CN114701399A - Energy management control method of extended range type automobile - Google Patents

Energy management control method of extended range type automobile Download PDF

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CN114701399A
CN114701399A CN202210305905.4A CN202210305905A CN114701399A CN 114701399 A CN114701399 A CN 114701399A CN 202210305905 A CN202210305905 A CN 202210305905A CN 114701399 A CN114701399 A CN 114701399A
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power
current
target
range extender
generator
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CN114701399B (en
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王龙
刘清
向小龙
熊勇
付畅
庞迪
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Dongfeng Off Road Vehicle Co Ltd
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Dongfeng Off Road Vehicle Co Ltd
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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
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • 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
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
    • B60L50/62—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles charged by low-power generators primarily intended to support the batteries, e.g. range extenders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/54—Drive Train control parameters related to batteries
    • B60L2240/549—Current
    • 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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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Charge By Means Of Generators (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses an energy management control method of a range-extended automobile, which comprises the following steps: setting an upper limit value and a lower limit value of the working current of the power battery; setting an increase/decrease flag bit PbatterysignA value of (d); acquiring peak power generation power of the characteristics of the range extender system; calculating instantaneous power limit value P of range extendermax(ii) a Setting a range-extended power limit increase-decrease flag bit P according to the magnitude relation between the instantaneous power limit value of the range extender and the target torque rotating speed of the range extender at the last momentlimtsign(ii) a According to PbatterysignAnd PlimtsignComprehensive judgment range extender power generation increase and decrease mark Psign(ii) a Setting an optimal economic continuous broken line for the torque distribution of the rotating speed of the range extender on the basis; controlling the transformation of the current target rotating speed of the engine and the current target torque of the generator along the optimal economic broken line rule of the rotating speed and torque distribution of the range extender; eliminating the jump of the rotating speed and the torque and avoiding the over-use of the range extenderTherefore, the working stability and fuel economy of the system are improved, the durability of the battery is improved, and the real-time performance and the accuracy of the system are ensured.

Description

Energy management control method of extended range type automobile
Technical Field
The invention belongs to the field of automobile control, and particularly relates to an energy management control method of a range-extended automobile.
Background
The new energy automobile is the development trend and the future of the current automobile, but is limited by the bottleneck that the lower energy density of a power battery leads to smaller driving range and longer charging time. Therefore, the extended range hybrid electric vehicle is a better solution at present. The extended range power automobile is a generator set device formed by an engine and a generator on the basis of a pure electric automobile. The starting and flameout of the engine in the generator set and the generating power of the generator set are controlled by the vehicle control unit according to the current state of the vehicle. The generated power control of the generator is a key technology, and the control strategies mainly adopted at present comprise a constant power control strategy and a power following control strategy.
The power generation power control strategy of the existing generator mainly comprises a constant power control strategy and a power following control strategy.
The range extender applying the constant power control strategy is characterized in that the range extender is a high-capacity power battery, the range extender is started when the electric quantity of the power battery is insufficient, and the maximum power of the range extender or the maximum power of a driving system plus the charging power of the power battery is used as the generating power of the range extender;
the power following control strategy is particularly suitable for range extender type automobiles matched with small-capacity power batteries. And starting the range extender as long as the vehicle runs, and maintaining the electric quantity of the power battery within a reasonable range by taking the real-time driving power of the driving system and the set power battery charging and discharging power as the generator power of the range extender.
In the power following control strategy, a method of fixing the rotating speed of an engine and changing the torque of a generator is adopted in the prior art, and the method has the defects that one method adopts a plurality of different fixed rotating speed points of the engine, so that the rotating speed of the engine is discontinuous, the rotating speed of the engine jumps in the switching process between the different rotating speed points, and the engine cannot work in the optimal economic interval of the engine in the jumping process of the switching points, so that the fuel economy is influenced; and secondly, when the required power of the whole vehicle is very small, the rotating speed point of the engine is higher and the noise is high. Third, power following in the full power range cannot be achieved. Meanwhile, the power is concerned by the existing power following control strategy, and the rotating speed and the torque of the range extender are neglected to be reasonably and dynamically distributed.
Disclosure of Invention
The above deficiencies or needs for improvement in the art;
one of the problems to be solved by the present invention is: the power generation power control strategy of the existing generator cannot work in the optimal economic interval of the engine in the switching point jumping process, so that the fuel economy is influenced;
the second problem to be solved by the present invention is: according to the existing power generation power control strategy of the generator, when the required power of the whole vehicle is very small, the rotating speed point of the engine is high, and the noise is high;
the third problem to be solved by the invention is: the power following in a full power range cannot be realized by the conventional power generation power control strategy of the generator; meanwhile, the power is concerned by the existing power following control strategy, and the rotating speed and the torque of the range extender are neglected to be reasonably and dynamically distributed.
To achieve the above object, the present invention relates to: an energy management control method of an extended range automobile comprises the following steps:
step 1: setting an upper limit value and a lower limit value of working current of the power battery according to the electric quantity state of the power battery;
step 2: according to the actual current value I of the power batteryactSetting a power battery current increase/decrease flag P in a relative magnitude relationship with an upper limit value of the target current and a lower limit value of the target currentbatterysignA value of (d);
and step 3: acquiring peak power generation power of the characteristics of the range extender system;
and 4, step 4: calculating the limit value P of the instantaneous power generation power of the range extender according to the fault state, the temperature and the service brake switch state of the driving motormax；
And 5: setting a range-extended power limit increase-decrease flag bit P according to the magnitude relation between the instantaneous power limit value of the range extender and the target torque rotating speed of the range extender at the last momentlimtsign；
And 6: increasing or decreasing zone bit P according to power battery currentbatterysignAnd increase journey ware power limit increase and decrease zone bit PlimtsignComprehensive judgment range extender power generation increase and decrease mark Psign；
And 7: setting a rotating speed change step length and a torque change step length of a unit task period according to the load change rate characteristic of the engine and the deviation value of the current of the power battery;
and 8: setting an optimal economic continuous broken line for the rotating speed and torque distribution of the range extender on the basis of the economy of the engine according to the external characteristics of the engine;
and step 9: and controlling the conversion of the current target rotating speed of the engine and the current target torque of the generator along the optimal economic broken line rule of the rotating speed and the torque distribution of the range extender according to the target rotating speed of the engine at the last moment, the target torque of the generator at the last moment, the generated power increasing mark of the range extender, the rotating speed change step length of the unit task cycle and the torque change step length.
Further, the specific method of step 1 is as follows: when the electric quantity of the power battery is low, setting the working current of the power as the charging state, namely if the SOC is less than or equal to the SOCminThen, Ilowerlimt＝Imin1，Iupperlimt＝Imax1；
When the electric quantity of the power battery is moderate, the working current of the power is set to be in a balanced random state, namely if the power battery is in a balanced random state
SOCmin+ΔSOC1≤SOC≤SOCmax-ΔSOC2Then, Ilowerlimt＝Imin2，Iupperlimt＝Imax2；
When the power battery has high electric quantity, the working current of the power is set to be in a discharging state, namely if the SOC ismaxSOC is less than or equal to Ilowerlimt＝Imin3，Iupperlimt＝Imax3；
The calculation formula is as follows:
Figure BDA0003565202050000031
and satisfies the following conditions: I.C. Alowerlimt≤Itarget≤Iupperlimt
Figure BDA0003565202050000041
Wherein: SOC is the current electric quantity of the power battery, and the SOC belongs to [0,100%]；SOCminThe lower limit value of the electric quantity of the power battery is preferably 15%; SOCmax-a power battery power upper limit value; preferably, it is calibratable to 85%; delta SOC1-the SOC lower limit hysteresis interval preferably takes 5%; delta SOC2-the SOC upper limit hysteresis interval preferably takes 5%; i istarget-a power cell operating current target value; i islowerlimt-a lower limit value of the target current; i isupperlimt-an upper limit value of the target current; i ismin1-a lower limit value of the target current in a low state of the power cell; i ismax1-an upper limit value of the target current in a low state of the power cell; i ismin2The lower limit value of the target current of the power battery in the state of moderate electric quantity; i ismax2The upper limit value of the target current of the power battery in the state of moderate electric quantity; i ismin3-a lower limit value of the target current in a high state of the power cell; I.C. Amax3-an upper limit value of the target current in a high state of charge of the power battery.
Further, the specific method of step 2 is as follows:
when I isact＜IlowerlimtWhen the actual current of the power battery is smaller than the lower limit value of the set target current, the power of the range extender needs to be increased, and P isbatterysignSetting the value to 1;
when I islowerlimt≤Iact≤IupperIimtWhen the actual current of the power battery is not less than the lower limit value of the set target currentAnd is not greater than the upper limit value of the set target current, the power of the range extender is kept unchanged, and then P isbatterysignSet to 0;
when I isupperlimt<IactWhen the actual current of the power battery is larger than the upper limit value of the set target current, the power of the range extender needs to be reduced, and P isbatterysignIs set to-1;
corresponding, PbatterysignThe calculation formula of (c) is as follows:
Figure BDA0003565202050000042
wherein, IactIf the voltage is zero, the power battery is in a non-charging and non-discharging state; i isactIf the number is negative, the power battery is in a discharging state; i isactIf the number is positive, the power battery is in a charging state.
Further, the peak power generation of the range extender system characteristic in the step 3 is obtained by taking the peak power P of the engineengmaxAnd peak power P of the generatormotormaxThe smaller of them.
Further, the range extender instantaneous generated power limit in the step 4 is calculated according to the following formula:
Plimt＝Pmax*β1*β2*β3
wherein: p islimt-instantaneous power generation limit of range extender in unit Kw; beta is a1-a generated power reduction factor corresponding to a generator fault condition; beta is a2-a power reduction factor corresponding to the generator temperature; beta is a3-a power generation shutdown factor for a brake active state;
when the generator has no fault or only one stage fault, beta11 is ═ 1; at secondary failure of the generator, beta10.5; at three-stage fault of generator, beta 10. Generating power reduction coefficient beta corresponding to generator fault state1The calculation formula of (a) is as follows:
Figure BDA0003565202050000051
if the temperature of the generator exceeds the specified upper limit value of the working temperature, the generator is prohibited from generating electricity; when the temperature of the generator continuously solves the upper limit value of the working temperature, the power of the generator is reduced for use, and the power reduction coefficient beta corresponding to the temperature of the generator2The calculation formula of (2):
Figure BDA0003565202050000052
wherein: t is0-an upper limit value of the operating temperature of the generator; t is the current actual temperature value of the generator.
When the brake pedal is stepped down and the brake switch is effective, beta 30; beta if the brake pedal is not stepped on and the brake switch is invalid31. Power generation shutdown factor beta for brake active state3The calculation formula of (2):
Figure BDA0003565202050000053
furthermore, the step 5 sets the range-extended power limit increase/decrease flag P according to the magnitude relation between the instantaneous power limit of the range extender and the target torque and rotation speed of the range extender at the last momentkimtsignBy the process of (A) PlimtsignCalculated as follows:
Figure BDA0003565202050000061
in the formula: v (t-1) -the target speed of rotation of the engine immediately above, in rpm; tq (t-1) -the target torque at the last moment of the generator in Nm; p islimtsignThe range-extending power limit increasing and decreasing flag bit takes the value of { -1, 1} where-1 represents that the generated power of the range extender exceeds the upper limit value of the instantaneous generated power of the range extender, and the generated power of the range extender needs to be reduced; 1 means that the generated power of the range extender does not exceed the rangeAnd the generator power of the range extender is continuously increased or decreased according to the requirement.
Further, the step 6 is to increase or decrease the flag bit P according to the current of the power batterybatterysignAnd increase journey ware power limit increase and decrease zone bit PlimtsignComprehensive judgment range extender power generation increase and decrease mark PsignIs that the generated power increase/decrease flag PsignCalculated as follows:
Figure BDA0003565202050000062
in the formula: psignThe generated power increase and decrease sign of the range extender takes the value of { -1, 0,1 }.
Furthermore, the step 7 sets the method for increasing and decreasing the rotating speed change step length and the torque change step length of the unit task period according to the load change rate characteristic of the engine and the deviation value of the current of the power battery, wherein when the power of the range extender is increased, the load of the engine cannot be changed excessively, otherwise, the rotating speed of the engine fluctuates because of instability, and when the power of the range extender is reduced, the engine needs to be quickly reduced, so that the instantaneous overcurrent of the small-capacity power battery is avoided. The calculation formula of the rotating speed change step and the torque change step of the unit task period is as follows:
Figure BDA0003565202050000063
in the formula: delta V is unit task period rotating speed change step length and unit rpm; Δ Tq-bit duty cycle torque change step size in Nm. Vstep-a set value of a speed variation parameter, Tqstep-a set torque variation parameter value; preferably: if the task period is 10ms, Vstep＝10rmp Tqstep＝5Nmo
Further, the step 8 of setting the optimal economic continuous broken line of the speed and torque distribution of the range extender based on the economy of the engine according to the external characteristics of the engine is characterized in that the broken line is a continuous broken line formed by mutually spacing a horizontal line and a vertical line in a coordinate system with the abscissa as the engine speed and the ordinate as the generator torque.
Further: n folding points are shared in the folding line, wherein the coordinates of the starting point of the folding line are (V)10), the second break point coordinate is (V)1,Tq1) The third break point coordinate is (V)2,Tq1) The fourth breakpoint coordinate is (V)2,Tq2) The fifth break point coordinate is (V)3,Tq2) The k-th break point coordinate is interpolated as (V)i,Tqj) If k is an even number then
Figure BDA0003565202050000071
Is that
Figure BDA0003565202050000072
If k is odd, then
Figure BDA0003565202050000073
Is that
Figure BDA0003565202050000074
Coordinates (V) of the last break point, i.e. the nth break pointn,Tqn) At most shown as V1Preferably, the value is 1000rpm, the larger the table below of coordinates of each break point is, the larger the value is, and the size relationship of horizontal and vertical coordinates is as follows:
Figure BDA0003565202050000075
power P of first break point coordinate1Satisfies the following conditions: p 10; the power of the coordinate of the nth break point is the limit value P of the instantaneous generating power of the range extendermaxAnd satisfies the following conditions:
Figure BDA0003565202050000076
further, the step 9 is to change the speed according to the target rotating speed at the moment of the engine, the target torque at the moment of the generator, the generated power increasing mark of the range extender and the rotating speed of the unit task periodThe method for controlling the conversion of the current target rotating speed of the engine and the current target torque of the generator along the optimal economic broken line rule of the rotating speed and torque distribution of the range extender by the change step length and the torque change step length specifically comprises the following steps: when the target rotating speed at the moment of the engine and the target torque at the moment of the generator are on the horizontal broken line, namely Vi-1≤V(t-1)<ViAnd Tq (t-1) ═ TqiThe target rotating speed of the engine at the current moment and the current target torque of the generator are as follows:
Figure BDA0003565202050000077
further, the method comprises the following steps: when the target rotating speed at the moment of the engine and the target torque at the moment of the generator are on the vertical broken line, namely V (t-1) ═ ViAnd Tqi-1≤Tq(t-1)<TqiThe target rotating speed of the engine at the current moment and the current target torque of the generator are as follows:
Figure BDA0003565202050000081
in the formula: v (t) -the target rotating speed of the engine at the current moment in unit rpm; tq (t) -the current target torque of the generator in Nm.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
(1) according to the energy management control method of the range-extended automobile, the working state of the range extender is a continuous broken line formed by spacing a horizontal broken line and a vertical broken line, the rotating speed and the torque are dynamically variable within a full power range, but only one of the rotating speed and the torque is variable in the instantaneous dynamic process, and the other one is fixed, so that the rotating speed and the torque are continuously variable, the jumping of the rotating speed and the torque is eliminated, and the working stability of the system is improved.
(2) According to the energy management control method of the range-extended automobile, the starting power of the continuous broken line of the range extender is from O to the peak power of the range extender, and the starting power of the continuous broken line of the range extender is an approximation line of an optimal economic curve, so that the fuel economy of the system in a full power range is improved.
(3) According to the energy management control method of the range-extended automobile, the power generation power limit value of the range-extended device is calculated in real time according to the fault state and the temperature state of the range-extended device in the power dynamic following process, the range-extended device is prevented from being used excessively, and the safety and the reliability of the system are improved.
(4) According to the energy management control method of the extended range automobile, the power is controlled by adopting the current of the power battery as a control index, the upper limit and the lower limit of the target working current of different power batteries are set according to different electric quantities of the power batteries, the states of the power batteries can be divided into more precise multi-level states according to requirements during actual application, and the energy multi-state management of the power batteries is easy to realize.
(5) The energy management control method of the extended range automobile sets the rotating speed step length and the torque step length of power following, and can dynamically adjust the power change speed according to the difference state of the actual current and the target current of the current power battery to realize the rapid following of the power. Particularly, when the emergency acceleration or the emergency braking is carried out, the power of the range extender is immediately increased along with the change speed, the purpose that the driving consumed power is tightly followed is achieved, the rotating speed increasing step length and the torque step length are different from the rotating speed decreasing step length and the rotating speed increasing step length and the torque step length, the response time of the range extender is prolonged, the instantaneous overcurrent of a small-capacity power battery during the emergency braking and the over-discharge of the power battery during the emergency acceleration are effectively avoided, the durability of the power battery is improved, and the real-time performance and the accuracy of a system are guaranteed.
Drawings
FIG. 1 is a schematic flow chart of a preferred embodiment of the present invention;
FIG. 2 is a logic diagram illustrating upper and lower limit values for target operation of a power battery according to a preferred embodiment of the present invention;
FIG. 3 is a schematic view of the best economy continuation line of the torque distribution of the range extender according to the preferred embodiment of the present invention;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the respective embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1-2, the energy management control method of the extended range vehicle of the present invention includes the following steps:
step 1: and setting an upper limit value and a lower limit value of the working current of the power battery according to the electric quantity state of the power battery. When the electric quantity of the power battery is low, setting the working current of the power as the charging state, namely if the SOC is less than or equal to the SOCminThen, Ilowerlimt＝Imin1，Iupperlimt＝Imax1；
When the electric quantity of the power battery is moderate, the working current of the power is set to be in a balance random state, namely if the SOC is in an SOC statemin+ΔSOC1≤SOC≤SOCmax-ΔSOC2Then, Ilowerlimt＝Imin2，Iupperlimt＝Imax2；
When the power battery has high electric quantity, the working current of the power is set to be in a discharging state, namely if the SOC ismaxSOC is less than or equal to Ilowerlimt＝Imin3，Iupperlimt＝Imax3. The calculation formula is as follows:
Figure BDA0003565202050000101
further: target operating current ItargetSatisfies the following conditions: i islowerlimt≤Itarget≤Iupperlimt
Wherein: SOC is the current electric quantity of the power battery, and the SOC belongs to [0,100%]；SOCminThe lower limit value of the electric quantity of the power battery is preferably 15%; SOC (system on chip)maxThe upper limit value of the electric quantity of the power battery is preferably 85% in a calibration mode; delta SOC1-the SOC lower limit hysteresis interval preferably takes 5%; delta SOC2-hysteresis interval of SOC upper limitPreferably, the value is 5%; i istarget-a power cell operating current target value; i islowerlimt-a lower limit value of the target current; I.C. Aupperlimt-an upper limit value of the target current; i ismin1-a lower limit value of the target current in a low state of the power cell; i ismax1-an upper limit value of the target current in a low state of the power cell; I.C. Amin2The lower limit value of the target current of the power battery in the state of moderate electric quantity; i ismax2The upper limit value of the target current in the moderate electric quantity state of the power battery is obtained; i ismin3-a lower limit value of the target current in a high state of the power cell; i ismax3-an upper limit value of the target current in a high state of charge of the power battery.
Further:
Figure BDA0003565202050000102
step 2: according to the actual current value I of the power batteryactSetting a power battery current increase/decrease flag P in a relative magnitude relationship with an upper limit value of the target current and a lower limit value of the target currentbatterysign。
When Iact＜IlowerlimtWhen the actual current of the power battery is smaller than the lower limit value of the set target current, the power of the range extender needs to be increased, and P isbatterysign＝1；
When Ilowerlimt≤Iact≤IupperlimtWhen the actual current of the power battery is not less than the lower limit value of the set target current and not more than the upper limit value of the set target current, the power of the range extender is kept unchanged, and then P is obtainedbatterysign0; when I isupperlimt<IactWhen the actual current of the power battery is larger than the upper limit value of the set target current, the power of the range extender needs to be reduced, and P isbatterysign＝-1。PbatterysignThe calculation formula of (2):
Figure BDA0003565202050000111
further, the method comprises the following steps: i isactIf the voltage is zero, the power battery is in a non-charging and non-discharging state; i isactIf the number is negative, the power battery is in a discharging state; i isactIf the number is positive, the power battery is in a charging state.
And step 3: obtaining the peak power generation power of the characteristics of the range extender system:
Pmax＝min(Pengmax，Pmotormax)
in the formula: pengmaxPeak power of the engine in Kw, PmotormaxPeak power of the generator in Kw, Pmax-peak generator power of range extender.
And 4, step 4: calculating the limit value of the instantaneous power generation power of the range extender according to the fault state and the temperature of the driving motor and the state of a service brake switch:
Plimt＝Pmax*β1*β2*β3
wherein: plimt-instantaneous power generation limit of range extender in unit Kw; beta is a1-a generated power reduction factor corresponding to a generator fault condition; beta is a2-a power reduction factor corresponding to the generator temperature; beta is a3-a power generation shutdown factor for a brake active state.
When the generator has no fault or only one stage fault, beta11 is ═ 1; at secondary failure of the generator, beta10.5; at three-stage fault of generator, beta 10. Generating power reduction coefficient beta corresponding to generator fault state1The calculation formula of (a) is as follows:
Figure BDA0003565202050000121
if the temperature of the generator exceeds the specified upper limit value of the working temperature, the generator is prohibited from generating electricity; when the temperature of the generator continuously solves the upper limit value of the working temperature, the power of the generator is reduced for use, and the power is reduced correspondingly to the temperature of the generatorCoefficient of rate beta2The calculation formula of (2):
Figure BDA0003565202050000122
wherein: t is0-an upper limit value of the operating temperature of the generator; t is the current actual temperature value of the generator.
When the brake pedal is stepped down and the brake switch is effective, beta 30; beta if the brake pedal is not stepped on and the brake switch is invalid31. Power generation shutdown factor beta for brake active state3The calculation formula of (2):
Figure BDA0003565202050000123
and 5: setting a range-extended power limit increase-decrease flag bit P according to the magnitude relation between the instantaneous power limit value of the range extender and the target torque rotating speed of the range extender at the last momentlimtsign。
Figure BDA0003565202050000124
In the formula: v (t-1) -the target speed of rotation of the engine immediately above, in rpm; tq (t-1) -the target torque at the last moment of the generator in Nm; plimtsignThe range-extending power limit increasing and decreasing flag bit takes the value of { -1, 1} where-1 represents that the generated power of the range extender exceeds the upper limit value of the instantaneous generated power of the range extender, and the generated power of the range extender needs to be reduced; 1 represents that the generated power of the range extender does not exceed the instantaneous generated power upper limit value of the range extender, and the generator power of the range extender is continuously increased or reduced according to the requirement.
Step 6: according to the current increase and decrease zone bit P of the power batterybatterysignAnd increase journey ware power limit increase and decrease zone bit PlimtsignComprehensive judgment range extender power generation increase and decrease mark Psign。
Figure BDA0003565202050000131
In the formula: psignThe generated power increase and decrease sign of the range extender takes the value of { -1, 0,1 }.
And 7: and setting the rotating speed change step length and the torque change step length of the unit task period according to the load change rate characteristic of the engine and the deviation value of the current of the power battery. When the power of the range extender is increased, the load change of the engine cannot be overlarge, otherwise, the rotating speed of the engine is unstable and fluctuates, and when the power of the range extender is reduced, the power needs to be quickly reduced, so that the instantaneous overcurrent of a small-capacity power battery is avoided. The calculation formula of the rotating speed change step length and the torque change step length of the unit task period is as follows:
Figure BDA0003565202050000132
in the formula: delta V is unit task period rotating speed change step length and unit rpm; Δ Tq-bit duty cycle torque change step size in Nm. Vstep-a set value of a speed variation parameter, Tqstep-a set torque variation parameter value; preferably: preferably: if the task period is 10ms, Vstep＝10rmp Tqstep＝5Nm。
And 8: referring to fig. 3, the optimal economic continuation line of the range extender speed torque distribution is set based on the economy of the engine according to the external characteristics of the engine. The broken line in the coordinate system with the abscissa as the engine speed and the ordinate as the generator torque is characterized by a continuous broken line formed by mutually spacing a horizontal line and a vertical line.
Further, the method comprises the following steps: n folding points are shared in the folding line, wherein the coordinates of the starting point of the folding line are (V)10), the second break point coordinate is (V)1,Tq1) The third break point coordinate is (V)2,Tq1) The fourth breakpoint coordinate is (V)2,Tq2) The fifth breakpoint has the coordinate of (V)3,Tq2) The k-th break point coordinate is interpolated as (V)i,Tqj) If k is an even number, then
Figure BDA0003565202050000133
Is that
Figure BDA0003565202050000134
If k is odd, then
Figure BDA0003565202050000135
Is that
Figure BDA0003565202050000136
Coordinates (V) of the last break point, i.e. the nth break pointn,Tqn) At most shown as V1Preferably, the value is 1000rpm, the larger the table below of coordinates of each break point is, the larger the value is, and the size relationship of horizontal and vertical coordinates is as follows:
Figure BDA0003565202050000141
further, the power P of the first break point coordinate1Satisfies the following conditions: p is10; the power of the coordinate of the nth break point is PmaxAnd satisfies the following conditions:
Figure BDA0003565202050000142
and step 9: and controlling the conversion of the current target rotating speed of the engine and the current target torque of the generator along the optimal economic broken line rule of the rotating speed and the torque distribution of the range extender according to the target rotating speed of the engine at the last moment, the target torque of the generator at the last moment, the generated power increasing mark of the range extender, the rotating speed change step length of the unit task cycle and the torque change step length.
When the target rotating speed at the moment of the engine and the target torque at the moment of the generator are on the horizontal broken line, namely Vi-1≤V(t-1)<ViAnd Tq (t-1) ═ TqiThe target rotating speed of the engine at the current moment and the current target torque of the generator are as follows:
Figure BDA0003565202050000143
when the target rotating speed at the moment of the engine and the target torque at the moment of the generator are on the vertical broken line, namely V (t-1) ═ ViAnd Tqi-1≤Tq(t-1)<TqiThe target rotating speed of the engine at the current moment and the current target torque of the generator are as follows:
Figure BDA0003565202050000144
in the formula: v (t) -the target rotating speed of the engine at the current moment in unit rpm; tq (t) -the current target torque of the generator in Nm.
The energy management control method of the extended range vehicle. The continuous change of the engine rotating speed in the working range and the continuous change of the generator torque in the working range are set, only one of the rotating speed or the rotating speed is changed in the instantaneous state, and the other one is kept constant, so that the working stability of the system is improved. The change point of the rotating speed and the change point of the torque are both set on an equivalent broken line of an optimal economic curve of the engine, and the regular change of the rotating speed and the torque and the fuel economy of the system are ensured. And meanwhile, the dynamic optimal distribution of the rotating speed and the torque is realized in the full power range.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (10)

1. An energy management control method of an extended range automobile is characterized by comprising the following steps:
step 1: setting an upper limit value and a lower limit value of working current of the power battery according to the electric quantity state of the power battery;
step 2: according to the actual current value I of the power batteryactWith upper limit value of target current and lower limit value of target currentSetting a power battery current increase and decrease flag bit P according to the relative magnitude relationbatterysignA value of (d);
and step 3: acquiring peak power generation power of the characteristics of the range extender system;
and 4, step 4: calculating the limit value P of the instantaneous power generation power of the range extender according to the fault state, the temperature and the service brake switch state of the driving motormax；
And 5: setting a range-extended power limit increase-decrease flag bit P according to the magnitude relation between the instantaneous power limit value of the range extender and the target torque rotating speed of the range extender at the last momentlimtsign；
Step 6: according to the current increase and decrease zone bit P of the power batterybatterysignAnd increase journey ware power limit increase and decrease zone bit PlimtsignComprehensive judgment range extender power generation increase and decrease mark Psign；
And 7: setting a rotating speed change step length and a torque change step length of a unit task period according to the load change rate characteristic of the engine and the deviation value of the current of the power battery;
and step 8: setting an optimal economic continuous broken line for the speed and torque distribution of the range extender on the basis of the economy of the engine according to the external characteristics of the engine;
and step 9: and controlling the conversion of the current target rotating speed of the engine and the current target torque of the generator along the optimal economic broken line rule of the rotating speed and torque distribution of the range extender according to the target rotating speed of the engine at the last moment, the target torque of the generator at the last moment, the generated power increasing mark of the range extender, the rotating speed change step length of the unit task period and the torque change step length.
2. The energy management control method of the extended range vehicle according to claim 1, wherein the specific method of step 1 is: when the electric quantity of the power battery is low, setting the working current of the power as the charging state, namely if the SOC is less than or equal to the SOCminThen, Ilowerlimt＝Imin1，Iupperlimt＝Imax1Then;
when the electric quantity of the power battery is moderate, the working current of the power is set to be in a balanced random state, namely if the power battery is in a balanced random state
SOCmin+ΔSOC1≤SOC≤SOCmax-ΔSOC2Then, Ilowerlimt＝Imin2，Iupperlimt＝Imax2；
When the power battery has high electric quantity, the working current of the power is set to be in a discharging state, namely if the SOC ismaxSOC is less than or equal to Ilowerlimt＝Imin3，Iupperlimt＝Imax3；
The calculation formula is as follows:
Figure FDA0003565202040000021
and satisfies: i isliwerlimt≤Itarget≤Iupperlimt
Figure FDA0003565202040000022
Wherein: SOC-the current electric quantity of the power battery, SOC belongs to [0, 100%]；SOCmin-a power battery power lower limit value; SOC (system on chip)max-an upper power battery power level; delta SOC1-an SOC lower bound hysteresis interval; delta SOC2-an SOC upper limit hysteresis interval; i istarget-a power cell operating current target value; i islowerlimt-a lower limit value of the target current; i isupperlimt-an upper limit value of the target current; i ismin1-a lower limit value of the target current in a low state of the power cell; i ismax1-an upper limit value of the target current in a low state of the power cell; i ismin2The lower limit value of the target current of the power battery in the state of moderate electric quantity; i ismax2The upper limit value of the target current of the power battery in the state of moderate electric quantity; I.C. Amin3-a lower limit value of the target current in a high state of the power cell; i ismax3-an upper limit value of the target current in a high state of charge of the power battery.
3. The energy management control method of the extended range vehicle according to claim 1, wherein the specific method of the step 2 is:
when I isact＜IlowerlimtWhen the actual current of the power battery is smaller than the lower limit value of the set target current, the power of the range extender needs to be increased, and P isbatterysignSetting the value to 1;
when I islowerlimt≤Iact≤IupperlimtWhen the actual current of the power battery is not less than the lower limit value of the set target current and not more than the upper limit value of the set target current, the power of the range extender is kept unchanged, and then P isbatterysignSet to 0;
when I isupperlimt＜IactWhen the actual current of the power battery is larger than the upper limit value of the set target current, the power of the range extender needs to be reduced, and P isbatterysignIs set as-1;
corresponding, PbatterysignThe calculation formula of (a) is as follows:
Figure FDA0003565202040000031
wherein, IactIf the voltage is zero, the power battery is in a non-charging and non-discharging state; i isactIf the number is negative, the power battery is in a discharging state; I.C. AactIf the number is positive, the power battery is in a charging state.
4. The energy management control method of the range-extended vehicle according to claim 1, wherein the peak power P of the range extender is the characteristic of the range extender system in the step 3maxIs obtained by taking the peak power P of the engineengmaxAnd peak power P of the generatormotormaxThe smaller of them.
5. The energy management control method of the extended range vehicle of claim 1, wherein the range extender instantaneous generated power limit in step 4 is calculated according to the following formula:
Plimt＝Pmax*β1*β2*β3
wherein: p islimt-instantaneous power generation limit of range extender; beta is a beta1-a generated power reduction factor corresponding to a generator fault condition; beta is a2-a reduced power factor corresponding to the generator temperature; beta is a3-a power generation shutdown factor for a brake active state;
when the generator has no fault or only one stage fault, beta11 is ═ 1; at secondary failure of the generator, beta10.5; at three-stage fault of generator, beta10; generating power reduction coefficient beta corresponding to generator fault state1The calculation formula of (a) is as follows:
Figure FDA0003565202040000041
if the temperature of the generator exceeds the specified upper limit value of the working temperature, the generator is prohibited from generating electricity; when the temperature of the generator continuously solves the upper limit value of the working temperature, the reduced power of the generator is used, and the reduced power coefficient beta corresponding to the temperature of the generator2The calculation formula of (c):
Figure FDA0003565202040000042
wherein: t is0-an upper operating temperature limit of the generator; t is the current actual temperature value of the generator;
when the brake pedal is stepped down and the brake switch is effective, beta30; beta if the brake pedal is not stepped on and the brake switch is invalid31 is ═ 1; power generation shutdown factor beta for brake active state3The calculation formula of (2):
Figure FDA0003565202040000043
6. the energy management control method of the range-extended vehicle as claimed in claim 5, wherein the step 5 sets the range-extended power limit increase/decrease flag P according to the relationship between the instantaneous power limit of the range-extended vehicle and the target torque and speed of the range-extended vehicle at the previous momentlimtsignBy the process of (A) PlimtsignCalculated as follows:
Figure FDA0003565202040000044
in the formula: v (t-1) -the target speed of the engine immediately above; t isq(t-1) -the target torque at the moment immediately above the generator; plimtsignThe range-extending power limit increasing and decreasing flag bit takes the value of { -1, 1} where-1 represents that the generated power of the range extender exceeds the upper limit value of the instantaneous generated power of the range extender, and the generated power of the range extender needs to be reduced; 1 represents that the generated power of the range extender does not exceed the instantaneous generated power upper limit value of the range extender, and the generator power of the range extender is continuously increased or decreased according to the requirement.
7. The energy management control method of the extended range vehicle according to claim 1, wherein the step 6 is to increase or decrease the flag P according to the power battery currentbatterysignAnd increase journey ware power limit increase and decrease zone bit PlimtsignComprehensive judgment range extender power generation increase and decrease mark PsignIs that the generated power increase/decrease flag PsignCalculated as follows:
Figure FDA0003565202040000051
in the formula: p issignThe generated power increase and decrease sign of the range extender takes the value of { -1, 0,1 }.
8. The energy management control method of an extended range vehicle according to claim 1, wherein the step 7 of setting the step of increasing or decreasing the speed change step and the torque change step per duty cycle based on the load change rate characteristic of the engine and the deviation value of the power battery current comprises: when the power of the range extender is increased, the load change of the engine cannot be overlarge, otherwise the rotating speed of the engine is unstable and fluctuates, and when the power of the range extender is reduced, the power needs to be quickly reduced, so that the instantaneous overcurrent of a small-capacity power battery is avoided; the calculation formula of the rotating speed change step and the torque change step of the unit task cycle is as follows:
Figure FDA0003565202040000052
in the formula: Δ V-unit task period rotation speed change step length; Δ Tq — bit duty cycle torque change step; vstep-a set value of a speed variation parameter, Tqstep-a set torque variation parameter value; preferably: if the task period is 10ms, Vstep＝10rmp，Tqstep＝5Nm。
9. The energy management control method of the extended range vehicle according to claim 1, wherein the step 8 of setting the optimal economic continuous broken line of the speed and torque distribution of the range extender based on the economy of the engine according to the external characteristics of the engine comprises: the broken line in a coordinate system with the abscissa as the engine rotating speed and the ordinate as the generator torque is characterized by being a continuous broken line formed by mutually spacing a horizontal line and a vertical line;
further, n folding points are shared in the folding lines, wherein the coordinates of the starting points of the folding lines are (V)10), the second break point coordinate is (V)1，Tq1) The third break point coordinate is (V)2，Tq1) The fourth breakpoint coordinate is (V)2，Tq2) The fifth breakpoint has the coordinate of (V)3，Tq2) The k-th break point coordinate is interpolated as (V)i，Tqj) If k is an even number, then
Figure FDA0003565202040000061
Is that
Figure FDA0003565202040000062
If k is odd, then
Figure FDA0003565202040000063
Is that
Figure FDA0003565202040000064
Coordinates (V) of the last break point, i.e. the nth break pointn，Tqn) At best, V1Preferably, the value is 1000rpm, the larger the table below of coordinates of each break point is, the larger the value is, and the size relationship of horizontal and vertical coordinates is as follows:
Figure FDA0003565202040000065
power P of first break point coordinate1Satisfies the following conditions: p10; the power of the coordinate of the nth break point is the limit value P of the instantaneous generating power of the range extendermaxAnd satisfies the following conditions:
Figure FDA0003565202040000066
10. the energy management control method of the extended range vehicle according to claim 9, wherein the step 9 of controlling the conversion of the current target rotational speed of the engine and the current target torque of the generator along the optimal economic broken line rule of the rotational speed and torque distribution of the range extender according to the current target rotational speed of the engine, the current target torque of the generator, the power generation power increase flag of the range extender, the unit task cycle rotational speed change step and the torque change step is specifically as follows: when the target rotating speed at the moment of the engine and the target torque at the moment of the generator are on the horizontal broken line, namely Vi-1≤V(t-1)＜ViAnd Tq (t-1) ═ TqiTarget rotational speed of the engine at the present time and target rotational speed of the generator at the present timeThe moments are:
Figure FDA0003565202040000067
when the target rotating speed at the moment of the engine and the target torque at the moment of the generator are on the vertical broken line, namely V (t-1) ═ ViAnd Tqi-1≤Tq(t-1)＜TqiThe target rotating speed of the engine at the current moment and the current target torque of the generator are as follows:
Figure FDA0003565202040000068
in the formula: v (t) -the target rotating speed of the engine at the current moment; tq (t) -the current target torque of the generator.
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