CN112590759A - Drive-by-wire and brake coordination control method for hybrid electric vehicle - Google Patents
Drive-by-wire and brake coordination control method for hybrid electric vehicle Download PDFInfo
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- B60—VEHICLES IN GENERAL
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/70—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by fuel cells
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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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/75—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using propulsion power supplied by both fuel cells and batteries
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
- B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/28—Conjoint control of vehicle sub-units of different type or different function including control of fuel cells
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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
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/13—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
- B60W20/14—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion in conjunction with braking regeneration
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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
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/40—Controlling the engagement or disengagement of prime movers, e.g. for transition between prime movers
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- 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
- Y02T10/62—Hybrid vehicles
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- 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
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/40—Application of hydrogen technology to transportation, e.g. using fuel cells
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Abstract
The invention provides a method for coordinately controlling drive-by-wire and braking of a hybrid electric vehicle, which is characterized by comprising the following steps of: the method realizes the operation of the hybrid electric vehicle by a hybrid electric vehicle drive-by-wire and brake coordination control integrated device, a control system determines the operation state of the hybrid electric vehicle to be divided into 5 working conditions of starting acceleration, driving, deceleration, braking and the like according to the size of an accelerator pedal and the displacement information of a brake pedal in real time, calculates target power, determines a power mode according to the operation state and the target power of the hybrid electric vehicle, controls a power supply direct-current power supply and a bidirectional conversion module by a coordination control strategy, realizes the cooperative work of an electric operation mode and a power generation operation mode of a permanent magnet synchronous motor of the hybrid electric vehicle, can realize the cooperative control of the drive-by-wire and the braking of the hybrid electric vehicle, improves the drive-by-wire and the control ability of the drive-by-wire; meanwhile, the kinetic energy recovery of the brake operation condition is realized, and the energy is saved.
Description
Technical Field
The invention relates to the technical field of drive-by-wire and brake-by-wire of hybrid electric vehicles, in particular to a method for coordinately controlling drive-by-wire and brake-by-wire of a hybrid electric vehicle.
Background
At present, the rapid increase of the number of the conventional fuel hybrid vehicles brings problems of environmental pollution, greenhouse effect, energy crisis and the like. The new energy hybrid electric vehicle has the tendency of gradually replacing the traditional fuel hybrid electric vehicle, and the hybrid electric vehicle with the hydrogen fuel cell system has good development prospect due to the advantages of zero emission, no noise, high efficiency and the like. The traditional driving and braking technology of the hybrid electric vehicle cannot meet the technical requirement of the hybrid electric vehicle on quick response of driving and braking; with the rapid development of electronic technology and control theory, various chassis control technologies are widely applied, and the dynamic characteristics and safety of vehicles are improved. With the continuous development of the electronic technology of the hybrid electric vehicle and the integration of the hybrid electric vehicle system, the driving system is developing towards the drive-by-wire without a mechanical support system. The existing traditional chassis control technology is not suitable for hybrid electric vehicles due to the defects of complexity, heavy weight, high energy consumption, high manufacturing cost and the like of components; the drive-by-wire and brake-by-wire technology enables the control component of the hybrid electric vehicle to have flexibility, improves the free space of the design of the hybrid electric vehicle, improves the response speed and control precision of driving and braking, and simultaneously improves the safety of the hybrid electric vehicle and reduces the energy consumption of the hybrid electric vehicle.
The invention provides a brake-by-wire system with complete failure operation capability and a vehicle, which are provided by Chinese patent document 202010755997.7, and can rapidly switch a power system and keep the braking capability of the braking system when a permanent magnet synchronous motor in the brake-by-wire system fails. Chinese patent document 201910474607.6 proposes an integrated pure electric hybrid vehicle drive controller and control method, which integrates the functions of a vehicle controller and a permanent magnet synchronous motor controller, has fast response and improved efficiency, and ensures safety because information does not need to be transmitted between the vehicle controller and the permanent magnet synchronous motor controller through a CAN bus. However, the above patent cannot realize the coordination control of the drive-by-wire and the braking of the hybrid electric vehicle, and cannot realize the reduction of the energy consumption of the hybrid electric vehicle and the improvement of the response speed and the control precision of the system.
In view of the above problems, the present invention provides a method for controlling drive-by-wire and brake coordination of a hybrid vehicle.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the method for coordinately controlling drive-by-wire and braking of the hybrid electric vehicle is provided, the defect of low response speed of the traditional chassis control technology is overcome, the problem of kinetic energy recovery when a brake-by-wire system operates is solved, the response speed and the safety and reliability of the whole system are improved, and the feedback error of the system is reduced.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
the invention provides a hybrid electric vehicle drive-by-wire and brake coordination control method, which is characterized in that the running state of the hybrid electric vehicle is divided into 5 working conditions of starting acceleration, speed rising, running, speed falling and braking, and the method realizes the running of the hybrid electric vehicle by a hybrid electric vehicle drive-by-wire and brake coordination control integrated device consisting of a power supply direct-current power supply, a bidirectional conversion module and a control system; the power mode comprises 3 types of lithium battery power supply, hydrogen fuel cell system and lithium battery hybrid power supply, which are provided by a power supply direct current power supply;
the method comprises the following steps:
(1) vehicle starting power-on control: when a key is turned to an ON gear, the control system awakens a power supply direct-current power supply and a hybrid electric vehicle drive-by-wire and brake coordination control integrated device, and after no fault exists, the control system sends a power-ON instruction and controls to complete high-voltage power-ON, and the hydrogen fuel cell system starts to generate power;
(2) the control system determines the running state, the target power and the target running speed of the hybrid electric vehicle according to the displacement information of the accelerator pedal and the brake pedal which are collected in real time;
(3) the control system determines a power mode by adopting a power distribution strategy according to the running state of the hybrid electric vehicle;
(4) the control system switches the running mode of the permanent magnet synchronous motor according to an automatic switching strategy according to the running state of the hybrid electric vehicle;
(5) the control system coordinates the power supply direct-current power supply and the bidirectional conversion module to work cooperatively through a coordination control strategy, so that the hybrid electric vehicle is ensured to run at a target running speed;
(6) and (3) vehicle closing power-off control: when the key is turned to the OFF gear from the ON gear, the whole vehicle enters a lower current range, the control system still keeps supplying a direct current power supply, the permanent magnet synchronous motor is decelerated to 0, and the permanent magnet synchronous motor is disconnected; and (3) reducing the load of a hydrogen fuel cell system in the power supply direct current power supply, sweeping when the power of the hydrogen fuel cell system is reduced to 0kW, and controlling the system to enter a dormant state after the hydrogen fuel cell system is shut down, so that power down is completed.
Further, the power distribution strategy is:
when the running state of the hybrid electric vehicle is a starting acceleration working condition and the target power is less than or equal to a first power threshold value, the lithium battery supplies power;
when the running state of the hybrid electric vehicle is a speed-up working condition, and the target power is greater than a first power threshold and less than a second threshold, the hydrogen fuel cell system and the lithium battery are powered in a hybrid mode, wherein the second power threshold is greater than the first power threshold, the first power threshold is the rated power of the lithium battery, and the second power threshold is the rated power of the fuel battery;
when the running state of the hybrid electric vehicle is the running working condition and the target power is less than or equal to a second power threshold value, the hydrogen fuel cell system supplies power; when the target power is larger than a second power threshold, the hydrogen fuel cell system and the lithium battery are powered in a mixed mode;
when the running state of the hybrid electric vehicle is a deceleration working condition, the hydrogen fuel cell system supplies power;
and when the running state of the hybrid electric vehicle is the braking working condition, the hydrogen fuel cell system is disconnected.
Further, the automatic switching strategy is as follows:
when the running state of the hybrid electric vehicle is the working condition of accelerating or running or starting acceleration or deceleration, the permanent magnet synchronous motor is switched to an electric running mode; when the operation state of the hybrid electric vehicle is a braking working condition, the permanent magnet synchronous motor is switched to a power generation operation mode.
Further, the coordination control strategy is as follows:
when the permanent magnet synchronous motor is in an electric operation mode and the hybrid electric vehicle is in a starting acceleration working condition, the lithium battery supplies power, the output power of the lithium battery is increased along with the change of the acceleration, the bidirectional conversion module is in an inversion state, direct current input by a power supply direct current power supply is converted into alternating current with adjustable amplitude and frequency under the action of PWM (pulse width modulation) waves provided by a control system, and the hybrid electric vehicle is driven to start acceleration to run according to a target running speed;
when the permanent magnet synchronous motor is in an electric operation mode and the operation state of the hybrid electric vehicle is a speed-up working condition, the hydrogen fuel cell system and the lithium battery are supplied with power in a mixed mode, the bidirectional conversion module is in an inversion state, direct current input by a power supply direct current power supply is converted into alternating current with adjustable amplitude and frequency under the action of PWM (pulse width modulation) waves provided by the control system, and the hybrid electric vehicle is driven to rapidly accelerate according to a target running speed;
when the permanent magnet synchronous motor is in an electric operation mode and the operation state of the hybrid electric vehicle is a driving working condition, when the target power is smaller than a second power threshold value, the hydrogen fuel cell system supplies power, and whether the fuel cell system charges the lithium battery is determined according to the size of the SOC value; when the target power is equal to the second power threshold, the hydrogen fuel cell system supplies power; when the target power is larger than a second power threshold, the hydrogen fuel cell system and the lithium battery are powered in a mixed mode; the bidirectional conversion module is in an inversion state, and under the action of PWM waves provided by the control system, the direct current input by the power supply direct current power supply is converted into alternating current with adjustable amplitude and frequency, so that the hybrid electric vehicle is driven to run at a target running speed;
when the permanent magnet synchronous motor is in an electric operation mode and the operation state of the hybrid electric vehicle is a speed reduction working condition, the hydrogen fuel cell system supplies power, the bidirectional conversion module is in an inversion state, and under the action of PWM (pulse width modulation) waves provided by the control system, direct current input by a power supply direct current power supply is converted into alternating current with adjustable amplitude and frequency, so that the hybrid electric vehicle is driven to decelerate from the current speed to a target driving speed;
when the permanent magnet synchronous motor is in a power generation operation mode and the hybrid electric vehicle is in a braking working condition, the output power of the hydrogen fuel cell system is reduced to the minimum, the speed of the permanent magnet synchronous motor is reduced to 0, the hybrid electric vehicle realizes braking, and in the process, the lithium battery determines whether to enter a charging state or not according to the size of the SOC value; when the lithium battery enters a charging mode, the bidirectional conversion module is in a rectification state, and under the action of PWM waves provided by the control system, alternating current generated by the permanent magnet synchronous motor is converted into direct current to charge the lithium battery.
The invention discloses a method for coordinately controlling drive-by-wire and braking of a hybrid electric vehicle, which aims at the problems of low response speed and kinetic energy recovery during the operation of a braking system of the traditional chassis control technology, integrates the functions of drive-by-wire and braking coordinately control of the hybrid electric vehicle, and mainly has the following advantages:
(1) dividing the running state of the hybrid electric vehicle into 5 working conditions of starting acceleration, accelerating, running, decelerating and braking, dividing the power mode into 3 working conditions of lithium battery power supply, hydrogen fuel battery system and lithium battery hybrid power supply, and determining the running state, target power and target running speed of the hybrid electric vehicle according to the displacement information of an accelerator pedal and a brake pedal collected in real time;
(2) providing a power distribution strategy to determine a power mode, and providing an automatic switching strategy to switch the running mode of the permanent magnet synchronous motor; a coordination control strategy is provided, the cooperative control of drive-by-wire and braking of the hybrid electric vehicle is realized, the drive-by-wire and the drive-by-wire capability are improved, and the response time is shortened;
(3) the recovery of kinetic energy in the power generation process of the permanent magnet synchronous motor is realized, when the hybrid electric vehicle is in a brake operation working condition, the hydrogen fuel cell system is disconnected, the lithium battery determines whether to enter a charging state according to the size of the SOC value, when the lithium battery enters a charging mode, the bidirectional conversion module is in a rectification state, under the action of PWM waves provided by the control system, alternating current sent by the permanent magnet synchronous motor is converted into direct current to charge the lithium battery, the recovery of the kinetic energy in the brake operation working condition is realized, and the energy is saved.
Drawings
Fig. 1 is a schematic structural diagram of a drive-by-wire and brake-coordination control integrated device of a hybrid electric vehicle according to an embodiment of the present invention.
Description of the drawings: 1. a power supply DC power supply; 2. a bidirectional conversion module; 3. a control system; 4. a permanent magnet synchronous motor; 3-1, a main controller; 3-2, a PWM wave generator; 3-3.I/O module; 3-4. a communication module; and 3-5, a fault module.
Detailed Description
The present invention will be further described with reference to the following examples and drawings, but the present invention is not limited thereto.
The invention integrates the functions of drive-by-wire and brake coordinated control of the hybrid electric vehicle, realizes the drive-by-wire and brake coordinated control of the hybrid electric vehicle, improves the drive-by-wire and the drive-by-wire capability, and shortens the response time; meanwhile, the kinetic energy recovery of the brake operation condition is realized, and the energy is saved.
The invention provides a hybrid electric vehicle drive-by-wire and brake coordination control method, which divides the running state of a hybrid electric vehicle into 5 working conditions of starting acceleration, speed rising, running, speed reduction and braking, and realizes the running of the hybrid electric vehicle by a hybrid electric vehicle drive-by-wire and brake coordination control integrated device which comprises a power supply direct-current power supply, a bidirectional conversion module and a control system; the power mode comprises 3 types of lithium battery power supply, hydrogen fuel cell system and lithium battery hybrid power supply, and is provided by a power supply direct current power supply.
The method for controlling the drive-by-wire and the brake of the hybrid electric vehicle in a coordinated manner can be realized by an integrated device for controlling the drive-by-wire and the brake of the hybrid electric vehicle, and the structure of the device is shown in figure 1: the control system comprises a power supply direct-current power supply 1, a bidirectional conversion module 2, a control system 3, a switch K1, an alternating-current contactor KM1 and an alternating-current contactor KM2, wherein the power supply direct-current power supply 1 and the bidirectional conversion module 2 are coordinated through a coordination control strategy of the control system 3, a permanent magnet synchronous motor 4 is driven to realize the cooperative control of drive-by-wire and braking of the hybrid electric vehicle, the drive-by-wire and the drive-by-wire capability are improved, and the response time is shortened; meanwhile, the kinetic energy recovery of the brake operation condition is realized, and the energy is saved.
The bidirectional conversion module 2 is realized by a bidirectional DC/AC converter. The power supply direct current power supply 1 comprises a hydrogen fuel cell, a DC/DC converter and a lithium battery.
The direct current positive terminal (U +) of the output of the power supply direct current power supply 1 is connected with the direct current positive terminal (U1+) of the bidirectional conversion module 2 through a switch K1, the direct current negative terminal (U-) of the output of the power supply direct current power supply 1 is directly connected with the direct current negative terminal (U1-) of the bidirectional conversion module 2, the alternating current output end of the bidirectional conversion module is respectively connected with an alternating current contactor KM1 and an alternating current contactor KM2, and the other ends of the alternating current contactor KM1 and the alternating current contactor KM2 are connected with the permanent magnet synchronous motor 4 after being connected in parallel in a staggered mode.
The control system 3 comprises a main controller 3-1, a PWM wave generator 3-2, an I/O module 3-3, a communication module 3-4 and a fault module 3-5.
The communication module 3-4 is a tool for the main controller to communicate with the outside; a fault module 3-5 for detecting possible faults in real time; the I/O module 3-3 processes the input/output signals of the switching value, and the on/off of the switch K1, the alternating current contactor KM1 and the alternating current contactor KM2 are realized by the processing of the I/O module.
The method comprises the following specific steps:
further, the vehicle starts power-on control: when a key is turned to an ON gear, the control system awakens a power supply direct-current power supply and a hybrid electric vehicle drive-by-wire and brake coordination control integrated device, after no fault exists, a main controller in the control system sends a power-ON command and controls to complete high-voltage power-ON, at the moment, a switch K1 is closed, an alternating-current contactor KM1 is closed, and a hydrogen fuel cell system starts to generate electricity;
further, a main controller in the control system determines the running state, the target power and the target running speed of the hybrid electric vehicle according to the displacement information of the accelerator pedal and the brake pedal which are collected in real time;
further, the control system determines the power mode by adopting a power distribution strategy according to the running state of the hybrid electric vehicle, wherein the power distribution strategy is as follows:
when the running state of the hybrid electric vehicle is a starting acceleration working condition and the target power is less than or equal to a first power threshold value, the lithium battery supplies power;
when the running state of the hybrid electric vehicle is a speed-up working condition, and the target power is greater than a first power threshold and less than a second threshold, the hydrogen fuel cell system and the lithium battery are powered in a hybrid mode, wherein the second power threshold is greater than the first power threshold, the first power threshold is the rated power of the lithium battery, and the second power threshold is the rated power of the fuel battery;
when the running state of the hybrid electric vehicle is the running working condition and the target power is less than or equal to a second power threshold value, the hydrogen fuel cell system supplies power; when the target power is larger than a second power threshold, the hydrogen fuel cell system and the lithium battery are powered in a mixed mode;
when the running state of the hybrid electric vehicle is a deceleration working condition, the hydrogen fuel cell system supplies power;
and when the running state of the hybrid electric vehicle is the braking working condition, the hydrogen fuel cell system is disconnected.
Further, a PWM wave generator in the control system switches the operation mode of the permanent magnet synchronous motor according to an automatic switching strategy according to the operation state of the hybrid electric vehicle, wherein the automatic switching strategy is as follows:
when the running state of the hybrid electric vehicle is the working condition of accelerating or running or starting acceleration or decelerating, the alternating current contactor KM1 is closed, the alternating current contactor KM2 is disconnected, the bidirectional conversion module 2 is in an inversion state, and the permanent magnet synchronous motor is switched to an electric running mode;
when the hybrid electric vehicle is in a braking working condition, the alternating current contactor KM1 is closed, the alternating current contactor KM2 is disconnected, the bidirectional conversion module 2 is in a rectification state, and the permanent magnet synchronous motor is switched to a power generation running mode.
Further, the control system coordinates the power supply direct current power supply and the bidirectional conversion module to work cooperatively through a coordination control strategy to ensure that the hybrid electric vehicle runs at a target running speed, wherein the coordination control strategy is as follows:
the flag bit S1, the flag bit S2, the flag bit S3, the flag bit S4 and the flag bit S5 are used for respectively representing 5 working conditions of starting acceleration, accelerating speed, running, decelerating speed and braking of the hybrid electric vehicle, the value is 1 when the working conditions are valid, the value is 0 when the working conditions are invalid, only one flag bit is 1 at the same time, and the coordination control steps are as follows:
step 1: initializing;
the main controller 3-1 resets the hybrid vehicle running state flag S1, the flag S2, the flag S3, the flag S4, and the flag S5.
Step 2: determining a valid flag bit;
the permanent magnet synchronous motor is switched to an electric operation mode: when the running state of the hybrid electric vehicle is the starting acceleration running working condition, the set flag bit S1 is 1, and the rest flag bits are 0; when the running state of the hybrid electric vehicle is the speed-up running working condition, the marking position S2 is set to be 1, and the rest marking positions are 0; when the running state of the hybrid electric vehicle is the running working condition, the marking position S3 is 1, and the rest marking positions are 0; when the running state of the hybrid electric vehicle is the speed reduction running working condition, the marking position S4 is set to be 1, and the rest marking positions are 0;
the permanent magnet synchronous motor is switched to a power generation operation mode: the set flag S5 is 1, and the rest flags are 0.
And step 3: coordinating and controlling;
when the S1 is 1, the main controller 3-1 sends the target power signal to the power supply direct current power supply 1, the lithium battery in the power supply direct current power supply 1 supplies power, and the required power P2 is provided according to the target power signal; the main controller 3-1 controls the PWM wave generator 3-3 to generate PWM wave signals by using a mature pulse width modulation method, the duty ratio of the PWM wave signals is gradually increased, the bidirectional conversion module 2 is controlled to be in an inversion state, and the bidirectional conversion module 2 controls the permanent magnet synchronous motor to drive the hybrid electric vehicle to start and accelerate according to the target running speed;
when the power signal S2 is 1, the main controller 3-1 sends the target power signal to the power supply direct current power supply 1, the hydrogen fuel cell system and the lithium battery in the power supply direct current power supply 1 are used for hybrid power supply, and the required power P3 is provided according to the target power signal; the main controller 3-1 controls the PWM wave generator 3-2 to generate PWM wave signals by using a mature pulse width modulation method, the duty ratio of the PWM wave signals is the maximum, the bidirectional conversion module 2 is controlled to be in an inversion state, and the bidirectional conversion module 2 controls the permanent magnet synchronous motor to drive the hybrid electric vehicle to rapidly accelerate according to the target driving speed;
when the value of S3 is 1 and the target power is smaller than the second power threshold, the main controller 3-1 sends the target power signal to the power supply dc power supply 1, the fuel cell system in the power supply dc power supply 1 supplies power, and determines whether the fuel cell system charges the lithium battery according to the SOC value; providing a required power P41 according to the target power signal; the main controller 3-1 controls the PWM wave generator 3-2 to generate PWM wave signals by using a mature pulse width modulation method, regulates the duty ratio, controls the bidirectional conversion module 2 to be in an inversion state, and drives the hybrid electric vehicle to run according to a target running speed;
when the value of S3 is 1 and the target power is equal to the second power threshold value, the main controller 3-1 sends a target power signal to the power supply direct current power supply 1, and the lithium battery determines whether to enter a charging state according to the size of the SOC value; when the lithium battery enters a charging mode, the fuel cell system in the power supply direct current power supply 1 supplies power; providing a required power P42 according to the target power signal; the main controller 3-1 controls the PWM wave generator 3-2 to generate PWM wave signals by using a mature pulse width modulation method, regulates the duty ratio, controls the bidirectional conversion module 2 to be in an inversion state, and drives the hybrid electric vehicle to run according to a target running speed;
when the S3 is 1 and the target power is greater than the second power threshold, the main controller 3-1 sends a target power signal to the power supply direct current power supply 1, and the power supply is mixed by a hydrogen fuel cell system and a lithium battery in the power supply direct current power supply 1; providing a required power P43 according to the target power signal; the main controller 3-1 controls the PWM wave generator 3-2 to generate PWM wave signals by using a mature pulse width modulation method, regulates the duty ratio, controls the bidirectional conversion module 2 to be in an inversion state, and drives the hybrid electric vehicle to run according to a target running speed;
when the power is 1 in the step S4, the main controller 3-1 sends a target power signal to the power supply direct current power supply 1, and the power is supplied by a hydrogen fuel cell system in the power supply direct current power supply 1; providing a required power P5 according to the target power signal; the main controller 3-1 controls the PWM wave generator 3-2 to generate PWM wave signals by using a mature pulse width modulation method, the duty ratio is gradually reduced, the bidirectional conversion module 2 is controlled to be in an inversion state, and the hybrid electric vehicle is driven to decelerate from the current speed to the target driving speed;
when the voltage of S5 is 1, the output power of the hydrogen fuel cell system is reduced to the lowest, the speed of the permanent magnet synchronous motor is reduced to 0, the hybrid electric vehicle realizes braking, and in the process, the lithium battery determines whether to enter a charging state according to the size of the SOC value; when the lithium battery enters a charging mode, the bidirectional conversion module is in a rectification state, and under the action of PWM waves provided by the control system, alternating current generated by the permanent magnet synchronous motor is converted into direct current to charge the lithium battery.
Furthermore, the required powers P2, P3, P41, P42, P43 and P5 include the required power and the power loss of the permanent magnet synchronous motor under different operation states of the hybrid electric vehicle, and are all greater than the target power P1.
Further, the vehicle is turned off and the power is controlled: when the key is turned to the OFF gear from the ON gear, the switch K1 is disconnected, the alternating current contactor KM1 and the alternating current contactor KM2 are disconnected, the whole vehicle enters a lower current range, and the control system 3 still keeps supplying the direct current power supply 1; and (3) reducing the load of a hydrogen fuel cell system in the power supply direct current power supply 1, sweeping when the power of the hydrogen fuel cell system is reduced to 0kW, wherein the sweeping time is not more than 20min, and after the hydrogen fuel cell system is shut down, the control system 3 enters a dormant state and finishes power down.
And the alternating current contactor KM1 is opened, and the alternating current contactor KM2 is closed, so that the reverse rotation of the permanent magnet synchronous motor can be realized.
The method for controlling the drive-by-wire and the brake of the hybrid electric vehicle in a coordinated manner is described in detail, and the implementation description is only used for helping to understand the method and the core idea of the method; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (5)
1. A hybrid electric vehicle drive-by-wire and brake coordination control method is characterized in that the running state of the hybrid electric vehicle is divided into 5 working conditions of starting acceleration, speed rising, running, speed reduction and braking, the method realizes the running of the hybrid electric vehicle by a hybrid electric vehicle drive-by-wire and brake coordination control integrated device, and the hybrid electric vehicle drive-by-wire and brake coordination control integrated device comprises a power supply direct-current power supply, a bidirectional conversion module and a control system; the power mode comprises 3 types of lithium battery power supply, hydrogen fuel cell system and lithium battery hybrid power supply, which are provided by a power supply direct current power supply;
the method comprises the following steps:
(1) vehicle starting power-on control: when a key is turned to an ON gear, the control system wakes up the integrated device of the drive-by-wire and brake coordination control of the hybrid electric vehicle, and after no fault exists, the control system sends a power-ON instruction and controls the completion of high-voltage power-ON, and the hydrogen fuel cell system starts to generate electricity;
(2) the control system determines the running state, the target power and the target running speed of the hybrid electric vehicle according to the displacement information of the accelerator pedal and the brake pedal which are collected in real time;
(3) the control system determines a power mode by adopting a power distribution strategy according to the running state of the hybrid electric vehicle;
(4) the control system switches the running mode of the permanent magnet synchronous motor according to an automatic switching strategy according to the running state of the hybrid electric vehicle;
(5) the control system coordinates the power supply direct-current power supply and the bidirectional conversion module to work cooperatively through a coordination control strategy, so that the hybrid electric vehicle is ensured to run at a target running speed;
(6) and (3) vehicle closing power-off control: when the key is turned to the OFF gear from the ON gear, the whole vehicle enters a lower current range, the control system still keeps supplying a direct current power supply, the permanent magnet synchronous motor is decelerated to 0, and the permanent magnet synchronous motor is disconnected; and (3) reducing the load of a hydrogen fuel cell system in the power supply direct current power supply, sweeping when the power of the hydrogen fuel cell system is reduced to 0kW, and controlling the system to enter a dormant state after the hydrogen fuel cell system is shut down, so that power down is completed.
2. The hybrid electric vehicle drive-by-wire and brake coordination control method according to claim 1, characterized in that the power distribution strategy is:
when the running state of the hybrid electric vehicle is a starting acceleration working condition and the target power is less than or equal to a first power threshold value, the lithium battery supplies power;
when the running state of the hybrid electric vehicle is a speed-up working condition, and the target power is greater than a first power threshold and less than a second power threshold, the hydrogen fuel cell system and the lithium battery are powered in a hybrid mode, wherein the second power threshold is greater than the first power threshold, the first power threshold is the rated power of the lithium battery, and the second power threshold is the rated power of the fuel battery;
when the running state of the hybrid electric vehicle is the running working condition and the target power is less than or equal to a second power threshold value, the hydrogen fuel cell system supplies power; when the target power is larger than a second power threshold, the hydrogen fuel cell system and the lithium battery are powered in a mixed mode;
when the running state of the hybrid electric vehicle is a deceleration working condition, the hydrogen fuel cell system supplies power;
and when the running state of the hybrid electric vehicle is the braking working condition, the hydrogen fuel cell system is disconnected.
3. The hybrid electric vehicle drive-by-wire and brake coordination control method according to claim 1, characterized in that the automatic switching strategy is:
when the running state of the hybrid electric vehicle is the working condition of accelerating or running or starting acceleration or deceleration, the permanent magnet synchronous motor is switched to an electric running mode; when the operation state of the hybrid electric vehicle is a braking working condition, the permanent magnet synchronous motor is switched to a power generation operation mode.
4. The hybrid electric vehicle drive-by-wire and brake coordination control method according to any one of claims 1 to 3, characterized in that the coordination control strategy is:
when the permanent magnet synchronous motor is in an electric operation mode and the hybrid electric vehicle is in a starting acceleration working condition, the lithium battery supplies power, the output power of the lithium battery is increased along with the change of the acceleration, the bidirectional conversion module is in an inversion state, direct current input by a power supply direct current power supply is converted into alternating current with adjustable amplitude and frequency under the action of PWM (pulse width modulation) waves provided by a control system, and the hybrid electric vehicle is driven to start acceleration to run according to a target running speed;
when the permanent magnet synchronous motor is in an electric operation mode and the operation state of the hybrid electric vehicle is a speed-up working condition, the hydrogen fuel cell system and the lithium battery are supplied with power in a mixed mode, the bidirectional conversion module is in an inversion state, direct current input by a power supply direct current power supply is converted into alternating current with adjustable amplitude and frequency under the action of PWM (pulse width modulation) waves provided by the control system, and the hybrid electric vehicle is driven to rapidly accelerate according to a target running speed;
when the permanent magnet synchronous motor is in an electric operation mode and the hybrid electric vehicle is in a running working condition, the bidirectional conversion module is in an inversion state, and under the action of PWM (pulse width modulation) waves provided by the control system, direct current input by the power supply direct current power supply is converted into alternating current with adjustable amplitude and frequency, so that the hybrid electric vehicle is driven to run at a target running speed; when the target power is smaller than a second power threshold value, the hydrogen fuel cell system supplies power, and whether the lithium battery is charged by the fuel cell system or not is determined according to the SOC value; when the target power is equal to the second power threshold, the hydrogen fuel cell system supplies power; when the target power is larger than a second power threshold, the hydrogen fuel cell system and the lithium battery are powered in a mixed mode;
when the permanent magnet synchronous motor is in an electric operation mode and the operation state of the hybrid electric vehicle is a speed reduction working condition, the hydrogen fuel cell system supplies power, the bidirectional conversion module is in an inversion state, and under the action of PWM (pulse width modulation) waves provided by the control system, direct current input by a power supply direct current power supply is converted into alternating current with adjustable amplitude and frequency, so that the hybrid electric vehicle is driven to decelerate from the current speed to a target driving speed;
when the permanent magnet synchronous motor is in a power generation operation mode and the hybrid electric vehicle is in a braking working condition, the output power of the hydrogen fuel cell system is reduced to the minimum, the speed of the permanent magnet synchronous motor is reduced to 0, the hybrid electric vehicle realizes braking, and in the process, the lithium battery determines whether to enter a charging state or not according to the size of the SOC value; when the lithium battery enters a charging mode, the bidirectional conversion module is in a rectification state, and under the action of PWM waves provided by the control system, alternating current generated by the permanent magnet synchronous motor is converted into direct current to charge the lithium battery.
5. The hybrid electric vehicle drive-by-wire and brake coordination control method according to any one of claims 1 to 4, characterized in that: the method can realize the cooperative control of drive-by-wire and braking of the hybrid electric vehicle.
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