混合动力汽车驱动系统设计及控制策略优化
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摘要
混合动力电动汽车(Hybrid Electric Vehicle)是传统燃油汽车和纯电动汽车相结合的新车型，具有燃油汽车的动力性能和较低的排放，是当前解决节能、环保问题切实可行的过渡方案。
混合动力汽车的动力性、燃油经济性和排放性能与驱动系统参数的匹配以及车辆行驶过程中的协调控制密切相关。本文首先分析了混合动力汽车的驱动系统结构类型和各自的特点，对电力辅助型混合动力汽车的组成及其工作模式进行了介绍，并在此基础上提出了一种能综合考虑各部件功率和重量的驱动系统设计方法。通过对驱动系统的部件之间能量流动路线的分析，论文提出了一种基于实验数据的驱动系统部件建模方法，并以NiMH电池为例验证了该方法的可行性。论文提出的驱动系统仿真方法，不需要求解复杂的微分方程，计算速度快，根据驱动系统结构将各单元模型集成，可以对不同行驶循环下车辆的动力性能和燃油经济性进行仿真计算。论文最后针对电力辅助型混合动力汽车，综合考虑车辆的行驶性能、燃油经济性以及行驶过程中电池SOC的大小，建立了最小等效油耗的优化实时控制策略。本论文所做的研究将有助于缩短混合动力汽车的设计开发时间，为其驱动系统的设计和控制策略及整车性能评估提供参考。
Hybrid Electric Vehicles (HEVs) combine the advantages of conventional engine-driven vehicles and pure Electric Vehicles (EVs). This provides satisfied driving performance and lower exhaust emission. Thus, HEV is a feasible solution to solve the energy crisis and environmental pollution problems.
Performances of HEVs, in terms of driving, fuel consumption, and exhaust emission, strongly depend on the coordination of the drivetrain and their control strategy. In this paper, the classification and associated characteristics of HEVs are firstly analyzed and discussed. And then, the configuration and operation modes of electric assist parallel HEVs are introduced. A design method of drivetrain for electric assist parallel HEVs are presented, in which .both the weight and rate power of the drivetrain components are comprehensively considered. By analyzing the characteristics and energy flow principles of its drivetrain, a modeling method based on experimental data is proposed. The feasibility of the method is confirmed by experimental data of NiMH battery. The proposed simulation method for HEVs drivetrain do not include the complicated differential equations calculation but would be practical for evaluating the driving performance and fuel consumption quickly by integrating the configured components of t
he drivetrain. Furthermore, an optimal real-time control strategy with the minimal equivalent fuel consumption for the electric assist HEVs is proposed in the paper, which considers the vehicle driving performance, fuel consumption, and the SOC of battery. The study of this paper would be helpful to reduce the period of design for HEVs and supply the reference for drivetrain design, control strategy and vehicle's performance evaluation.
混合动力汽车的动力性、燃油经济性和排放性能与驱动系统参数的匹配以及车辆行驶过程中的协调控制密切相关。本文首先分析了混合动力汽车的驱动系统结构类型和各自的特点，对电力辅助型混合动力汽车的组成及其工作模式进行了介绍，并在此基础上提出了一种能综合考虑各部件功率和重量的驱动系统设计方法。通过对驱动系统的部件之间能量流动路线的分析，论文提出了一种基于实验数据的驱动系统部件建模方法，并以NiMH电池为例验证了该方法的可行性。论文提出的驱动系统仿真方法，不需要求解复杂的微分方程，计算速度快，根据驱动系统结构将各单元模型集成，可以对不同行驶循环下车辆的动力性能和燃油经济性进行仿真计算。论文最后针对电力辅助型混合动力汽车，综合考虑车辆的行驶性能、燃油经济性以及行驶过程中电池SOC的大小，建立了最小等效油耗的优化实时控制策略。本论文所做的研究将有助于缩短混合动力汽车的设计开发时间，为其驱动系统的设计和控制策略及整车性能评估提供参考。
Hybrid Electric Vehicles (HEVs) combine the advantages of conventional engine-driven vehicles and pure Electric Vehicles (EVs). This provides satisfied driving performance and lower exhaust emission. Thus, HEV is a feasible solution to solve the energy crisis and environmental pollution problems.
Performances of HEVs, in terms of driving, fuel consumption, and exhaust emission, strongly depend on the coordination of the drivetrain and their control strategy. In this paper, the classification and associated characteristics of HEVs are firstly analyzed and discussed. And then, the configuration and operation modes of electric assist parallel HEVs are introduced. A design method of drivetrain for electric assist parallel HEVs are presented, in which .both the weight and rate power of the drivetrain components are comprehensively considered. By analyzing the characteristics and energy flow principles of its drivetrain, a modeling method based on experimental data is proposed. The feasibility of the method is confirmed by experimental data of NiMH battery. The proposed simulation method for HEVs drivetrain do not include the complicated differential equations calculation but would be practical for evaluating the driving performance and fuel consumption quickly by integrating the configured components of t
he drivetrain. Furthermore, an optimal real-time control strategy with the minimal equivalent fuel consumption for the electric assist HEVs is proposed in the paper, which considers the vehicle driving performance, fuel consumption, and the SOC of battery. The study of this paper would be helpful to reduce the period of design for HEVs and supply the reference for drivetrain design, control strategy and vehicle's performance evaluation.
引文
[1]陈清泉，孙逢春，祝嘉光，现代电动汽车技术，北京：北京理工大学出版社，2002，1-25
[2]孙逢春，张承宁，祝嘉光．电动汽车—21世纪的重要交通工具．北京：北京理工大学出版社，1997．3-10
[3]万沛霖．电动汽车的关键技术，北京：北京理工大学出版社，1998，10-40
[4]徐卫国，混合动力汽车的发展状况及前景初探，汽车科技，2001，6：7-10
[5]孙逢春，何洪文，混合动力车辆的归类方法研究，北京理工大学学报，2002，22：40-44
[6]Catherime Anderson, and Erim Pettit. The Effects of APU Characteristics on the Design of Hybrid Control Strategies for Hybrid Electric Vehicles. SAE 950493,1995.
[7]C. C. Chen. The State of the Art of Electric and Hybrid Vehicles. In: Proc of the IEEE, Vol. 90, No. 2, 2002.
[8]Yimin Gao, Khwaja M. Rahman, and Mehrdad Ehsani. Parametric Design of the Drive Train of an Electrically Peaking Hybrid(ELPH) Vehicle. SAE 970294, 1997.
[9]麻友良，陈全世，混合动力汽车的发展，公路交通科技，2001，18：77-80
[10]L. Triger, J. Paterson, and P. Drozdz. Hybrid Vehicle Engine Size Optimization. SAE 931793. 1993
[11]麻友良，陈全世，混合动力电动汽车的结构与特性分析，汽车研究与开发，2000，4：20-22
[12]Julie Marshaus, Asha Ramnarine, and Ethan Brodsky et al. Development of the University of Wisconsin's Parallel Hybrid Electric Sport Utility Vehicle. SAE FutureTruck Challenge, 2001:167-181
[13]Michael Hopka, Avra Brahma, and Gabriele Ercole The 2000 Ohio State University FutureTruck. SAE FutureTruck Challenge, 2001:73-87
[14]Mike Hopka, Avra Brahma, and Qi Ma et al. Design, Development and Performace of the Buckeyebrid: The Ohio State University Hybrid Electric FutureTruck 2001. SAE FutureTruck Challenge, 2002:87-103
[15]G. Edwards, J. C. Griffith, and B. Hart et al. Strong & Efficient:Georgia Tech's Parallel Hybrid SUV Design. SAEFutureTruck
Challenge,2002:51-68
[16] 舒红，秦大同，胡建军，混合动力汽车控制策略研究现状及发展趋势，重庆大学学报，2001，11：28-31
[17] 杨宏亮，陈全世，混联式混合动力汽车控制策略研究综述，公路交通科技，2002，2：103-107
[18] 黄妙华，金国栋，邓亚东，串联式混合动力电动汽车先导车的研究开发，武汉理工大学学报，2001，9：273-275
[19] 王庆年，何洪文，李幼德等，并联混合动力汽车传动系参数匹配，吉林工业大学学报，2001，1：72-75
[20] 张俊智，卢青春，王丽芳，汽车混合动力传动的能量流动与比较，机械科学与技术，2001，9：747-751
[21] 舒红，秦大同，杨为，混合动力汽车动力传动系参数设计，农业机械学报，2002，1：19-22
[22] 威鲁麦特(德)，车辆动力学：模拟及其方法，北京：北京理工大学出版社，1998，90-101
[23] http://www. doe. gov/bridge
[24] 王望予，汽车设计，北京：机械工业出版社，2000．5，40-60
[25] Yimin Gao, Khwaja M. Rahman, and Mehrdad Ehsani. Parametric Design of the Drive Train of an Electrically Peaking Hybrid(ELPH) Vehicle. SAE 970294, 1997
[26] Z. Rahman, K. L. Butler and M. Ehsani. A Study of Design Issues on Electrically Peaking Hybrid Electric Vehicle for Diverse Urban Driving Patterns. SAE 1999-01-1151, 1999
[27] Z. Rahman, M. Ehsani and K. L. Butler An Investigation of Electric Motor Drive Characteristics for EV and HEV Propulsion Systems. SAE 2000-01-3062, 2000
[28] Mehrdad Ehsani, Khwaja M. Rahman, and Hamid A. Toliyat. Propulsion System Design of Electric and Hybrid Vehicles. In: Proc of the IEEE, Vol. 44, No.1, 1997
[29] http://www. chinaev. org
[30] http://www. ctts. nrel. gov/analysis.
[31] Randall Donn Senger. Validation of ADVISOR as a Simulation Tool for a Series Hybrid Electric Vehicle Using the Virginia Tech FutureCar Lumina:[dissertation]. Blacksburg: Univ of Virginia, 1998
[32] Modeling Grid-Connected Hybrid Electric Vehicles Using ADVISOR. IEEE
0-7803-6545-3, 1997
[33] Keith Wipke, Matthew Cuddy, and Desikan Bharathan et al, Advisor 2.0: A Second-Generation Advanced Vehicle Simulator for Systems Analysis. In: Proc of the NAEVI 1998
[34] Karen L. Butler, Mehrdad Ehsani, Preyas Kamath, A Matlab-Based Modeling and Simulation Package for Electric and Hybrid Electric Vehicle Design. In: Proc of the IEEE, Vol. 48, No. 6, 1999
[35] Z. Rahman, K.L. Butler, and M. Ehsani, Designing Parallel Hybrid Electric Vehicles Using V-ELPH 2.01. In: Proc of the American Control Conference, 1999
[36] Luigi Glielmo, Stefania Santini, and Francesco Vasea. HEVES: a Modular Hybrid Electric Vehicle Simulator. In: Proc of the Advanced Vehicle Control, 2000
[37] S. R. Cikanek, K. E. Bailey and B. K. Powell. Parallel Hybrid Electric Vehicle Dynamic Model and Powertrrain Control. In: Proc of the American Control Conference, 1997
[38] L. R. Georges, A. G. Kladas and S. N. Manial. Finite Element Based Induction Motor Model for adapiive Field-Oriented Drive for Electrical Vehicle. In: Proc of the IEEE 95TH8081, 1995
[39] Ju-Sang Lee, Young-Jae Ryoo and Young-Cheol Lim et al. A Neural Network Model of Electric Differential System for Electric Vehicle. IEEE 0-7803-6456-2, 2000
[40] A. Brahma, Y. Guezennec and G.. Riaaoni. Optimal Energy Management in Series Hybrid Electric Vehicles. Proc of the Advanced Vehicle Control, 2000
[41] Giorgio Rizzoni, Lino Guzzella, and Bernd M. Baumann. Unified Modeling of Hybrid Electric Vehicle Drivetrains. In: Proc of the IEEE, VOL. 4, NO. 3, 1999
[42] Antoni Szumanowski，陈清泉等编译．混合电动车辆基础．北京：北京理工大学出版社，2001，27-37
[43] 郭炳煜，李新海，杨松青．化学电源—电池原理及制造技术．长沙：中南工业大学出版 长沙：中南大学出版社，2003，120-140
[44] Shuo Pang, Jay Farrell, Jie Du, and Matthew Barth, Battery State-of-charge Estimation, In: Proc of the American Control Conf., 2001.
[45] Giglioli R., Cerolo P., Charge and Discharge Fourth Order Dynamic Model of the Lead Battery, 10th International Electric Vehicle Symposium, Hong Kong, 1990,1-9.
[46] H.L. Chan, D. Sutanto, A New Battery Model for use with Battery Energy Storage Systems and Electric Vehicle Power Systems, IEEE 0-7803-5935-68, 2000.
[47] PNGV Battery Test Manual, INEEL, DOE/ID-10597, Rev. 3, 2001
[48] K. Floyd, Z. Noworolski, and J. harge by Monitoring Float Charging Current, In: Proc. Of 16th Int. Tele. Energy C Noworolski, and W. Sokolski. Assessment of Lead-acid Battery State of Conf., 1994, 602-608.
[49] Takayuki Torikai, Takaaki Takesue, Yukihiro Toyota, and Kaxushi Nakano, Research and Development of the Model-Based Battery State of Charge Indicator, IEEE0-7803-0582-5,1992
[50] W.B. Gu, C.Y. Wang, S.M. Li, M.M. Geng and B.Y. Liaw, Modeling Discharge and Charge Characteristics of Nickel-Metal Hydride Batteries, Electrochim. Acta, 1998.
[51] 胡寿松．自动控制原理．北京：国防工业出版社，1994，442-480
[52] 何仁斌．MATLAB 6工程计算及应用．重庆：重庆大学出版社，2001，40-80
[53] B. K. Powell, K.E. Bailey, and S. R. Cikanek. Dynamic Modeling and Control of Hybrid Electric Vehicle Powertrain Systems. IEEE 0272-1708, 1998.
[54] 雷雨成．汽车系统动力学及仿真．北京：国防工业出版社，1997，35-85
[55] Matthew Alan Merkle. Variable Bus Voltage Modeling for Series Hybrid Electric Vehicle Simulation:[dissertation] Blacksburg: Univ of Virginia, 1997, 2-15
[56] 黄妙华，金国栋，双能源混合动力驱动系统的优化控制及其仿真，华中理工大学学报，2002，10：29-31
[57] 舒红，秦大同，胡建军，混合动力汽车控制策略研究现状及发展趋势，重庆大学学报，2001，11：28-31
[58] Z. Rahman, K. L. Butler and M. Ehsani. A Comparison Study Between Two Parallel Hybrid Control Concepts. SAE 2000-01-0994, 1997
[59] 张俊智，卢青春，王丽芳．汽车混合动力传动的能量流动与比较．机械科学与技术，2001，9：37-40
[60] 董敏，庄志，常思勤．汽车拖拉机发动机．北京：机械工业出版社，1997：
10-30
[61] A. Brahma,Y.Guezennec and G. Riaaoni. Dynamic Optimization of Mechanical/Electrical Power Flow in Parallel Hybrid Electric. In: Proc. Of AVEC. 2000
[62] G. Paganelli, S. Delprat T.M. Guerra and J. Rimuax. EquivalentConsumption Minimization Strategy for Parallel Hybrid Powertrains. IEEE 0-7803-7484-3,2002.
[63] Gino Paganeli, Makoto Tateno, Avra Brahma et al. Control development for a hybrid-electric sport-utility vehicle:strategy, implementation and field test results. In: Proc. Of the American Control Conference. 2001
[2]孙逢春，张承宁，祝嘉光．电动汽车—21世纪的重要交通工具．北京：北京理工大学出版社，1997．3-10
[3]万沛霖．电动汽车的关键技术，北京：北京理工大学出版社，1998，10-40
[4]徐卫国，混合动力汽车的发展状况及前景初探，汽车科技，2001，6：7-10
[5]孙逢春，何洪文，混合动力车辆的归类方法研究，北京理工大学学报，2002，22：40-44
[6]Catherime Anderson, and Erim Pettit. The Effects of APU Characteristics on the Design of Hybrid Control Strategies for Hybrid Electric Vehicles. SAE 950493,1995.
[7]C. C. Chen. The State of the Art of Electric and Hybrid Vehicles. In: Proc of the IEEE, Vol. 90, No. 2, 2002.
[8]Yimin Gao, Khwaja M. Rahman, and Mehrdad Ehsani. Parametric Design of the Drive Train of an Electrically Peaking Hybrid(ELPH) Vehicle. SAE 970294, 1997.
[9]麻友良，陈全世，混合动力汽车的发展，公路交通科技，2001，18：77-80
[10]L. Triger, J. Paterson, and P. Drozdz. Hybrid Vehicle Engine Size Optimization. SAE 931793. 1993
[11]麻友良，陈全世，混合动力电动汽车的结构与特性分析，汽车研究与开发，2000，4：20-22
[12]Julie Marshaus, Asha Ramnarine, and Ethan Brodsky et al. Development of the University of Wisconsin's Parallel Hybrid Electric Sport Utility Vehicle. SAE FutureTruck Challenge, 2001:167-181
[13]Michael Hopka, Avra Brahma, and Gabriele Ercole The 2000 Ohio State University FutureTruck. SAE FutureTruck Challenge, 2001:73-87
[14]Mike Hopka, Avra Brahma, and Qi Ma et al. Design, Development and Performace of the Buckeyebrid: The Ohio State University Hybrid Electric FutureTruck 2001. SAE FutureTruck Challenge, 2002:87-103
[15]G. Edwards, J. C. Griffith, and B. Hart et al. Strong & Efficient:Georgia Tech's Parallel Hybrid SUV Design. SAEFutureTruck
Challenge,2002:51-68
[16] 舒红，秦大同，胡建军，混合动力汽车控制策略研究现状及发展趋势，重庆大学学报，2001，11：28-31
[17] 杨宏亮，陈全世，混联式混合动力汽车控制策略研究综述，公路交通科技，2002，2：103-107
[18] 黄妙华，金国栋，邓亚东，串联式混合动力电动汽车先导车的研究开发，武汉理工大学学报，2001，9：273-275
[19] 王庆年，何洪文，李幼德等，并联混合动力汽车传动系参数匹配，吉林工业大学学报，2001，1：72-75
[20] 张俊智，卢青春，王丽芳，汽车混合动力传动的能量流动与比较，机械科学与技术，2001，9：747-751
[21] 舒红，秦大同，杨为，混合动力汽车动力传动系参数设计，农业机械学报，2002，1：19-22
[22] 威鲁麦特(德)，车辆动力学：模拟及其方法，北京：北京理工大学出版社，1998，90-101
[23] http://www. doe. gov/bridge
[24] 王望予，汽车设计，北京：机械工业出版社，2000．5，40-60
[25] Yimin Gao, Khwaja M. Rahman, and Mehrdad Ehsani. Parametric Design of the Drive Train of an Electrically Peaking Hybrid(ELPH) Vehicle. SAE 970294, 1997
[26] Z. Rahman, K. L. Butler and M. Ehsani. A Study of Design Issues on Electrically Peaking Hybrid Electric Vehicle for Diverse Urban Driving Patterns. SAE 1999-01-1151, 1999
[27] Z. Rahman, M. Ehsani and K. L. Butler An Investigation of Electric Motor Drive Characteristics for EV and HEV Propulsion Systems. SAE 2000-01-3062, 2000
[28] Mehrdad Ehsani, Khwaja M. Rahman, and Hamid A. Toliyat. Propulsion System Design of Electric and Hybrid Vehicles. In: Proc of the IEEE, Vol. 44, No.1, 1997
[29] http://www. chinaev. org
[30] http://www. ctts. nrel. gov/analysis.
[31] Randall Donn Senger. Validation of ADVISOR as a Simulation Tool for a Series Hybrid Electric Vehicle Using the Virginia Tech FutureCar Lumina:[dissertation]. Blacksburg: Univ of Virginia, 1998
[32] Modeling Grid-Connected Hybrid Electric Vehicles Using ADVISOR. IEEE
0-7803-6545-3, 1997
[33] Keith Wipke, Matthew Cuddy, and Desikan Bharathan et al, Advisor 2.0: A Second-Generation Advanced Vehicle Simulator for Systems Analysis. In: Proc of the NAEVI 1998
[34] Karen L. Butler, Mehrdad Ehsani, Preyas Kamath, A Matlab-Based Modeling and Simulation Package for Electric and Hybrid Electric Vehicle Design. In: Proc of the IEEE, Vol. 48, No. 6, 1999
[35] Z. Rahman, K.L. Butler, and M. Ehsani, Designing Parallel Hybrid Electric Vehicles Using V-ELPH 2.01. In: Proc of the American Control Conference, 1999
[36] Luigi Glielmo, Stefania Santini, and Francesco Vasea. HEVES: a Modular Hybrid Electric Vehicle Simulator. In: Proc of the Advanced Vehicle Control, 2000
[37] S. R. Cikanek, K. E. Bailey and B. K. Powell. Parallel Hybrid Electric Vehicle Dynamic Model and Powertrrain Control. In: Proc of the American Control Conference, 1997
[38] L. R. Georges, A. G. Kladas and S. N. Manial. Finite Element Based Induction Motor Model for adapiive Field-Oriented Drive for Electrical Vehicle. In: Proc of the IEEE 95TH8081, 1995
[39] Ju-Sang Lee, Young-Jae Ryoo and Young-Cheol Lim et al. A Neural Network Model of Electric Differential System for Electric Vehicle. IEEE 0-7803-6456-2, 2000
[40] A. Brahma, Y. Guezennec and G.. Riaaoni. Optimal Energy Management in Series Hybrid Electric Vehicles. Proc of the Advanced Vehicle Control, 2000
[41] Giorgio Rizzoni, Lino Guzzella, and Bernd M. Baumann. Unified Modeling of Hybrid Electric Vehicle Drivetrains. In: Proc of the IEEE, VOL. 4, NO. 3, 1999
[42] Antoni Szumanowski，陈清泉等编译．混合电动车辆基础．北京：北京理工大学出版社，2001，27-37
[43] 郭炳煜，李新海，杨松青．化学电源—电池原理及制造技术．长沙：中南工业大学出版 长沙：中南大学出版社，2003，120-140
[44] Shuo Pang, Jay Farrell, Jie Du, and Matthew Barth, Battery State-of-charge Estimation, In: Proc of the American Control Conf., 2001.
[45] Giglioli R., Cerolo P., Charge and Discharge Fourth Order Dynamic Model of the Lead Battery, 10th International Electric Vehicle Symposium, Hong Kong, 1990,1-9.
[46] H.L. Chan, D. Sutanto, A New Battery Model for use with Battery Energy Storage Systems and Electric Vehicle Power Systems, IEEE 0-7803-5935-68, 2000.
[47] PNGV Battery Test Manual, INEEL, DOE/ID-10597, Rev. 3, 2001
[48] K. Floyd, Z. Noworolski, and J. harge by Monitoring Float Charging Current, In: Proc. Of 16th Int. Tele. Energy C Noworolski, and W. Sokolski. Assessment of Lead-acid Battery State of Conf., 1994, 602-608.
[49] Takayuki Torikai, Takaaki Takesue, Yukihiro Toyota, and Kaxushi Nakano, Research and Development of the Model-Based Battery State of Charge Indicator, IEEE0-7803-0582-5,1992
[50] W.B. Gu, C.Y. Wang, S.M. Li, M.M. Geng and B.Y. Liaw, Modeling Discharge and Charge Characteristics of Nickel-Metal Hydride Batteries, Electrochim. Acta, 1998.
[51] 胡寿松．自动控制原理．北京：国防工业出版社，1994，442-480
[52] 何仁斌．MATLAB 6工程计算及应用．重庆：重庆大学出版社，2001，40-80
[53] B. K. Powell, K.E. Bailey, and S. R. Cikanek. Dynamic Modeling and Control of Hybrid Electric Vehicle Powertrain Systems. IEEE 0272-1708, 1998.
[54] 雷雨成．汽车系统动力学及仿真．北京：国防工业出版社，1997，35-85
[55] Matthew Alan Merkle. Variable Bus Voltage Modeling for Series Hybrid Electric Vehicle Simulation:[dissertation] Blacksburg: Univ of Virginia, 1997, 2-15
[56] 黄妙华，金国栋，双能源混合动力驱动系统的优化控制及其仿真，华中理工大学学报，2002，10：29-31
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