC requires to reach desired value soc during setting braking*, setting busbar voltage limit value U*, set super
Capacitor charging maximum current value I*, measure super capacitor SOC value；
Operating mode in tramcar operational process is divided into multiple separate units by S200 by operating mode partition strategy；
One section of operating mode P is inputted, and it is segmented, to start to braking initial time as a unit, if entire operating mode
In have n sections of startup-braking process, then can be picked out from entire operating mode as n sections of separate units, respectively with [Pi, Pi+1] table
Show the operating mode of a separate unit；
S300 asks for control parameter to separate unit each described using extremum search energy management algorithm；
Ask for control parameter λ；Operating mode [P to each separate unit being segmented outi,Pi+1], according at the beginning of different SOC
Initial value SOC0Corresponding control parameter λ is obtained；
S400 adjusts the power distribution of fuel cell and super capacitor by the control parameter, by fuel cell
Output control, super capacitor output control, super capacitor SOC limitation and busbar voltage control, make tramcar braking when by
Super capacitor collocation braking resistor absorbs braking energy.
Super capacitor SOC is limited：Limitation to super capacitor charging current, using the bicyclic PID combined with busbar voltage
Adjuster, due to having added limitation to super capacitor charging current during braking, and power does not change, therefore certainly will when braking
Cause the pump liter of DC bus-bar voltage, the control to DC bus-bar voltage；The detection of super capacitor SOC, when braking absorbs energy
Super capacitor SOC is detected, super capacitor branch is disconnected if SOC reaches 95%, dump energy is consumed with braking resistor.
Busbar voltage controls：Braking resistor is adopted during braking and consumes extra Brake Energy with the mode that IGBT chopper circuits combine
Amount, it is ensured that the stabilization of busbar voltage, step are：Measure busbar voltage and with the limit value U of busbar voltage*It makes the difference, using PID
Controller adjusts the duty ratio on IGBT, so as to change the equivalent resistance of braking resistor, reaches the mesh of control bus voltage
's.The selection of braking resistor has condition calculating to obtain, it is desirable that the characteristics of satisfaction can absorb maximum power.
In optimal enforcement example 1, as shown in Fig. 2, the extremum seeking algorithm is：
To the operating mode after segmentation, wherein one section of operating mode [P is choseni,Pi+1], with super capacitor output power PsDo control variable
U does state variable with super capacitor soc (t), in operating mode [Pi,Pi+1] in distribution fuel cell and super capacitor between work(
Rate is distributed, and is obtained minimum hydrogen consumption and ensured super electricity soc (t) in braking moment tfMeet:|soc(tf)-soc*|
≤ε；Wherein, SOC*Setting value to be achieved is needed for braking moment tf super capacitors SOC.
Therefore, it is described that extremum search energy management algorithm is used to separate unit each described, including step：
S301, in each separate unit has the operating mode of limit, the performance objective function of energy management is：
Wherein, instantaneous hydrogen consumption related for the state of fuel cell L (u (t), soc (t), t), h (soc (t), t) take
Certainly in the control penalty of super capacitor energy state.
S302, for the optimization object function of above-mentioned energy control strategy, here using minimal principle (also known as Pang Teli
Refined gold maximum principle) it its constrained problem is converted into unconfined problem solves, obtain the property of above-mentioned energy management
Can the Hamiltonian function of object function be:
H (u (t), soc (t), λ, t)=L (u (t), soc (t), t)+λ f (soc (t), u (t), t)；
Wherein：
S303, converting the Hamiltonian function can turn to：
Wherein,
So as to,
Super capacitor output power during Hamiltonian function minimum is solved, expression formula is represented by：
Wherein, EsmaxFor super capacitor maximum storage energy.
S304, for [t0,tf] time span operating mode in, there are Optimal Control variables：u0(t)∈[umin(t),umax
(t)] the Hamiltonian function H (SOC, u, λ, t), is made to be as globally optimal solution：H(SOC,u0, λ, t) and≤H (SOC, u, λ, t)；
S305 ensures that super capacitor SOC meets condition：|soc(tf)-soc*Under |≤ε, control parameter λ is asked for.
In optimal enforcement example 2, include as shown in Fig. 2, asking for control parameter λ steps in the extremum seeking algorithm：
S3051, setting super capacitor SOC initial values SOC0；
The time of each separate unit is set as t ∈ (t by S30520,tf), by demand power Pref(t), super capacitor is determined
The selection range of output power：
S3053 calculates Δ u=(umax(t)-umin(t))/n, by [umin(t),umax(t)] it is discrete to turn to u ∈ [umin(t):
Δu:umax(t)]；
S3054 obtains each candidate's control variable uiThe Hi=Hi (ui) of response, search selection is so that HiMinimum phase
The control variable u answered*=argmin (H (u))；
S3055 calculates SOC (tf) and with the SOC of setting*More whether meet | soc (tf)-soc*|≤ε；It is if discontented
Foot then chooses control parameter λ and performs step S3052 again；If it is satisfied, carry out next step；
S3056 changes super capacitor SOC initial values SOC0, return to step S3052, until the value of super capacitor SOC reaches
100%, then the calculating in this separate unit operating mode terminates, and performs next step；
S3057 selects the operating mode [P of next separate uniti,Pi+1], and followed by above-mentioned steps S3052 to step S3056
Ring calculates, until all separate units perform next step after calculating；
S3058 calculates the SOC that each separate unit carves when initiated by step S3052 to step S30560When different,
Braking moment will reach desired value SOC*Control parameter λ it is different, it can thus be concluded that SOC of each separate unit due to initial time0
Difference is by the different control parameter λ of correspondence；By different unit operating mode and initial value SOC0Table is made in corresponding parameter lambda.
In optimal enforcement example 3, the output control to fuel cell and the output control to super capacitor are：According to
Control parameter λ, the reference power P exported using optimal control power as super capacitors(t), and according to demand power Pref
(t) fuel cell output reference power P is calculatedfc(t)；
The bicyclic PID control that the super capacitor power output control is combined using voltage with electric current loop；The fuel electricity
Pond output power is using the control monocyclic PID control of electric current.
In optimal enforcement example 4, the super capacitor SOC limitation controls process includes step：The inspection of super capacitor SOC
It surveys, super capacitor detects super capacitor SOC when absorbing braking energy；It is disconnected if super capacitor SOC reaches more than 95% double
Connection to DC/DC converters and busbar, remaining braking energy are consumed with braking resistor, protect super capacitor；Tramcar
If the SOC of super capacitor is not up to the condition that tramcar starts operation during startup, fuel cell is first right with certain power
Super capacitor charges, and restarts operation after condition is met.
The optimal output power u of super capacitor is solved by parameter lambdaopt：
Super capacitor discharging efficiency:
Super capacitor charge efficiency:
Therefore：
Fuel cell instantaneously consumes the relationship C between hydrogen and output powerfc=aPfc+ b takes Hamiltonian function：
U be super capacitor open-circuit voltage, I be super capacitor electric current, PSFor super capacitor output power, R0Super capacitor etc.
Imitate internal resistance.
In order to facilitate solution, items are denoted as：
The problem of seeking One- place 2-th Order function can be converted into based on principle of minimum hydrogen consumption minimumization problem：
Hydrogen consumption minimum based on minimum principle optimizes analytic solutions and is：
This power is the optimal of the super capacitor power output corresponding to λ.
In optimal enforcement example 5, the DC bus-bar voltage control includes step：Measure busbar voltage and and busbar voltage
Limit value relatively obtain error；Duty ratio in the combination of IGBT chopper circuits is adjusted by PID controller, so as to change braking
The equivalent resistance of resistance, by the consumption of remaining braking power in braking resistor；So as to protect super capacitor, and stable DC
Busbar.
The output terminal of the fuel cell system is connected to unidirectional DC/DC converters, the power supply of the super capacitor system
End is connected to two-way DC/DC converters, and the unidirectional DC/DC converters are connected to dc bus with two-way DC/DC converters,
The brake resistor system is connected to dc bus through braking resistor circuit for regulating and controlling, and the dc bus connects through DC/AC inverters
Trailer system is connected to, the measuring system measures the voltage and current of subsystems and the SOC value of super capacitor system, institute
Stating control circuit, to be respectively connected to two-way DC/DC converters, unidirectional DC/DC converters, braking resistor circuit for regulating and controlling and DC/AC inverse
Become the control terminal of device.
Braking resistor is adopted in the present invention and consumes extra braking energy with the mode that IGBT chopper circuits combine, it is ensured that busbar
The stabilization of voltage, as shown in figure 4, its step is：Measure busbar voltage and with the limit value U of busbar voltage*(generally 850) phase
Subtract to obtain error, using PID controller, adjust the duty ratio on IGBT grids, so as to change the equivalent resistance of braking resistor,
By the consumption of remaining braking power in braking resistor, duty ratio is bigger, and the virtual value for putting into resistance is smaller, the power of consumption
To be bigger, electric current increase achievees the purpose that control bus voltage.
By in tramcar operational process from start to braking initial time be considered as a separate unit, each is independent
Unit uses extremum search energy management algorithm, it is therefore intended that the SOC of super capacitor is maintained at one when braking tramcar
Near smaller value, to ensure braking when braking energy have larger memory space.Therefore each independent unit root
According to the difference of Startup time SOC initial values, there will be one group of corresponding λ value, the effect of this λ is to adjust fuel cell with surpassing
Grade capacitance output power distribution, meet super capacitor SOC braking moment a smaller value requirement.
To coordinate the realization of the method for the present invention, based on identical inventive concept, as shown in figure 3, the present invention also provides one
Kind hybrid power tramcar brake energy recovering system, including fuel cell system, super capacitor system, trailer system, system
Dynamic resistance system, unidirectional DC/DC converters, braking resistor circuit for regulating and controlling, DC/AC inverters, measures two-way DC/DC converters
System, control circuit and dc bus；
Fuel cell system output terminal is connected to unidirectional DC/DC converters, and the power end of super capacitor system is connected to double
To DC/DC converters, the unidirectional DC/DC converters are connected to dc bus, braking resistor system with two-way DC/DC converters
System is connected to dc bus through braking resistor circuit for regulating and controlling, and the dc bus is led through DC/AC inverters connection tramcar
Draw end, measuring system measures the voltage and current of subsystems and the SOC value of super capacitor system.
As the prioritization scheme of above-described embodiment, shown control system includes hybrid power control system and busbar voltage control
The control operation of hybrid power system and busbar voltage can be achieved at the same time in system processed.
As the prioritization scheme of above-described embodiment, as shown in figure 4, the brake resistor system is including multigroup parallel with one another
Braking resistor, the braking resistor circuit for regulating and controlling are IGBT chopper circuits, and IGBT copped waves are both provided in every group of braking resistor
Circuit, the control circuit send out modulation by comparing busbar voltage and reference voltage level by PID controller and PWM generator
Wave adjusts the duty ratio in the combination of IGBT chopper circuits, so as to which the mode for adjusting braking resistor with IGBT chopper circuits combine consumes
Extra braking energy, it is ensured that the stabilization of busbar voltage；The selection of braking resistor is obtained by condition calculating, it is desirable that braking resistor energy
Enough absorb maximum brake power.
Wherein, the selection mode of braking resistor is：
Braking resistor consumes electric energy, when the underpower that super capacitor absorbs is to meet power that electric braking is sent out, needs
Resistive braking is added to consume remaining power, braking resistor is generally combined with IGBT chopper circuits, using busbar voltage to sentence
It is disconnected, the duty ratio of IGBT grids is adjusted using PID control, duty ratio is bigger, and the current effective value for flowing through resistance is also bigger, leads to
Crossing resistance consumption ensures busbar voltage within scheduled safe range value.
Selection for resistive braking device, usually according to the common configuration of domestic street railway, specified electricity
Resistance value is usually 1.8 Ω (812kw), 1.96 Ω (1120kw), 2.8 Ω (1157kw), the copped wave of a resistance and a set of IGBT
Circuit is combined a set of braking resistor equipment of composition, and quality is generally in 300-500kg, therefore tramcar is made using how many sets
Dynamic resistance needs are determined according to specific operating mode, must meet its maximum brake power demand.
Braking resistor can be calculated as follows：
Wherein, PmaxBrake maximum power, η1Gear efficiency, η2Electric efficiency, η3Inverter efficiency.
The basic principles, main features and the advantages of the invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (10)
1. a kind of hybrid power tramcar method for recovering brake energy, which is characterized in that including step：
S100 initializes system, obtains the operating mode in tramcar operational process；
Operating mode in tramcar operational process is divided into multiple separate units by S200 by operating mode partition strategy；
S300 asks for control parameter to separate unit each described using extremum search energy management algorithm；
S400 adjusts the power distribution of fuel cell and super capacitor by the control parameter, by being exported to fuel cell
Control, super capacitor output control, super capacitor SOC limitations and busbar voltage control, make tramcar in braking by super
Capacitance collocation braking resistor absorbs braking energy.
2. a kind of hybrid power tramcar method for recovering brake energy according to claim 1, which is characterized in that described
Operating mode partition strategy includes step：Operating mode in tramcar operational process is segmented, by operating mode from Startup time t0
To braking moment tfThis process is as a separate unit；If having n sections in operating mode from the process for starting to braking, from whole
Operating mode [the P of n separate unit and separate unit is obtained in section operating modei,Pi+1]。
3. a kind of hybrid power tramcar method for recovering brake energy according to claim 1, which is characterized in that described
Extremum search energy management algorithm, with super capacitor output power PsControl variable u is, state change is done with super capacitor soc (t)
Amount, in operating mode [Pi,Pi+1] in power distribution between distribution fuel cell and super capacitor, and obtain minimum hydrogen consumption
And ensure super capacitor soc (t) in braking moment tfMeet:|soc(tf)-soc*|≤ε；Wherein, soc*For braking moment tf
Super capacitor SOC needs setting value to be achieved.
4. a kind of hybrid power tramcar method for recovering brake energy according to claim 3, which is characterized in that described
To separate unit each described using extremum search energy management algorithm, including step：
S301, in each separate unit has the operating mode of limit, the performance objective function of energy management is：
Wherein, instantaneous hydrogen consumption related for the state of fuel cell L (u (t), soc (t), t), h (soc (t), t) are super
The control penalty of capacitive energy state；
Its constrained problem for the performance objective function of the energy management, is converted by S302 using minimal principle
Unconfined problem is solved, and the Hamiltonian function for obtaining the performance objective function of energy management is:
H (u (t), soc (t), λ, t)=L (u (t), soc (t), t)+λ f (soc (t), u (t), t)；
Wherein, f (soc (t), u (t), t) is super capacitor SOC and power function,
S303, converting the Hamiltonian function is：
S304, for [t0,tf] time span operating mode in, there are Optimal Control variables：u0(t)∈[umin(t),umax(t)],
The Hamiltonian function H (SOC, u, λ, t) is set to be as globally optimal solution：H(SOC,u0, λ, t) and≤H (SOC, u, λ, t)；
S305 ensures that super capacitor SOC meets condition：|soc(tf)-soc*Under |≤ε, control parameter λ is asked for.
5. a kind of hybrid power tramcar method for recovering brake energy according to claim 4, which is characterized in that described
Control parameter λ steps are asked in extremum seeking algorithm to include：
S3051, setting super capacitor SOC initial values SOC0；
The time of each separate unit is set as t ∈ (t by S30520,tf), by demand power Pref(t), determine that super capacitor exports
The selection range of power：
S3053 calculates Δ u=(umax(t)-umin(t))/n, by [umin(t),umax(t)] it is discrete to turn to u ∈ [umin(t):Δu:
umax(t)]；
S3054 obtains each candidate's control variable uiThe H of responsei=Hi(ui), search selection is so that HiMinimum corresponding control
Variable u processed*=argmin (H (u))；
S3055 calculates SOC (tf) and with the SOC of setting*More whether meet | soc (tf)-soc*|≤ε；If conditions are not met, then
Again it chooses control parameter λ and performs step S3052；If it is satisfied, carry out next step；
S3056 changes super capacitor SOC initial values SOC0, return to step S3052, until the value of super capacitor SOC reaches
100%, then the calculating in this separate unit operating mode terminates, and performs next step；
S3057 selects the operating mode [P of next separate uniti,Pi+1], and based on above-mentioned steps S3052 to step S3056 cycles
It calculates, until all separate units perform next step after calculating；
S3058 calculates the SOC that each separate unit carves when initiated by step S3052 to step S30560When different, braking
Moment will reach desired value SOC*Control parameter λ it is different, it can thus be concluded that SOC of each separate unit due to initial time0It is different
By the different control parameter λ of correspondence；By different unit operating mode and initial value SOC0Table is made in corresponding parameter lambda.
6. a kind of hybrid power tramcar method for recovering brake energy according to claim 5, which is characterized in that described
The output of fuel cell is controlled and is to the output control of super capacitor：According to control parameter λ, made with optimal control variable
Reference power P for super capacitor outputs(t), and according to demand power Pref(t) fuel cell output reference power is calculated
Pfc(t)；
The bicyclic PID control that the super capacitor power output control is combined using voltage with electric current loop；The fuel cell is defeated
Go out power control using the control monocyclic PID control of electric current.
7. according to a kind of hybrid power tramcar method for recovering brake energy any in claim 1-6, feature
It is, the super capacitor SOC limitation controls process includes step：The detection of super capacitor SOC, super capacitor absorb Brake Energy
Super capacitor SOC is detected during amount；Reach if super capacitor SOC and two-way DC/DC converters and busbar are disconnected if more than 95%
Connection, remaining braking energy are consumed with braking resistor, protect super capacitor；If the SOC of super capacitor when tramcar starts
Not up to tramcar starts the condition of operation, then fuel cell first charges to super capacitor with certain power, when meeting item
Restart operation after part.
8. a kind of hybrid power tramcar method for recovering brake energy according to claim 7, which is characterized in that described
DC bus-bar voltage control includes step：It measures busbar voltage and relatively obtains error with the limit value of busbar voltage；Pass through PID
Controller adjusts the duty ratio in the combination of IGBT chopper circuits, so as to change the equivalent resistance of braking resistor, by remaining system
Dynamic power consumption is in braking resistor.
9. a kind of hybrid power tramcar brake energy recovering system, which is characterized in that including fuel cell system, super electricity
Appearance system, trailer system, brake resistor system, two-way DC/DC converters, unidirectional DC/DC converters, braking resistor regulation and control electricity
Road, DC/AC inverters, measuring system, control circuit and dc bus；
The output terminal of the fuel cell system is connected to unidirectional DC/DC converters, and the power end of the super capacitor system connects
Two-way DC/DC converters are connected to, the unidirectional DC/DC converters are connected to dc bus with two-way DC/DC converters, described
Brake resistor system is connected to dc bus through braking resistor circuit for regulating and controlling, and the dc bus is connected to through DC/AC inverters
Trailer system, the measuring system measure the voltage and current of subsystems and the SOC value of super capacitor system, the control
Circuit processed is respectively connected to two-way DC/DC converters, unidirectional DC/DC converters, braking resistor circuit for regulating and controlling and DC/AC inverters
Control terminal.
A kind of 10. hybrid power tramcar brake energy recovering system according to claim 9, which is characterized in that institute
Show that control system includes hybrid power control system and busbar voltage control system；The brake resistor system includes multigroup mutual
Braking resistor in parallel, the braking resistor circuit for regulating and controlling are IGBT chopper circuits, are both provided in every group of braking resistor
IGBT chopper circuits, the control circuit pass through PID controller and PWM generator by comparing busbar voltage and reference voltage level
It sends out modulating wave and adjusts duty ratio in the combination of IGBT chopper circuits, combined with IGBT chopper circuits so as to adjusting braking resistor
Mode consumes extra braking energy, it is ensured that the stabilization of busbar voltage；The selection of braking resistor is obtained by condition calculating, it is desirable that system
Dynamic resistance can absorb maximum brake power.
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