CN108482185A - A kind of electric automobile energy management and running method based on dynamic programming algorithm - Google Patents
A kind of electric automobile energy management and running method based on dynamic programming algorithm Download PDFInfo
- Publication number
- CN108482185A CN108482185A CN201810178137.4A CN201810178137A CN108482185A CN 108482185 A CN108482185 A CN 108482185A CN 201810178137 A CN201810178137 A CN 201810178137A CN 108482185 A CN108482185 A CN 108482185A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- information
- real
- control device
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
-
- 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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/427—Voltage
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/429—Current
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/60—Navigation input
- B60L2240/62—Vehicle position
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/60—Navigation input
- B60L2240/64—Road conditions
- B60L2240/647—Surface situation of road, e.g. type of paving
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The electric automobile energy management and running method that the present invention relates to a kind of based on dynamic programming algorithm, include the wheel hub motor measurement of power of distributed electric automobile；Information, which is obtained, using GIS-Geographic Information System and vehicle locating device finds out road slope information；The state of oneself state and front truck is obtained using vehicle condition monitoring device；The distribution torque and running method of global optimum during electric automobile during traveling are recursively found out based on dynamic programming algorithm；The present invention can provide the benchmark of comparison for other for the control effect of the control algolithm of energy management, have broad application prospects.
Description
Technical field
The electric automobile energy management and running method that the present invention relates to a kind of based on dynamic programming algorithm, belong to electronic vapour
Vehicle energy management technical field.
Background technology
With the growth to environmental protection and energy saving demand, electric vehicle as it is a kind of cleaning, efficiently, environmental protection go out
Line mode has attracted more and more concerns.In general, pure electric automobile can be divided into two classes according to its type of drive：Between
It connects driving and directly drives；The former is driven by motor by gearbox and differential gearing, and the latter is directly driven by a motor.Due to
It eliminates the energy loss by speed changer and differential gear transmissions and directly drives type compared with the electric vehicle driven indirectly
Electric vehicle have higher efficiency and higher control flexibility.
Previous energy management strategies（EMS）It is real using energy management as governing factor by given speed drive cycle
The coordination for having showed energy management and vehicle movement controls, however vehicle, during actual travel, traffic and geography are believed
Breath is the two critically important factors for influencing vehicle energy consumption：Traffic changes in real time；Geography information is with vehicle
Position and change.Therefore, no matter cruise or fixed driving pattern should all believe the geography of actual travel road
The status information of breath and front truck takes into account.
Invention content
The present invention provides a kind of electric automobile energy management based on dynamic programming algorithm and running method, as electronic vapour
The energy consumption benchmark of vehicle energy management provides ideal reference velocity for actual control process.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of electric automobile energy management and running method based on dynamic programming algorithm, include the following steps：
Step 1：Dynamometer machine, measurement of power are laid on bottom power plant, that is, front hub of electric vehicle and the motor of rear-wheel hub
The machine acquisition motor of front hub, rear-wheel hub motor generated under electric vehicle brake, driving condition different rotating speeds, different turn round
The efficiency distribution data of square obtain the function information of motor torque-efficiency, and Map figures are made in these data；
Step 2：GIS-Geographic Information System in electric vehicle obtains distance height above sea level corresponding with its of vehicle traveling
Data information obtains distance-height above sea level function information, under electric vehicle driving condition, the vehicle in electric vehicle
Positioning device obtains the location information of vehicle, and location information is combined with the information that GIS-Geographic Information System obtains, finds out road
Grade information data；
Step 3：Vehicle oneself state is obtained by the vehicle condition monitoring device in electric vehicle, the data of preceding car state are believed
Breath, in conjunction with the function information and distance-height above sea level function information of aforementioned obtained motor torque-efficiency, is passed using DP algorithm
Return control input optimal in sampling interval equidistant during finding out electric automobile during traveling, in electric vehicle original state, profit
Optimum allocation torque and running method are found out with the method for interpolation, and is moved in circles in each equidistant sampling interval, to
Realize the management of energy and the planning of travel speed；
As present invention further optimization, electric vehicle above-mentioned further includes Decision Control device and real-time Communication for Power device,
In, vehicle condition monitoring device, real-time Communication for Power device, vehicle locating device, GIS-Geographic Information System and bottom power plant are and decision
Control device is connected, and Decision Control device is by vehicle condition monitoring device, real-time Communication for Power device, vehicle locating device and geography information
After acquiring information at system and carrying out parsing and operation, sends and instruct to bottom power plant；
Vehicle condition monitoring device above-mentioned includes that ultrasonic radar, photoelectric encoder and SOC are shown, for obtaining vehicle itself with before
The relative distance of vehicle and the velocity information of vehicle, and aforementioned information is inputted into Decision Control device, while vehicle condition monitoring device
Monitor the SOC quantity of states of electric vehicle in real time at each equidistant sampling interval ending；
Real-time Communication for Power device above-mentioned includes DSRC communication devices, the car status information sent out for receiving front truck, and and vehicle
Oneself state carries out information exchange, and the car status information includes speed and acceleration；
Vehicle locating device above-mentioned includes the difference Big Dipper/GPS, for the accurate location information of collection vehicle and inputs decision control
Device processed；
GIS-Geographic Information System above-mentioned is used to measure the longitude, latitude and height above sea level of vehicle running section；
Bottom power plant above-mentioned includes the brshless DC motor of hub-type, the instruction for receiving the output of Decision Control device
And execute braking and the driving moment of Decision Control device；
As present invention further optimization, step 1 above-mentioned includes following sub-step：Dynamometer machine is to front hub and rear-wheel hub
The voltage of motor, electric current, rotating speed, torque measurement when do time synchronization, while measuring it in driving condition, on-position and not
With the operational efficiency under torque；
Further include power analyzer, corresponding operational efficiency is exported after the input/output argument of synchro measure motor, and be made
Map schemes；
In the way of fitting of a polynomial, obtains the function correspondence of motor driving, braking moment and its operational efficiency and incite somebody to action
In its offline function storage to Decision Control device；
Step 2 above-mentioned includes following sub-step：Obtained in advance using GIS-Geographic Information System the longitude of running section, latitude and
The information datas such as height above sea level；
It is handled by the method for interpolation, converts above- mentioned information data to the letter between the height and distance of real road
Number simultaneously will be in its offline function storage to Decision Control device；
Step 3 above-mentioned includes following sub-step：The distance that vehicle is travelled is divided at least two equidistant sampling intervals,
It concurrently sets electric vehicle and does uniform variable motion in each equidistant sampling interval；
Using dynamic programming algorithm, i.e. DP algorithm, all possible state amounts are traversed in the last one equidistant sampling interval and are obtained
The control of substitution valence Function Optimization inputs, find out most latter two, in three sections so that the optimal control of cost function inputs, from
And it is derived from optimal in global section；
Decision Control device obtains the equidistant sample region of each of electric vehicle according to vehicle condition monitoring device and real-time Communication for Power device
Between initial velocity information and the position and speed information of front truck；Decision Control device is according to the electric vehicle shape of aforementioned acquisition
State information plans the control output of each equidistant sampling interval；
As present invention further optimization, Decision Control device above-mentioned includes information receiving module, message processing module, reality
When communication module and motor control module, wherein information receiving module receives vehicle condition monitoring information, real-time communication information, vehicle
Location information and road geographic information, and it is sent to message processing module；Message processing module, which monitors collected vehicle condition, to be believed
Breath, real-time communication information, vehicle location information and road geographic information carry out parsing and operation, and are sent to real-time Communication for Power mould
Block；Real-time communication module is realized Decision Control device, equipment for monitoring vehicles, vehicle locating device, GIS-Geographic Information System, is led in real time
Information exchange between T unit and bottom power plant；Motor control module executes the execution order that control device is sent,
Realize the Torque distribution of front and back wheel；
As present invention further optimization, vehicle condition monitoring information above-mentioned includes car speed, vehicle SOC quantity of states and front truck
Position；Real-time communication information is preceding vehicle speed；Vehicle location information is Differential positioning data.
By above technical scheme, compared with the existing technology, the invention has the advantages that：
The present invention is based on dynamic programming algorithms to be managed the energy of electric vehicle, and result acts not only as electric vehicle
The energy consumption benchmark of energy management, obtained driving strategy may be that other real-time energy management control methods provide realization energy
Measure the reference velocity of optimization.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the electric vehicle structural map frame diagram of the present invention；
Fig. 2 is the functional block diagram of the electric vehicle Decision Control device of the present invention；
Fig. 3 is the energy management method functional block diagram based on Dynamic Programming of the present invention.
Specific implementation mode
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant to the invention.
A kind of the electric automobile energy management and running method based on dynamic programming algorithm of the present invention, including following step
Suddenly：
Step 1：Dynamometer machine, measurement of power are laid on bottom power plant, that is, front hub of electric vehicle and the motor of rear-wheel hub
The machine acquisition motor of front hub, rear-wheel hub motor generated under electric vehicle brake, driving condition different rotating speeds, different turn round
The efficiency distribution data of square obtain the function information of motor torque-efficiency, and Map figures are made in these data；
Step 2：GIS-Geographic Information System in electric vehicle obtains distance height above sea level corresponding with its of vehicle traveling
Data information obtains distance-height above sea level function information, under electric vehicle driving condition, the vehicle in electric vehicle
Positioning device obtains the location information of vehicle, and location information is combined with the information that GIS-Geographic Information System obtains, finds out road
Grade information data；
Step 3：Vehicle oneself state is obtained by the vehicle condition monitoring device in electric vehicle, the data of preceding car state are believed
Breath, in conjunction with the function information and distance-height above sea level function information of aforementioned obtained motor torque-efficiency, using Dynamic Programming
Algorithm, that is, DP algorithm recurrence finds out control input optimal in equidistant sampling interval during electric automobile during traveling, in electronic vapour
Vehicle original state finds out optimum allocation torque and running method using the method for interpolation, and in each equidistant sampling interval
It moves in circles, to realize the management of energy and the planning of travel speed；
As shown in Figure 1, as present invention further optimization, electric vehicle above-mentioned further includes Decision Control device and leads in real time
T unit, wherein vehicle condition monitoring device, real-time Communication for Power device, vehicle locating device, GIS-Geographic Information System and bottom power plant
Be connected with Decision Control device, Decision Control device by vehicle condition monitoring device, real-time Communication for Power device, vehicle locating device and
After acquiring information at GIS-Geographic Information System and carrying out parsing and operation, sends and instruct to bottom power plant；
Vehicle condition monitoring device above-mentioned includes that ultrasonic radar, photoelectric encoder and SOC are shown, for obtaining vehicle itself with before
The relative distance of vehicle and the velocity information of vehicle, and aforementioned information is inputted into Decision Control device, while vehicle condition monitoring device
Monitor the SOC quantity of states of electric vehicle in real time at each equidistant sampling interval ending；
Real-time Communication for Power device above-mentioned includes DSRC communication devices, the car status information sent out for receiving front truck, and and vehicle
Oneself state carries out information exchange, and the car status information includes speed and acceleration；
Vehicle locating device above-mentioned includes the difference Big Dipper/GPS, for the accurate location information of collection vehicle and inputs decision control
Device processed；
GIS-Geographic Information System above-mentioned is used to measure the longitude, latitude and height above sea level of vehicle running section；
Bottom power plant above-mentioned includes the brshless DC motor of hub-type, the instruction for receiving the output of Decision Control device
And execute braking and the driving moment of Decision Control device；
As present invention further optimization, step 1 above-mentioned includes following sub-step：Dynamometer machine is to front hub and rear-wheel hub
The voltage of motor, electric current, rotating speed, torque measurement when do time synchronization, while measuring it in driving condition, on-position and not
With the operational efficiency under torque；
Further include power analyzer, corresponding operational efficiency is exported after the input/output argument of synchro measure motor, and be made
Map schemes；
In the way of fitting of a polynomial, obtains the function correspondence of motor driving, braking moment and its operational efficiency and incite somebody to action
In its offline function storage to Decision Control device；
Step 2 above-mentioned includes following sub-step：Obtained in advance using GIS-Geographic Information System the longitude of running section, latitude and
The information datas such as height above sea level；
It is handled by the method for interpolation, converts above- mentioned information data to the letter between the height and distance of real road
Number simultaneously will be in its offline function storage to Decision Control device；
Step 3 above-mentioned includes following sub-step：The distance that vehicle is travelled is divided at least two equidistant sampling intervals,
It concurrently sets electric vehicle and does uniform variable motion in each equidistant sampling interval；
Using dynamic programming algorithm, i.e. DP algorithm, all possible state amounts are traversed in the last one equidistant sampling interval and are obtained
The control of substitution valence Function Optimization inputs, find out most latter two, in three sections so that the optimal control of cost function inputs, from
And it is derived from optimal in global section；
Decision Control device obtains the equidistant sample region of each of electric vehicle according to vehicle condition monitoring device and real-time Communication for Power device
Between initial velocity information and the position and speed information of front truck；Decision Control device is according to the electric vehicle shape of aforementioned acquisition
State information plans the control output of each equidistant sampling interval；
Shown in Fig. 2, as present invention further optimization, Decision Control device above-mentioned includes information receiving module, at information
Manage module, real-time communication module and motor control module, wherein information receiving module reception includes the vehicle condition of vehicle condition monitoring device
Monitoring information, the real-time communication information of real-time Communication for Power device, the vehicle location information of vehicle positioning system and GIS-Geographic Information System
Road geographic information, and be sent to message processing module；
Message processing module believes collected vehicle condition monitoring information, real-time communication information, vehicle location information and road geography
Breath carries out parsing and operation, and is sent to real-time communication module；
Real-time communication module realizes Decision Control device, equipment for monitoring vehicles, vehicle locating device, GIS-Geographic Information System, in real time
Information exchange between communication device and bottom power plant；What motor control module execution control device was sent executes life
It enables, realizes the Torque distribution of front and back wheel；
As present invention further optimization, vehicle condition monitoring information above-mentioned includes car speed, vehicle SOC quantity of states and front truck
Position；Real-time communication information is preceding vehicle speed；Vehicle location information is Differential positioning data.
Fig. 3 show the energy management method functional block diagram based on Dynamic Programming（That is the energy flow principle of electric vehicle
Block diagram）, below with reference to Fig. 3, to the present invention based on Dynamic Programming（DP）Electric automobile energy management and drive manner into
The detailed description of row；
First, the demand power of electric vehicle planning is provided by front hub motor and rear-wheel hub motor, at any driving condition lithium electricity
Electric energy in the packet of pond is changed into the mechanical energy of motor by certain delivery efficiency dress；Under in the braking state, the kinetic energy of automobile is by certain
Braking efficiency be converted into electric energy；
In dynamic programming algorithm, the section of running car is divided into several pieces, often portion is equidistant sampling interval, simultaneously
Setting electric vehicle does uniform variable motion in each equidistant sampling interval；Distributed electric automobile is in initial position according to just
The optimal control sequence that the quantity of state at moment beginning brings Dynamic Programming into obtains the optimum control amount under current state into row interpolation,
The energy of current generation consumption is recorded when running car is to next sampled point, and using sampled point at this time as new initial bit
It sets, while reciprocal according to the vehicle body state at vehicle condition monitoring device acquisition current time and the cycle of states of front truck.
It should be noted that the electric vehicle or vehicle itself or vehicle that are previously mentioned in the application represent be distribution
The electric vehicle of formula In-wheel motor driving.
The electric automobile energy management method of the present invention, the roads electric vehicle Hang Shi have recursively been planned based on Dynamic Programming
Section process considers the area-wide optimal control sequence in the case of road grade and front truck status information, in the case where ensureing safety
The distribution torque that input keeps global energy optimal in each sample point realizes the planning of the management and travel speed of energy.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein（Including technology art
Language and scientific terminology）With meaning identical with the general understanding of the those of ordinary skill in the application fields.Should also
Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art
The consistent meaning of justice, and unless defined as here, will not be with idealizing or the meaning of too formal be explained.
The meaning of "and/or" described herein refers to that the case where respective individualism or both exists simultaneously wraps
Including including.
The meaning of " connection " described herein can be directly connected to can also be to pass through between component between component
Other components are indirectly connected with.
It is enlightenment with above-mentioned desirable embodiment according to the present invention, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to determine its technical scope according to right.
Claims (5)
1. a kind of electric automobile energy management and running method based on dynamic programming algorithm, it is characterised in that：Including following step
Suddenly：
Step 1：Dynamometer machine, measurement of power are laid on bottom power plant, that is, front hub of electric vehicle and the motor of rear-wheel hub
The machine acquisition motor of front hub, rear-wheel hub motor generated under electric vehicle brake, driving condition different rotating speeds, different turn round
The efficiency distribution data of square obtain the function information of motor torque-efficiency, and Map figures are made in these data；
Step 2：GIS-Geographic Information System in electric vehicle obtains distance height above sea level corresponding with its of vehicle traveling
Data information obtains distance-height above sea level function information, under electric vehicle driving condition, the vehicle in electric vehicle
Positioning device obtains the location information of vehicle, and location information is combined with the information that GIS-Geographic Information System obtains, finds out road
Grade information data；
Step 3：Vehicle oneself state is obtained by the vehicle condition monitoring device in electric vehicle, the data of preceding car state are believed
Breath, in conjunction with the function information and distance-height above sea level function information of aforementioned obtained motor torque-efficiency, is passed using DP algorithm
Return control input optimal in sampling interval equidistant during finding out electric automobile during traveling, in electric vehicle original state, profit
Optimum allocation torque and running method are found out with the method for interpolation, and is moved in circles in each equidistant sampling interval, to
Realize the management of energy and the planning of travel speed.
2. electric automobile energy management and running method according to claim 1 based on dynamic programming algorithm, feature
It is：Electric vehicle above-mentioned further includes Decision Control device and real-time Communication for Power device, wherein vehicle condition monitoring device is led in real time
T unit, vehicle locating device, GIS-Geographic Information System and bottom power plant are connected with Decision Control device, Decision Control
Device is acquired information by vehicle condition monitoring device, real-time Communication for Power device, vehicle locating device and GIS-Geographic Information System and is solved
After analysis and operation, sends and instruct to bottom power plant；
Vehicle condition monitoring device above-mentioned includes that ultrasonic radar, photoelectric encoder and SOC are shown, for obtaining vehicle itself with before
The relative distance of vehicle and the velocity information of vehicle, and aforementioned information is inputted into Decision Control device, while vehicle condition monitoring device
Monitor the SOC quantity of states of electric vehicle in real time at each equidistant sampling interval ending；
Real-time Communication for Power device above-mentioned includes DSRC communication devices, the car status information sent out for receiving front truck, and and vehicle
Oneself state carries out information exchange, and the car status information includes speed and acceleration；
Vehicle locating device above-mentioned includes the difference Big Dipper/GPS, for the accurate location information of collection vehicle and inputs decision control
Device processed；
GIS-Geographic Information System above-mentioned is used to measure the longitude, latitude and height above sea level of vehicle running section；
Bottom power plant above-mentioned includes the brshless DC motor of hub-type, the instruction for receiving the output of Decision Control device
And execute braking and the driving moment of Decision Control device.
3. electric automobile energy management and running method according to claim 2 based on dynamic programming algorithm, feature
It is：
Step 1 above-mentioned includes following sub-step：Dynamometer machine to the voltage of the motor of front hub and rear-wheel hub, electric current, rotating speed,
Time synchronization is done when torque measurement, while measuring its operational efficiency under driving condition, on-position and different torques；
Further include power analyzer, corresponding operational efficiency is exported after the input/output argument of synchro measure motor, and be made
Map schemes；
In the way of fitting of a polynomial, obtains the function correspondence of motor driving, braking moment and its operational efficiency and incite somebody to action
In its offline function storage to Decision Control device；
Step 2 above-mentioned includes following sub-step：Obtained in advance using GIS-Geographic Information System the longitude of running section, latitude and
The information datas such as height above sea level；
It is handled by the method for interpolation, converts above- mentioned information data to the letter between the height and distance of real road
Number simultaneously will be in its offline function storage to Decision Control device；
Step 3 above-mentioned includes following sub-step：The distance that vehicle is travelled is divided at least two equidistant sampling intervals,
It concurrently sets electric vehicle and does uniform variable motion in each equidistant sampling interval；
Using dynamic programming algorithm, i.e. DP algorithm, all possible state amounts are traversed in the last one equidistant sampling interval and are obtained
The control of substitution valence Function Optimization inputs, find out most latter two, in three sections so that the optimal control of cost function inputs, from
And it is derived from optimal in global section；
Decision Control device obtains the equidistant sample region of each of electric vehicle according to vehicle condition monitoring device and real-time Communication for Power device
Between initial velocity information and the position and speed information of front truck；Decision Control device is according to the electric vehicle shape of aforementioned acquisition
State information plans the control output of each equidistant sampling interval.
4. electric automobile energy management and running method according to claim 2 based on dynamic programming algorithm, feature
It is：Decision Control device above-mentioned includes information receiving module, message processing module, real-time communication module and motor control mould
Block, wherein information receiving module receives vehicle condition monitoring information, real-time communication information, vehicle location information and road geographic information,
And it is sent to message processing module；Message processing module is to collected vehicle condition monitoring information, real-time communication information, vehicle location
Information and road geographic information carry out parsing and operation, and are sent to real-time communication module；Real-time communication module realizes decision control
Device, equipment for monitoring vehicles, vehicle locating device, GIS-Geographic Information System, real-time Communication for Power device and bottom power plant processed it
Between information exchange；Motor control module executes the execution order that control device is sent, and realizes the Torque distribution of front and back wheel.
5. electric automobile energy management and running method according to claim 4 based on dynamic programming algorithm, feature
It is：Vehicle condition monitoring information above-mentioned includes car speed, vehicle SOC quantity of states and front vehicle position；Before real-time communication information is
Vehicle speed；Vehicle location information is Differential positioning data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810178137.4A CN108482185B (en) | 2018-03-05 | 2018-03-05 | Electric automobile energy management and driving method based on dynamic planning algorithm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810178137.4A CN108482185B (en) | 2018-03-05 | 2018-03-05 | Electric automobile energy management and driving method based on dynamic planning algorithm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108482185A true CN108482185A (en) | 2018-09-04 |
| CN108482185B CN108482185B (en) | 2021-05-04 |
Family
ID=63341544
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810178137.4A Active CN108482185B (en) | 2018-03-05 | 2018-03-05 | Electric automobile energy management and driving method based on dynamic planning algorithm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108482185B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109733406A (en) * | 2019-01-22 | 2019-05-10 | 湖南普西智能科技有限责任公司 | Policy control method is travelled based on the pure electric automobile of fuzzy control and Dynamic Programming |
| CN109849897A (en) * | 2019-02-28 | 2019-06-07 | 江苏大学 | A kind of hybrid power energy management method considering coupled drive system dynamic efficiency |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008087773A1 (en) * | 2007-01-15 | 2008-07-24 | Toyota Jidosha Kabushiki Kaisha | Vehicle and its control method |
| EP2685624A1 (en) * | 2011-03-10 | 2014-01-15 | Pioneer Corporation | Efficiency map generation device, efficiency map generation method, and program |
| CN105416077A (en) * | 2015-12-01 | 2016-03-23 | 北京理工大学 | Energy management system and method for electric automobile |
| CN106347159A (en) * | 2016-10-09 | 2017-01-25 | 山东交通学院 | Electric automobile energy management control system based on hierarchical structure |
| US20170050536A1 (en) * | 2015-08-21 | 2017-02-23 | Magna Steyr Fahrzeugtechnik Ag & Co Kg | Operating strategy for an electrically driven all-wheel-drive vehicle |
| CN107696915A (en) * | 2017-09-20 | 2018-02-16 | 江苏大学 | A kind of wheeled driving control system of electric automobile based on hierarchical control and its control method |
-
2018
- 2018-03-05 CN CN201810178137.4A patent/CN108482185B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008087773A1 (en) * | 2007-01-15 | 2008-07-24 | Toyota Jidosha Kabushiki Kaisha | Vehicle and its control method |
| EP2685624A1 (en) * | 2011-03-10 | 2014-01-15 | Pioneer Corporation | Efficiency map generation device, efficiency map generation method, and program |
| US20170050536A1 (en) * | 2015-08-21 | 2017-02-23 | Magna Steyr Fahrzeugtechnik Ag & Co Kg | Operating strategy for an electrically driven all-wheel-drive vehicle |
| CN105416077A (en) * | 2015-12-01 | 2016-03-23 | 北京理工大学 | Energy management system and method for electric automobile |
| CN106347159A (en) * | 2016-10-09 | 2017-01-25 | 山东交通学院 | Electric automobile energy management control system based on hierarchical structure |
| CN107696915A (en) * | 2017-09-20 | 2018-02-16 | 江苏大学 | A kind of wheeled driving control system of electric automobile based on hierarchical control and its control method |
Non-Patent Citations (1)
| Title |
|---|
| 张立军等: "分布式驱动电动汽车驱制动***容量分配方法", 《汽车工程学报》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109733406A (en) * | 2019-01-22 | 2019-05-10 | 湖南普西智能科技有限责任公司 | Policy control method is travelled based on the pure electric automobile of fuzzy control and Dynamic Programming |
| CN109849897A (en) * | 2019-02-28 | 2019-06-07 | 江苏大学 | A kind of hybrid power energy management method considering coupled drive system dynamic efficiency |
| CN109849897B (en) * | 2019-02-28 | 2020-07-31 | 江苏大学 | Hybrid power energy management method considering dynamic efficiency of coupling transmission system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108482185B (en) | 2021-05-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110135632B (en) | PHEV self-adaptive optimal energy management method based on path information | |
| CN107351840B (en) | A kind of vehicle energy saving path and economic speed dynamic programming method based on V2I | |
| CN107284441B (en) | The energy-optimised management method of the adaptive plug-in hybrid-power automobile of real-time working condition | |
| CN105216782B (en) | Plug-in hybrid-power automobile energy management method based on energy predicting | |
| EP3913329B1 (en) | Method for predicting future driving conditions for a vehicle | |
| CN105946857B (en) | Parallel plug-in hybrid electric vehicle (PHEV) energy management method based on intelligent transportation system | |
| CN104820424B (en) | Electric automobile automated driving system and its control method based on Beidou navigation | |
| CN110936949B (en) | Energy control method, equipment, storage medium and device based on driving condition | |
| CN110641397B (en) | Electric automobile driving feedback system based on combination of driving data and map prediction | |
| CN111959490B (en) | Reference self-adaptive optimal energy management method for plug-in hybrid electric vehicle model | |
| WO2022142540A1 (en) | New energy vehicle coasting control system and method based on intelligent networking information, and new energy vehicle | |
| CN103481798A (en) | CAN (controller area network) bus-based driving-driven distribution type control system of electric vehicle driven by hub motors | |
| DE102014221328A1 (en) | Vehicle power management apparatus | |
| DE102014214763A1 (en) | REAL-TIME FUEL ECONOMY ESTIMATES | |
| CN108489500A (en) | A kind of global path planning method and system based on Energy Consumption Economy | |
| CN110103773A (en) | A kind of electric car continual mileage prediction technique and system | |
| Vajedi et al. | Intelligent power management of plug–in hybrid electric vehicles, part I: Real–time optimum SOC trajectory builder | |
| CN104834776A (en) | System and method for modeling and simulating traffic vehicle in microscopic traffic simulation | |
| CN108482185A (en) | A kind of electric automobile energy management and running method based on dynamic programming algorithm | |
| CN116946107B (en) | Hybrid system mode decision and power distribution method under energy track following | |
| CN104245455A (en) | Vehicle power-generator device and vehicle power-generation control method | |
| Kim et al. | Parameterized energy-optimal regenerative braking strategy for connected and autonomous electrified vehicles: A real-time dynamic programming approach | |
| Zhang et al. | Optimal eco-driving control of autonomous and electric trucks in adaptation to highway topography: Energy minimization and battery life extension | |
| Abdrakhmanov et al. | Dynamic Programming Resolution and Database Knowledge for Online Predictive Energy Management of Hybrid Vehicles. | |
| Pérez et al. | Modularity, adaptability and evolution in the autopia architecture for control of autonomous vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |