CN113879276A - Power following control method for series hybrid power assembly - Google Patents
Power following control method for series hybrid power assembly Download PDFInfo
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- CN113879276A CN113879276A CN202111258256.9A CN202111258256A CN113879276A CN 113879276 A CN113879276 A CN 113879276A CN 202111258256 A CN202111258256 A CN 202111258256A CN 113879276 A CN113879276 A CN 113879276A
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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
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Abstract
The invention discloses a power following control method for a series hybrid power assembly, which is mainly designed in the following way that closed-loop control is carried out by collecting information such as the rotating speed, the torque, the current, the rotating speed, the torque and the current of a driving motor and the like of an engine, power compensation is carried out on the real-time power of a whole vehicle by combining SOC deviation, the compensated power requirement of the whole vehicle is corrected by combining PID (proportion integration differentiation) regulation of the current and the voltage of a battery, and finally the corrected power of a range extender is corrected again in real time by combining the power generation efficiency, so that the target power of the range extender is obtained. The invention effectively improves the power response characteristic and stability of the range extender assembly and obviously improves the power generation efficiency of the range extender.
Description
Technical Field
The invention relates to the field of hybrid electric vehicles, in particular to a power following control method for a series hybrid power assembly.
Background
At present, the pure electric vehicle is basically mature in technology, but is limited by the current technical level of battery energy storage, long in charging time, limited in endurance mileage, high in cost and safety problems (for improving energy density), so that the problems of mileage anxiety, low-temperature anxiety and safety anxiety are caused.
Therefore, the range-extended hybrid power technology is added with a range extender on the basis of a pure Electric Vehicle (EV) to improve the endurance mileage; the engine is coupled with the generator and decoupled with the wheels, and the engine is operated in an economic area to save oil. When the electric quantity of the vehicle battery is consumed to a preset value, the range extender is started, the engine operates at the optimal efficiency, and the vehicle is driven to run by the output power of the generator.
In the existing range extending hybrid power technology, when the SOC of a battery is reduced to a lower limit value, a range extender is started, a power point corresponding to the range extender is calculated according to the real-time power of a calculation driving motor and the accessory loss work, the range extender is operated at the corresponding power point by controlling the torque and the rotating speed of the range extender, and a part of generated electric energy drives a part of a vehicle to charge the battery.
However, the driving power of the vehicle driving motor changes at any time, the change range is large, the range extender assembly cannot meet the response timeliness of each working condition point, and the generated power flows into and out of the battery, so that the generating efficiency is reduced, and the oil consumption of the range extender is further influenced.
Disclosure of Invention
In view of the above, the present invention provides a series hybrid powertrain power following control method to solve the above problems.
The technical scheme adopted by the invention is as follows:
a series hybrid powertrain power follow control method, comprising:
after the vehicle enters a range extending mode, measuring the voltage of a direct current bus;
detecting the direct current bus current at the side of the driving motor, and calculating first real-time power at the end of the driving motor by combining the direct current bus voltage;
detecting the side direct current bus current of the electric air-conditioning compressor, and calculating second real-time power at the side of the electric air-conditioning compressor by combining the direct current bus voltage;
detecting the current of the low-voltage load side by the direct-current transformer, and calculating third real-time power of the direct-current transformer end by combining the direct-current bus voltage;
fusing the first real-time power, the second real-time power and the third real-time power to obtain the real-time power of the whole vehicle;
performing power compensation on the real-time power of the whole vehicle according to the SOC deviation value of the battery to obtain the compensated power requirement of the whole vehicle;
obtaining the corrected power of the range extender by utilizing the compensated power requirement of the whole vehicle and combining a preset PID power correction strategy based on the SOC of the battery;
correcting the correction power of the range extender in real time according to the power generation efficiency to obtain the target power of the range extender;
obtaining a target rotating speed and a target torque based on the target power of the range extender;
and dynamically controlling the generator and the engine according to the target rotating speed and the target torque respectively.
In at least one possible implementation manner, the performing power compensation on the real-time power of the whole vehicle according to the battery SOC deviation value includes:
detecting the current battery SOC and calculating the electric quantity deviation between the current battery SOC and a preset target SOC;
and obtaining a corresponding power compensation value by using the electric quantity deviation and a pre-calibrated and stored power compensation table.
In at least one possible implementation manner, the battery SOC-based PID power correction strategy includes:
the method comprises the steps that the relation between battery current and battery voltage under a preset SOC (state of charge) respectively corresponding to different conditions of the output power of a range extender and the compensated power demand of the whole vehicle under the preset SOC is predetermined;
and adjusting the actual battery current and the actual battery voltage under the current SOC in a PID mode to obtain a corresponding power correction value based on the battery current and the battery voltage in the relation.
In at least one possible implementation manner, the real-time correction of the range extender correction power according to the power generation efficiency includes:
inquiring a mapping table which is calibrated in advance and stored according to the rotating speed-torque-efficiency characteristic of the range extender to obtain an efficiency value;
and taking the efficiency value obtained by table lookup as a coefficient of the range extender correction power to obtain the range extender target power.
In at least one possible implementation manner, the obtaining the target rotation speed and the target torque based on the range extender target power includes: and inquiring a mapping table which is calibrated and stored in advance according to the oil consumption characteristic of the range extender to obtain the target rotating speed and the target torque corresponding to the working point of the range extender.
In at least one possible implementation manner, the dynamically controlling the generator and the engine includes:
the target rotating speed is used for triggering the generator to control the rotating speed, and the target torque is used for triggering the engine controller to control the torque of the engine synchronously.
In at least one possible implementation, the vehicle entering the range-extending mode includes: in the pure electric mode operation process of the vehicle, when the SOC of the battery is detected to be lower than a preset electric quantity threshold value, the vehicle enters a range extending mode, the generator drags the engine to operate so as to start the engine, and after the engine is started successfully, the generator enters a power generation mode.
The main design concept of the invention is that closed-loop control is carried out by collecting information such as the rotating speed, torque, rotating speed of a generator, torque, current, rotating speed of a driving motor, torque, current and the like, power compensation is carried out on the real-time power of the whole vehicle by combining SOC deviation, the compensated power requirement of the whole vehicle is corrected by combining PID (proportion integration differentiation) regulation of current and voltage of a battery, and finally the corrected power of the range extender is corrected in real time by combining power generation efficiency, so that the target power of the range extender is obtained. The invention effectively improves the power response characteristic and stability of the range extender assembly and obviously improves the power generation efficiency of the range extender.
Drawings
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the accompanying drawings, in which:
fig. 1 is a flowchart of a series hybrid powertrain power follow control method according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
The invention provides an embodiment of a series hybrid power assembly power following control method, specifically, as shown in fig. 1, the method includes:
step S1, after the vehicle enters the range extending mode, measuring the voltage of the direct current bus;
step S2, detecting the direct current bus current at the side of the driving motor, and calculating first real-time power at the end of the driving motor by combining the direct current bus voltage;
step S3, detecting the side direct current bus current of the electric air-conditioning compressor, and calculating a second real-time power of the electric air-conditioning compressor by combining the direct current bus voltage;
step S4, detecting the current at the low-voltage load side by the direct-current transformer, and calculating the third real-time power at the end of the direct-current transformer by combining the direct-current bus voltage;
step S5, fusing the first real-time power, the second real-time power and the third real-time power to obtain the real-time power of the whole vehicle;
s6, performing power compensation on the real-time power of the whole vehicle according to the SOC deviation value of the battery to obtain the compensated power demand of the whole vehicle;
step S7, obtaining the corrected power of the range extender by using the compensated power requirement of the whole vehicle and combining a preset PID power correction strategy based on the SOC of the battery;
step S8, correcting the corrected power of the range extender in real time according to the power generation efficiency to obtain the target power of the range extender;
step S9, obtaining a target rotating speed and a target torque based on the target power of the range extender;
and step S10, dynamically controlling the generator and the engine according to the target rotation speed and the target torque, respectively.
Further, the power compensation of the real-time power of the whole vehicle according to the SOC deviation value of the battery comprises the following steps:
detecting the current battery SOC and calculating the electric quantity deviation between the current battery SOC and a preset target SOC;
and obtaining a corresponding power compensation value by using the electric quantity deviation and a pre-calibrated and stored power compensation table.
Further, the battery SOC-based PID power correction strategy includes:
the method comprises the steps that the relation between battery current and battery voltage under a preset SOC (state of charge) respectively corresponding to different conditions of the output power of a range extender and the compensated power demand of the whole vehicle under the preset SOC is predetermined;
and adjusting the actual battery current and the actual battery voltage under the current SOC in a PID mode to obtain a corresponding power correction value based on the battery current and the battery voltage in the relation.
Further, the real-time correction of the corrected power of the range extender according to the power generation efficiency comprises:
inquiring a mapping table which is calibrated in advance and stored according to the rotating speed-torque-efficiency characteristic of the range extender to obtain an efficiency value;
and taking the efficiency value obtained by table lookup as a coefficient of the range extender correction power to obtain the range extender target power.
Further, the obtaining the target rotation speed and the target torque based on the range extender target power comprises: and inquiring a mapping table which is calibrated and stored in advance according to the oil consumption characteristic of the range extender to obtain the target rotating speed and the target torque corresponding to the working point of the range extender.
Further, the dynamically controlling the generator and the engine includes:
the target rotating speed is used for triggering the generator to control the rotating speed, and the target torque is used for triggering the engine controller to control the torque of the engine synchronously.
Further, the vehicle entering the range-extending mode includes: in the pure electric mode operation process of the vehicle, when the SOC of the battery is detected to be lower than a preset electric quantity threshold value, the vehicle enters a range extending mode, the generator drags the engine to operate so as to start the engine, and after the engine is started successfully, the generator enters a power generation mode.
Specifically, after the vehicle enters the range extending mode (when the SOC of the battery is detected to be lower than a preset electric quantity threshold value in the pure electric mode operation process of the vehicle, the vehicle enters the range extending mode at the moment, the generator enters the electric mode, the generator drags the engine to run to start the engine, and after the engine is started successfully, the generator enters the power generation mode), the direct-current bus voltage U can be measured and obtained through the battery management systemdcAnd measuring the direct current bus current I at the side of the driving motor by a driving motor controllerMCUCalculating a first real-time power P at the drive motor terminal based on the twoMCU＝UdcIMCU。
The direct current bus current I at the side of the electric air-conditioning compressor is obtained by measuring the electric air-conditioning compressorEACAnd according to the DC bus voltage UdcCalculating the second real-time power P at the compressor end of the electric air conditionerEAC＝UdcIEAC。
Measuring the low-voltage load side current I by a direct current transformerDCDCAnd according to the DC bus voltage UdcCalculating the third real-time power P of the DC transformer terminalDCDC＝UdcIDCDC。
Finally, the three parts are integrated to obtain the real-time power P of the whole vehiclee＝PMCU+PEAC+PDCDC。
The output power of the range extender not only needs to meet the real-time power Pe requirement of the whole vehicle, but also needs to adjust the deviation of the battery SOC and the target SOC. Therefore, when it is detected that the battery SOC deviates from the target SOC, the table is looked up according to the SOC deviation amountPerforming power compensation PchgThe compensated power demand of the whole vehicle is Pe2＝Pe+Pchg. It should be noted that performing power compensation based on SOC deviation and calibrating the mapping table in advance is prior art in the art, and the detailed description of the present invention is omitted here.
In order to improve the output efficiency responsiveness of the range extender as much as possible, improve the working efficiency of the range extender, and avoid the problem that the requirement of the whole vehicle cannot be met in time due to too much or too little electric power provided by the range extender, the invention further provides a PID power correction strategy based on the SOC of the battery. The invention specifically analyzes the method as follows: under the condition that the SOC of the battery meets a preset target electric quantity value, if the output power of the range extender is equal to the power requirement (after compensation) of the whole vehicle, the battery does not have current output or current input at the moment; when the output power of the range extender is smaller than the power requirement (after compensation) of the whole vehicle, the battery starts to discharge, and the current is a negative value; when the output power of the range extender is larger than the power requirement (after compensation) of the whole vehicle, the battery is in a charging state, and the current is positive.
Based on the above analysis and principles, the present invention sets the corrected power of the battery current after PID adjustment based on the target SOC as PIEThat is, the corrected power of the range extender after PID correction is Pe3＝Pe2+PIE。
The method also needs to consider that the range extender is at different working points, the oil-electricity conversion efficiency is different, the real-time power requirement of the whole vehicle needs to be met, and the correction power of the range extender needs to be corrected in real time according to the power generation efficiency. Specifically, according to the rotating speed-torque-efficiency characteristic of the range extender, a pre-calibrated mapping table is inquired to obtain an efficiency value etagAnd obtaining the final target power P of the range extender according to the efficiency valuee4＝Pe3ηg。
According to the final target power of the range extender, the working point of the range extender at the target rotating speed and the target torque is calculated through the oil consumption characteristic table look-up of the range extender, then the vehicle control unit can send a corresponding rotating speed signal to the generator controller, the generator controller is triggered to control the rotating speed of the generator, and synchronously, the vehicle control unit can send a corresponding torque signal to the engine controller, and the engine controller is triggered to control the torque of the engine.
In addition, based on the concept of the invention, it can be pointed out that when the whole vehicle carries out braking energy recovery, the power demand at this stage is negative, at the moment, the range extender engine enters a fuel cut-off mode, and the generator enters an electric mode to maintain the engine to run. Part of the direct current bus power of the driving motor is used for the electric operation of the generator, and part of the direct current bus power enters the battery for storage.
In combination with the embodiments of the control method, the hardware aspect of the present invention includes an engine, a generator, a driving motor, a battery, an Engine Controller (ECU), a Generator Controller (GCU), a driving Motor Controller (MCU), a Battery Management System (BMS), and a Vehicle Control Unit (VCU). The ECU is electrically connected with the engine and used for reading the rotating speed of the engine and controlling the torque of the engine; the GCU is electrically connected with the generator and is used for reading the rotating speed of the generator and the direct current bus current on the side of the generator and controlling the torque of the generator; the MCU is electrically connected with the driving motor and is used for reading the rotating speed of the driving motor and the direct current bus current at the side of the driving motor and controlling the torque of the driving motor; the BMS is electrically connected with the battery and used for calculating the SOC of the battery and detecting the current of the battery and the voltage of the direct current bus.
In another aspect, the present invention relates to hardware further comprising an electric air conditioning compressor (EAC) for reading an electric air conditioning compressor side direct current bus current, and a direct current transformer (DCDC) for supplying low voltage electrical equipment, for example, reducing the high voltage to 12V to supply an operating voltage for the relevant electrical equipment.
In the foregoing, the VCU is connected to the ECU, the GCU, the MCU, the BMS, the EAC, and the DCDC through the CAN bus, and the VCU is configured to read signals such as the engine speed, the current engine torque, the generator speed, the generator torque, the generator side dc bus current, the driving motor speed, the driving motor torque, and the driving motor side dc bus current.
In summary, the main design concept of the present invention is to perform closed-loop control by collecting information such as engine speed, torque, generator speed, torque, current, driving motor speed, torque, current, etc., perform power compensation on the real-time power of the entire vehicle by combining SOC deviation, correct the compensated power requirement of the entire vehicle by combining PID adjustment of battery current and voltage, and finally correct the corrected power of the range extender in real time by combining power generation efficiency, so as to obtain the target power of the range extender. The invention effectively improves the power response characteristic and stability of the range extender assembly and obviously improves the power generation efficiency of the range extender.
In the embodiments of the present invention, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, and means that there may be three relationships, for example, a and/or B, and may mean that a exists alone, a and B exist simultaneously, and B exists alone. Wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" and similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one of a, b, and c may represent: a, b, c, a and b, a and c, b and c or a and b and c, wherein a, b and c can be single or multiple.
The structure, features and effects of the present invention have been described in detail with reference to the embodiments shown in the drawings, but the above embodiments are merely preferred embodiments of the present invention, and it should be understood that technical features related to the above embodiments and preferred modes thereof can be reasonably combined and configured into various equivalent schemes by those skilled in the art without departing from and changing the design idea and technical effects of the present invention; therefore, the invention is not limited to the embodiments shown in the drawings, and all the modifications and equivalent embodiments that can be made according to the idea of the invention are within the scope of the invention as long as they are not beyond the spirit of the description and the drawings.
Claims (7)
1. A series hybrid powertrain power following control method, comprising:
after the vehicle enters a range extending mode, measuring the voltage of a direct current bus;
detecting the direct current bus current at the side of the driving motor, and calculating first real-time power at the end of the driving motor by combining the direct current bus voltage;
detecting the side direct current bus current of the electric air-conditioning compressor, and calculating second real-time power at the side of the electric air-conditioning compressor by combining the direct current bus voltage;
detecting the current of the low-voltage load side by the direct-current transformer, and calculating third real-time power of the direct-current transformer end by combining the direct-current bus voltage;
fusing the first real-time power, the second real-time power and the third real-time power to obtain the real-time power of the whole vehicle;
performing power compensation on the real-time power of the whole vehicle according to the SOC deviation value of the battery to obtain the compensated power requirement of the whole vehicle;
obtaining the corrected power of the range extender by utilizing the compensated power requirement of the whole vehicle and combining a preset PID power correction strategy based on the SOC of the battery;
correcting the correction power of the range extender in real time according to the power generation efficiency to obtain the target power of the range extender;
obtaining a target rotating speed and a target torque based on the target power of the range extender;
and dynamically controlling the generator and the engine according to the target rotating speed and the target torque respectively.
2. The series hybrid power assembly power following control method according to claim 1, wherein the power compensation of the real-time power of the whole vehicle according to the deviation amount of the battery SOC comprises:
detecting the current battery SOC and calculating the electric quantity deviation between the current battery SOC and a preset target SOC;
and obtaining a corresponding power compensation value by using the electric quantity deviation and a pre-calibrated and stored power compensation table.
3. The series hybrid powertrain power follow control method of claim 1, wherein the battery SOC based PID power correction strategy comprises:
the method comprises the steps that the relation between battery current and battery voltage under a preset SOC (state of charge) respectively corresponding to different conditions of the output power of a range extender and the compensated power demand of the whole vehicle under the preset SOC is predetermined;
and adjusting the actual battery current and the actual battery voltage under the current SOC in a PID mode to obtain a corresponding power correction value based on the battery current and the battery voltage in the relation.
4. The series hybrid powertrain power follow control method of claim 1, wherein the real-time correction of the range extender correction power according to the power generation efficiency comprises:
inquiring a mapping table which is calibrated in advance and stored according to the rotating speed-torque-efficiency characteristic of the range extender to obtain an efficiency value;
and taking the efficiency value obtained by table lookup as a coefficient of the range extender correction power to obtain the range extender target power.
5. The series hybrid powertrain power follow control method of claim 1, wherein obtaining a target speed and a target torque based on the range extender target power comprises: and inquiring a mapping table which is calibrated and stored in advance according to the oil consumption characteristic of the range extender to obtain the target rotating speed and the target torque corresponding to the working point of the range extender.
6. The series hybrid powertrain power follow control method of claim 1, wherein the dynamically controlling the generator and the engine comprises:
the target rotating speed is used for triggering the generator to control the rotating speed, and the target torque is used for triggering the engine controller to control the torque of the engine synchronously.
7. The series hybrid powertrain power follow control method of any one of claims 1-6, wherein entering the range extension mode comprises: in the pure electric mode operation process of the vehicle, when the SOC of the battery is detected to be lower than a preset electric quantity threshold value, the vehicle enters a range extending mode, the generator drags the engine to operate so as to start the engine, and after the engine is started successfully, the generator enters a power generation mode.
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