CN110228482A - A kind of hybrid power bus bus station region control method based on ITS Information - Google Patents
A kind of hybrid power bus bus station region control method based on ITS Information Download PDFInfo
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- CN110228482A CN110228482A CN201910401022.1A CN201910401022A CN110228482A CN 110228482 A CN110228482 A CN 110228482A CN 201910401022 A CN201910401022 A CN 201910401022A CN 110228482 A CN110228482 A CN 110228482A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
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- Automation & Control Theory (AREA)
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- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
The present invention discloses a kind of hybrid power bus bus station region control method based on ITS Information, including step 1: according to the sampling period, acquiring speed, accelerator open degree, the distance away from next bus station and the battery level information of bus；Step 2: the speed of bus, accelerator open degree, the distance away from next bus station and battery level information being blurred, then after carrying out fuzzy reasoning calculating, ambiguity solution, obtain control permissibility；Step 3: when the control permissibility is { low }, the bus is travelled by original driving status；When control permissibility is { in, high }, the engine of bus and the clutch of speed changer are disconnected, keeps engine and speed changer to transmit without torque, and keep the engine off state；The operation of speed changer low-grade location is kept, allows to downshift, forbids upshifing；Bus is operated alone using driving motor, and limits its output power.Comprehensive energy consumption and clutch service life is set to get a promotion.
Description
Technical field
The present invention relates to hybrid power buses to bus station Regional suitability control field, more particularly, this
Invention is related to a kind of hybrid power bus bus station region control method based on ITS Information.
Background technique
Hybrid power bus controls engine, driving motor according to information such as throttle, brake, speeds under normal conditions
And automatic transmission assembly, in the case where routinely travelling road conditions, system performance is more excellent, but in bus station region, due to Traditional control system
System ignore running environment information locating for vehicle, engine short distance can be brought to open/stop, it is unnecessary shift etc. deteriorate vehicle energy consumption, from
The problem of clutch assembly components service life and riding comfort.Therefore, intelligent transportation (ITS) real time information is introduced, and comprehensive
Closing these information and carrying out more rational control is beneficial for promoting existing system comprehensive performance.
In consideration of it, the present invention proposes a kind of hybrid power bus bus station for being based on intelligent transportation (ITS) information
Region control method, to improve hybrid power bus control system for the adaptability of running environment.
Summary of the invention
The present invention has designed and developed a kind of hybrid power bus bus station region control based on ITS Information
Method processed can obtain the road conditions and vehicle condition of bus in real time, effectively reduce hybrid power bus close to bus station
The engine in point region opens/stops, clutch and gear shifting action number, multiplies comprehensive energy consumption, clutch service life and vehicle
Comfort is sat to get a promotion.
The present invention can also limit the output power of driving motor, save electricity, keep away when control permissibility is { in, high }
It is too low and start engine to exempt from battery SOC.
Technical solution provided by the invention are as follows:
A kind of hybrid power bus bus station region control method based on ITS Information, including walk as follows
It is rapid:
Step 1: according to the sampling period, acquiring speed, accelerator open degree, the distance away from next bus station and the electricity of bus
Pond information about power；
Step 2: by the speed of the bus, accelerator open degree, the distance away from next bus station and battery level information
It is blurred, then after carrying out fuzzy reasoning calculating, ambiguity solution, obtains control permissibility；
Wherein, the speed of the bus, accelerator open degree, the distance away from next bus station, battery capacity and control are permitted
Xu Du is divided into three grades；The speed of the bus, accelerator open degree, distance away from next bus station fuzzy set be it is small,
In, it is big }, the battery capacity of the bus and the fuzzy set of control permissibility are { low, in, high }；
Step 3: when the control permissibility is { low }, the bus is travelled by original driving status；
When the control permissibility is { in, high }, the engine of bus and the clutch of speed changer are disconnected, is kept
Engine and speed changer are transmitted without torque, and keep the engine off state；The operation of speed changer low-grade location is kept, allows to downshift,
Forbid upshifing；Bus is operated alone using driving motor, and controls its output power satisfaction:
When the control permissibility be in } when:
When the control permissibility is { high }:
In formula, P is the output power of driving motor, PmaxFor the peak power output of driving motor, d be bus away from
The distance of next bus station, D0For set distance, v is speed, vminFor minimum speed, vmaxFor the max speed,It is opened for throttle
Degree, ηeFor battery capacity.
Preferably, in step 2, by the speed of the bus, accelerator open degree, the distance away from next bus station and electricity
Pond information about power is blurred, and the fuzzy domain of the speed of the bus is [0,80], quantizing factor 1, away under
The fuzzy domain of the distance of one bus station is [0,150], and quantizing factor 1, the fuzzy domain of accelerator open degree is [0,100],
Its quantizing factor is 1, and the fuzzy domain of battery capacity is [0,100], and quantizing factor 1 is described to control the fuzzy of permissibility
Domain is [0,100], quantizing factor 1.
Preferably, in step 2, the fuzzy reasoning, which is calculated, carries out fuzzy reasoning calculating using Mamdani algorithm, pushes away
Reason rule are as follows:
IF(Ai)AND(Bi)AND(Ci)AND(Di)THEN(Ei) (i=1,2 ... n)；
The reasoning results of the corresponding inference rule are as follows:
Wherein, the fuzzy inference rule is extracted based on pilot control experience, AiFor the public transport in i-th inference rule
Distance of the car away from front bus station, BiFor the speed in i-th inference rule, CiFor the throttle in i-th inference rule
Aperture value, DiFor the battery capacity in i-th inference rule, EiFor the control permissibility in i-th inference rule,For in the reasoning results of i-th inference rule, ziFor weight shared by i-th inference rule,For i-th reasoning
In x-th of operating point, bus is under the jurisdiction of the degree of the fuzzy domain of its correspondence away from the distance of next bus station in rule,For in x-th of operating point, the speed of bus is under the jurisdiction of its journey for corresponding to fuzzy domain in i-th inference rule
Degree,For in x-th of operating point, the accelerator open degree of bus is under the jurisdiction of its correspondence fuzzy theory in i-th inference rule
The degree in domain,For in x-th of operating point, the battery capacity of bus is under the jurisdiction of its correspondence in i-th inference rule
The degree of fuzzy domain.
Preferably, in step 2, the acquisition of the control permissibility is using weighted mean method to fuzzy reasoning calculated result
Carry out anti fuzzy method processing:
In formula, zdefTo control permissibility.
It preferably, further include that will acquire the speed of bus, accelerator open degree, away under between step 1 and step 2
The distance and battery level information of one bus station carry out Effective judgement, carry out next step if effectively, if invalid
Resampling；
Wherein, when the speed of the bus of acquisition, accelerator open degree, the distance away from next bus station and battery capacity are at it
When in corresponding fuzzy domain, it is effective, is otherwise invalid.
Preferably, before carrying out Effective judgement, by the speed of the bus of acquisition, accelerator open degree, away from next
The distance and battery level information of bus station carry out first-order low-pass wave.
Preferably, in step 1, the sampling period 5ms.
Preferably, n=3.
It is of the present invention the utility model has the advantages that
(1) the hybrid power bus bus station region control of the present invention based on ITS (intelligent transportation) information
Method processed integrates bus vehicle status information and acquires vehicle real time position letter by intelligent transportation system
Breath, front bus station real-time range information etc. control the hybrid power bus close to bus station, can effectively subtract
Few hybrid power bus opened/stopped in the engine close to bus station region, clutch and gear shifting action number, makes system
There is certain promotion in terms of comprehensive energy consumption, clutch service life and vehicle riding comfort.The present invention can also permit in control
When Xu Du is { in, high }, the output power of driving motor is limited, electricity is saved, avoids battery SOC too low and start engine.
(2) the hybrid power bus bus station region control method of the present invention based on ITS information is to be
The realization united on software view has the characteristics that at low cost, reusability is good without increasing additional hardware configuration.
(3) it is adopted in the hybrid power bus bus station region control method of the present invention based on ITS information
With the mode of fuzzy reasoning, the operating experience of people is made full use of and used for reference, there is certain intelligent level.
(4) the hybrid power bus bus station region control method of the present invention based on ITS information has
Versatility and portability, this method can be applied to other all types of carry and mix in the dynamic and bus of automatic speed-changing system.
Detailed description of the invention
Fig. 1 is the hybrid power bus bus station region controlling party of the present invention based on ITS Information
Hybrid power system configuration diagram applied by method.
Fig. 2 is the hybrid power bus bus station region controlling party of the present invention based on ITS Information
The functional block diagram of method.
Fig. 3 is the hybrid power bus bus station region controlling party of the present invention based on ITS Information
The program flow chart of method.
Fig. 4 is the hybrid power bus bus station region controlling party of the present invention based on ITS Information
Fuzzy reasoning flow chart in method.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
The present invention can there are many different forms to implement, and should not be construed as limited to the embodiment illustrated again, phase
Instead, these embodiments are provided, so that the disclosure will be thorough and complete.In the accompanying drawings, for clarity, structure can be exaggerated
With the size and relative size in region.
As shown in Figure 1, being to implement the hybrid power bus bus station of the present invention based on ITS information in figure
The hybrid-power bus system schematic that region control method is relied on is implemented of the present invention mixed based on ITS information
The program installation and operation of power bus bus station region control method is closed in VCU (full-vehicle control unit).It is described mixed
The system of moving is by engine, clutch, driving motor, AMT speed changer, power energy storage device, high-voltage electric steering mechanism, drive axle
It is formed with wheel etc., is the common structure of existing hybrid electric vehicle, therefore, specific structure and connection type are not done superfluous herein
It states.
Entire car controller VCU is interacted by controller LAN and each assembly controller, reception key switch signal,
Each assembly information such as accelerator pedal signal, brake signal, speed, handle signal, current gear signal and dynamo battery, identification are driven
The person of sailing is intended to, judges current vehicle condition and operating condition, and the power assemblies such as coordinated control motor, battery, clutch, AMT component is real
Existing vehicle hybrid power system function (including the start and stop of engine idling, pure electric vehicle, engine be operated alone, combine drive and
Braking energy recovering function etc.).
As shown in Fig. 2, being the function of the hybrid power bus bus station region control method based on ITS information in figure
Energy module diagram, functions of modules are as follows:
1. input signal processing module, to the speed of input system, accelerator open degree, away from next bus station's real-time range, electricity
The signals such as pond electricity carry out signal processing, and interference and the open country point of signal are filtered out using first-order low-pass wave mode.
2. fuzzy reasoning module, first by the speed of input, accelerator open degree, away from next bus station's real-time range, electromagnetism electricity
The signals such as amount are blurred, and then carry out mould according to the fuzzy rule base (extracting based on pilot control experience) based on experience
Reasoning and calculation is pasted, reasoning is obtained into result and carries out ambiguity solution, it is final to obtain control permissibility information.
3. hybrid power comprehensive control module judges the control permissibility information for the system that is input to, only controls
Permissibility information is greater than that predefined threshold value requires and current vehicle, work information meet when control requires and execute comprehensively control
Function coordinates control of the control units such as TCU, MCU, ECU collaboration completion to clutch, driving motor, engine, speed changer.
As shown in figure 3, the hybrid power bus bus station region provided by the invention based on ITS Information
Control method includes the following steps:
Step 1: according to sampling period (5ms), acquire the speed of bus, accelerator open degree, away from next bus station away from
From and battery level information, and using first-order low-pass wave mode filter out signal interference and wild point.
Step 2: speed, accelerator open degree, the distance away from next bus station and the battery level information of bus will be acquired
Effective judgement is carried out, carries out next step if effectively, the resampling if invalid；
Wherein, when the speed of the bus of acquisition, accelerator open degree, the distance away from next bus station and battery capacity are at it
When in corresponding fuzzy domain, it is effective, is otherwise invalid.
Step 3: by the speed of the bus, accelerator open degree, the distance away from next bus station and battery level information
It is blurred.
In view of system calculates and Solve problems in real time, subordinating degree function uses the form of trigonometric function, by degree of membership letter
The exact value for counting up into physical quantity is converted into being easy to the linguistic variable value of people's understanding, give respectively front bus station real-time range,
Speed, accelerator open degree, the Fuzzy Linguistic Variable and its domain for controlling permissibility.
The fuzzy domain of the speed of the bus is [0,80], quantizing factor 1, the distance away from next bus station
Fuzzy domain be [0,150], quantizing factor 1, the fuzzy domain of accelerator open degree is [0,100], quantizing factor 1,
The fuzzy domain of battery capacity is [0,100], quantizing factor 1, the speed of the bus, accelerator open degree, away from next
The distance and battery capacity of bus station are divided into three grades；The speed of the bus, accelerator open degree, away from next bus station
The fuzzy set of distance is { small, in, big }, and the fuzzy set of the battery capacity of the bus is { low, in, high }.
Step 4: by the speed of the bus of blurring, accelerator open degree, the distance away from next bus station and battery capacity
Fuzzy reasoning calculating is carried out, it is specific to carry out fuzzy reasoning calculating, inference rule using using Mamdani algorithm are as follows:
IF(Ai)AND(Bi)AND(Ci)AND(Di)THEN(Ei) (i=1,2 ... n)；
The reasoning results of the corresponding inference rule are as follows:
Obtain total the reasoning results μE(z):
Wherein, the fuzzy inference rule is extracted based on pilot control experience, AiFor the public transport in i-th inference rule
Distance of the car away from front bus station, BiFor the speed in i-th inference rule, CiFor the throttle in i-th inference rule
Aperture value, DiFor the battery capacity in i-th inference rule, EiFor the control permissibility in i-th inference rule,For in the reasoning results of i-th inference rule, ziFor weight shared by i-th inference rule,For i-th reasoning
In x-th of operating point, bus is under the jurisdiction of the degree of the fuzzy domain of its correspondence away from the distance of next bus station in rule,For in x-th of operating point, the speed of bus is under the jurisdiction of its journey for corresponding to fuzzy domain in i-th inference rule
Degree,For in x-th of operating point, the accelerator open degree of bus is under the jurisdiction of its correspondence fuzzy theory in i-th inference rule
The degree in domain,For in x-th of operating point, the battery capacity of bus is under the jurisdiction of its correspondence in i-th inference rule
The degree of fuzzy domain, in the present embodiment, n=3.
Step 5: the reasoning results are directed to, anti fuzzy method processing (using gravity model appoach) is carried out to result using weighted mean method,
Obtain final control permissibility:
In formula, zdefTo control permissibility；
The fuzzy domain of the control permissibility is [0,100], and quantizing factor 1, the control permissibility is divided into three
A grade, fuzzy set are { low, in, high }, wherein step 3-5 is as shown in Figure 4.
Step 6: when the control permissibility is { low }, the bus is travelled by original driving status；
When the control permissibility is { in, high }, the engine of bus and the clutch of speed changer are disconnected, is kept
Engine and speed changer are transmitted without torque, and keep the engine off state；The operation of speed changer low-grade location is kept, allows to downshift,
Forbid upshifing；Bus is operated alone using driving motor, and controls its output power satisfaction:
When the control permissibility be in } when:
When the control permissibility is { high }:
In formula, P is the output power of driving motor, PmaxFor the peak power output of driving motor, d be bus away from
The distance of next bus station, D0For set distance, v is speed, vminFor minimum speed, vmaxFor the max speed,It is opened for throttle
Degree, ηeFor battery capacity.
It as shown in table 1, is the control in the hybrid power bus bus station region control method based on ITS information
Rule list.The control permissibility away from bus station's real-time range, speed, accelerator open degree in different values is considered in control rule.
Inference rule is the summary of the reasoning experience of people, and every rule corresponds respectively to a kind of operating condition.
1 control rule table of table
Hybrid power bus bus station region controlling party of the present invention based on ITS (intelligent transportation) information
Method, comprehensive bus vehicle status information and by intelligent transportation system acquire vehicle real-time position information,
Front bus station real-time range information etc. controls the hybrid power bus close to bus station, can effectively reduce mixed
Close power bus open/stop in the engine close to bus station region, clutch and gear shifting action number, keep system comprehensive
There is certain promotion in terms of energy consumption, clutch service life and vehicle riding comfort.The present invention can also be in control permissibility
For in, it is high } when, the output power of driving motor is limited, electricity is saved, avoids battery SOC too low and start engine.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (8)
1. a kind of hybrid power bus bus station region control method based on ITS Information, which is characterized in that
Include the following steps:
Step 1: according to the sampling period, acquiring speed, accelerator open degree, the distance away from next bus station and the battery electricity of bus
Measure information；
Step 2: the speed of the bus, accelerator open degree, the distance away from next bus station and battery level information are carried out
Blurring, then after carrying out fuzzy reasoning calculating, ambiguity solution obtains control permissibility；
Wherein, the speed of the bus, accelerator open degree, the distance away from next bus station, battery capacity and control permissibility
It is divided into three grades；The speed of the bus, accelerator open degree, distance away from next bus station fuzzy set be it is small, in,
Greatly }, the fuzzy set of the battery capacity of the bus and control permissibility is { low, in, high }；
Step 3: when the control permissibility is { low }, the bus is travelled by original driving status；
When the control permissibility is { in, high }, the engine of bus and the clutch of speed changer are disconnected, keeps starting
Machine and speed changer are transmitted without torque, and keep the engine off state；The operation of speed changer low-grade location is kept, allows to downshift, forbid
Upshift；Bus is operated alone using driving motor, and controls its output power satisfaction:
When the control permissibility be in } when:
When the control permissibility is { high }:
In formula, P is the output power of driving motor, PmaxFor the peak power output of driving motor, d is bus away from next
The distance of bus station, D0For set distance, v is speed, vminFor minimum speed, vmaxFor the max speed,For accelerator open degree, ηe
For battery capacity.
2. the hybrid power bus bus station region controlling party based on ITS Information as described in claim 1
Method, which is characterized in that in step 2, by the speed of the bus, accelerator open degree, the distance away from next bus station and battery
Information about power is blurred, and the fuzzy domain of the speed of the bus is [0,80], quantizing factor 1, away from next
The fuzzy domain of the distance of bus station is [0,150], and quantizing factor 1, the fuzzy domain of accelerator open degree is [0,100],
Quantizing factor is 1, and the fuzzy domain of battery capacity is [0,100], quantizing factor 1, the fuzzy theory of the control permissibility
Domain is [0,100], quantizing factor 1.
3. the hybrid power bus bus station region controlling party based on ITS Information as claimed in claim 2
Method, which is characterized in that in step 2, the fuzzy reasoning, which is calculated, carries out fuzzy reasoning calculating, reasoning using Mamdani algorithm
Rule are as follows:
IF(Ai)AND(Bi)AND(Ci)AND(Di)THEN(Ei) (i=1,2 ... n)；
The reasoning results of the corresponding inference rule are as follows:
Wherein, the fuzzy inference rule is extracted based on pilot control experience, AiFor the bus in i-th inference rule
Distance away from front bus station, BiFor the speed in i-th inference rule, CiFor the accelerator open degree in i-th inference rule
Value, DiFor the battery capacity in i-th inference rule, EiFor the control permissibility in i-th inference rule,
For in the reasoning results of i-th inference rule, ziFor weight shared by i-th inference rule,For in i-th inference rule
In x-th of operating point, bus is under the jurisdiction of its degree for corresponding to fuzzy domain away from the distance of next bus station,For
In x-th of operating point, the speed of bus is under the jurisdiction of its degree for corresponding to fuzzy domain in i-th inference rule,
For in x-th of operating point, the accelerator open degree of bus is under the jurisdiction of its degree for corresponding to fuzzy domain in i-th inference rule,For in x-th of operating point, the battery capacity of bus is under the jurisdiction of the fuzzy domain of its correspondence in i-th inference rule
Degree.
4. the hybrid power bus bus station region controlling party based on ITS Information as described in claim 1
Method, which is characterized in that in step 2, it is described control permissibility acquisition using weighted mean method to fuzzy reasoning calculated result into
The processing of row anti fuzzy method:
In formula, zdefTo control permissibility.
5. the hybrid power bus bus station region control based on ITS Information as claimed in claim 2 or claim 3
Method, which is characterized in that further include that will acquire the speed of bus, accelerator open degree, away from next between step 1 and step 2
The distance and battery level information of bus station carry out Effective judgement, carry out next step if effectively, weigh if invalid
New sampling；
Wherein, when the speed of the bus of acquisition, accelerator open degree, the distance away from next bus station and battery capacity are in its correspondence
Fuzzy domain in when, be effective, be otherwise invalid.
6. the hybrid power bus bus station region controlling party based on ITS Information as described in claim 1
Method, which is characterized in that before carrying out Effective judgement, by the speed of the bus of acquisition, accelerator open degree, away from next public transport
The distance and battery level information stood carry out first-order low-pass wave.
7. the hybrid power bus bus station region controlling party based on ITS Information as described in claim 1
Method, which is characterized in that in step 1, the sampling period 5ms.
8. the hybrid power bus bus station region controlling party based on ITS Information as described in claim 1
Method, which is characterized in that n=3.
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