CN109017448B - Quadratic programming method for torque distribution of four-wheel independent drive electric vehicle and method for formulating constraint conditions and objective function - Google Patents

Quadratic programming method for torque distribution of four-wheel independent drive electric vehicle and method for formulating constraint conditions and objective function Download PDF

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CN109017448B
CN109017448B CN201810914726.4A CN201810914726A CN109017448B CN 109017448 B CN109017448 B CN 109017448B CN 201810914726 A CN201810914726 A CN 201810914726A CN 109017448 B CN109017448 B CN 109017448B
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wheel
quadratic programming
rear wheel
front wheel
independent drive
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CN109017448A (en
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葛平淑
赵秀春
薄纯娟
宋鹏
张涛
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Dalian Minzu University
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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
    • 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
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • 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
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0037—Mathematical models of vehicle sub-units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque
    • 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

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)

Abstract

The divisional application discloses a quadratic programming method for four-wheel independent drive electric vehicle torque distribution, a method for formulating constraint conditions and a target function, belongs to the field of electric vehicle chassis control, is used for solving the problem of torque distribution which effectively considers the power performance and the fuel economy of the four-wheel independent drive electric vehicle, and has the technical key points that: the quadratic programming problem is that the torque distributed by the four motors of the four-wheel independent drive electric automobile is obtained, and the effect is that the torque distribution is converted into the quadratic programming problem.

Description

Quadratic programming method for torque distribution of four-wheel independent drive electric vehicle and method for formulating constraint conditions and objective function
The application is a divisional application with the application number of 201611150608.8, application date of 2016-12-14 and the name of 'a four-wheel independent drive electric vehicle torque distribution method giving consideration to power and energy efficiency'.
Technical Field
The invention belongs to the field of chassis control of electric automobiles, relates to the design of a power system of a four-wheel independent drive electric automobile, and particularly relates to a torque distribution method of the four-wheel independent drive electric automobile considering both power and energy efficiency.
Background
With the increase of the automobile holding capacity, the environmental problems caused by automobiles become more and more serious, and the development of electric automobiles is more and more emphasized by people. The four-wheel independent drive electric automobile is an important form of the electric automobile, and the torques of four wheels of the electric automobile can be independently controlled, so that the four-wheel independent drive electric automobile has greater control advantages compared with the traditional automobile.
The dynamic property and the fuel economy of the automobile are two major performance indexes of the automobile. In a traditional automobile, people work an engine in a speed-torque interval with higher efficiency by optimizing a transmission system according to an engine efficiency MAP (rotating speed-torque-efficiency MAP), so that the automobile keeps dynamic property and the fuel economy of the automobile is improved. However, aiming at the characteristics of the four-wheel independent drive electric automobile, a torque distribution method which effectively considers the power performance and the fuel economy of the four-wheel independent drive electric automobile is not provided at present.
Disclosure of Invention
In order to solve the above problems in the prior art, the present embodiment is to design a torque distribution method for a four-wheel independent drive electric vehicle that considers both power and energy efficiency, and the method can ensure both the power performance of the four-wheel independent drive electric vehicle and the fuel economy of the four-wheel independent drive electric vehicle.
In order to achieve the above purpose, the technical solution of this embodiment is as follows: a torque distribution method for a four-wheel independent drive electric vehicle considering both power and energy efficiency is used for distributing the torque of the four-wheel independent drive electric vehicle by using a quadratic programming method.
Further, the quadratic programming method comprises the following steps:
s1, obtaining a target function;
and S2, formulating constraint conditions of the quadratic programming problem.
Further, the objective function is:
Figure BDA0001762673510000021
wherein:
the first term objective function:
Figure BDA0001762673510000022
the second term objective function:
J2＝(T1+T2+T3+T4-Td)2；
the third objective function is:
Figure BDA0001762673510000023
wherein η1，η2，η3，η4Are respectively left frontThe driving motor efficiency corresponding to the front wheel, the right front wheel, the left rear wheel and the right rear wheel;
P1，P2，P3，P4the output powers of the driving motors corresponding to the left front wheel, the right front wheel, the left rear wheel and the right rear wheel respectively;
T1，T2，T3，T4the moments distributed to the driving motors corresponding to the left front wheel, the right front wheel, the left rear wheel and the right rear wheel respectively
ω1，ω2，ω3，ω4The angular speeds of the driving motors respectively correspond to the left front wheel, the right front wheel, the left rear wheel and the right rear wheel;
r is the effective rolling radius of the tire, mu is the coefficient of ground friction, Fz1、Fz2、Fz3、Fz4Vertical loads borne by the left front wheel, the right front wheel, the left rear wheel and the right rear wheel respectively;
the first term objective function is obtained by transforming and rewriting a calculation formula of total loss power of four driving motors into a square sum form, wherein the calculation formula of total loss power of four driving motors is as follows:
Figure BDA0001762673510000031
further, the constraint includes two terms: the maximum output torque of the motor is restrained and the output power of the battery is restrained;
the maximum output torque of the motor is restrained: the moments of the left and right vehicle wheels are equal, and the constraint is described by a formula as follows:
Figure BDA0001762673510000032
wherein T ismaxThe maximum torque can be provided for the driving motor;
the battery output power constraint: the sum of the power consumed by the four drive motors is no more than 90% of the maximum power provided by the efficiency cell, and the above constraint is described by the formula:
Figure BDA0001762673510000033
wherein P isbThe maximum power available for the battery.
Further, the quadratic programming problem is expressed by the following formula:
Figure BDA0001762673510000041
and solving the quadratic programming problem to obtain the moments distributed by the four motors of the four-wheel independent drive electric automobile.
Has the advantages that: the technical scheme of the invention considers the energy loss condition of the driving motors, and the sum of the torques distributed by the four driving motors is equal to the torque T required by a driverdThe ratio of the driving force borne by the tire to the maximum friction force provided by the ground is determined, an objective function is formulated based on the parameters, namely the objective function makes comprehensive balance consideration on the dynamic property and the economical efficiency, the torque distribution is creatively converted into a quadratic programming problem, a new trend of a torque distribution method is provided, and the problem of mutual balancing of the dynamic property and the economical efficiency is solved for a long time.
Detailed Description
A four-wheel independent drive electric vehicle torque distribution method based on energy management comprises the following steps: the torque distribution problem of the four-wheel independent drive electric automobile is converted into a quadratic programming problem, so that the torque distributed by each motor of the four-wheel independent drive electric automobile can be calculated. The specific implementation steps are as follows:
1. collecting driving motor data of four-wheel independent driving electric automobile and drawing motor MAP (MAP of MAP)
The torque distribution method for the four-wheel independent drive electric vehicle with both power and energy efficiency provided by the embodiment is based on the MAP of the driving motor, so that the MAP of the driving motor needs to be drawn firstly. The drawing method comprises the following steps: the driving motor of the four-wheel independent driving electric automobile is tested on the motor test platform, the efficiency of the motor is tested and recorded under different moments and different rotating speeds, and the recording is as follows:
TABLE 1 MAP data recording chart of four-wheel independent drive electric vehicle motor
Figure BDA0001762673510000042
Figure BDA0001762673510000051
2. Establishing an objective function of a quadratic programming problem
The method is characterized in that a target function is firstly searched for converting the torque distribution problem of the four-wheel independent drive electric vehicle into a quadratic programming problem. The objective function designed by this embodiment includes three terms:
2.1 first term of objective function
The embodiment provides a torque distribution method for a four-wheel independent drive electric vehicle considering both power and energy efficiency, so that the primary objective to be considered in designing an objective function is the loss condition of the energy of a drive motor, and the drive motor efficiencies corresponding to a left front wheel, a right front wheel, a left rear wheel and a right rear wheel are respectively η1，η2，η3，η4The output power of the driving motors corresponding to the left front wheel, the right front wheel, the left rear wheel and the right rear wheel is respectively as follows: p1，P2，P3，P4The distributed moments of the driving motors corresponding to the left front wheel, the right front wheel, the left rear wheel and the right rear wheel are respectively as follows: t is1，T2，T3，T4The angular speeds of the driving motors corresponding to the left front wheel, the right front wheel, the left rear wheel and the right rear wheel are respectively as follows: omega1，ω2，ω3，ω4Then, the total power loss of the four driving motors can be expressed as:
Figure BDA0001762673510000052
in order to form a quadratic programming problem conveniently, the above formula is deformed and rewritten into a square sum form, and a first term of an objective function is obtained:
Figure BDA0001762673510000053
2.2 second term of objective function
The sum of the torques distributed by the four drive motors should equal the torque T demanded by the driverdAs an objective function, it can be written as:
J2＝(T1+T2+T3+T4-Td)2。
2.3 third term of objective function
The ratio of the driving force received by the tire to the maximum friction force available on the ground should be as small as possible, which is favorable for improving the steering stability of the vehicle, so the third objective function designed by the embodiment is as follows:
Figure BDA0001762673510000061
the final designed objective function of this embodiment is the sum of the three terms:
Figure BDA0001762673510000062
wherein: r is the effective rolling radius of the tire, mu is the coefficient of ground friction, Fz1、Fz2、Fz3、Fz4Vertical loads borne by the left front wheel, the right front wheel, the left rear wheel and the right rear wheel respectively;
3. finding constraints of quadratic programming problem
After the torque distribution problem of the four-wheel independent drive electric vehicle is converted into a quadratic programming problem and an objective function is established, a constraint condition of the quadratic programming problem needs to be searched. The design constraints of the present embodiment include two terms:
3.1 maximum output Torque constraint of Motor
The torque that each drive motor can output is necessarily less than the maximum torque that the drive motor itself can provide. In addition, in order to ensure the stability of the vehicle body of the electric vehicle during running and reduce the abrasion of tires, the embodiment provides that the moments of the left and right wheels must be equal. Describing the above constraints with a formula can be written as:
Figure BDA0001762673510000063
wherein T ismaxThe maximum torque that can be provided by the drive motor.
3.2 Battery output Power constraints
The sum of the power consumed by the four driving motors is necessarily less than the maximum power that can be provided by the battery, and in order to better protect the battery and prevent the battery from overheating, the constraint conditions designed in this embodiment are as follows: the sum of the power consumed by the four drive motors must be 90% of the maximum power that can be supplied by the efficiency battery. Is formulated as:
Figure BDA0001762673510000071
wherein P isbThe maximum power available for the battery.
The final resultant quadratic programming problem is formulated as:
Figure BDA0001762673510000072
and solving the quadratic programming problem to obtain the moments distributed by the four motors of the four-wheel independent drive electric automobile.
The above description is only for the purpose of creating a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution and the inventive concept of the present invention within the technical scope of the present invention.

Claims (1)

1. A quadratic programming method for torque distribution of four-wheel independent drive electric vehicles is characterized by comprising the following steps: the quadratic programming problem is represented by the following formula:
Figure FDA0002502505420000011
solving the quadratic programming problem to obtain the moments distributed by the four motors of the four-wheel independent drive electric vehicle;
η1，η2，η3，η4the driving motor efficiency is obtained by testing and recording the driving motors of the four-wheel independent driving electric automobile on a motor testing platform under different torques and different rotating speeds;
P1，P2，P3，P4the output powers of the driving motors corresponding to the left front wheel, the right front wheel, the left rear wheel and the right rear wheel respectively;
T1，T2，T3，T4the torques distributed to the driving motors corresponding to the left front wheel, the right front wheel, the left rear wheel and the right rear wheel respectively;
ω1，ω2，ω3，ω4the angular speeds of the driving motors respectively correspond to the left front wheel, the right front wheel, the left rear wheel and the right rear wheel;
r is the effective rolling radius of the tire, mu is the coefficient of ground friction, Fz1、Fz2、Fz3、Fz4Vertical loads borne by the left front wheel, the right front wheel, the left rear wheel and the right rear wheel respectively;
Tmaxthe maximum torque can be provided for the driving motor;
Tdtorque required by the driver, PbMaximum power available for the battery;
and (3) constraint:
Figure FDA0002502505420000021
for reducing tire wear;
and (3) constraint:
Figure FDA0002502505420000022
for preventing overheating of the battery.
CN201810914726.4A 2016-12-14 2016-12-14 Quadratic programming method for torque distribution of four-wheel independent drive electric vehicle and method for formulating constraint conditions and objective function Expired - Fee Related CN109017448B (en)

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