新型功率分流混合动力系统能量管理预测优化
|
摘要
针对新型双模功率分流混合动力系统,为改善拟搭载样车的能量经济性,开发了基于模型预测控制的实时优化能量管理策略并进行了仿真验证。通过分析各动力源在不同工作模式下的转速转矩关系,建立了功率分流系统模型。通过分析该构型方案在不同功率分流模式下的机械点,得到系统效率随传动比的变化关系,并基于发动机稳态燃油消耗特性曲线建立了其数学模型,基于安时积分法建立了动力电池一阶等效模型。根据已有的发动机模型及动力电池模型,建立了功率分流混合动力系统短时域预测模型,预测了有限时域内电池荷电状态及发动机燃油消耗率的变化。最后,基于预测时域内等效燃油消耗最小提出系统在混合动力模式下发动机工作点的最优决策律,并基于该最优决策律开发功率分流混合动力系统模型预测能量管理策略,实现了各动力源转矩的实时最优分配。设置预测时域和控制时域均为3s,新欧洲行驶工况仿真结果表明,该控制策略可实现能量管理的实时滚动优化,其百公里油耗为4.95L,相比于基于规则能量管理策略下的百公里油耗5.364L,可提升整车大约7.7%的燃油经济性。
To improve the fuel economy of a prototype vehicle with a new type dual-mode power split hybrid driveline system,a real-time optimized energy management strategy based on model predictive control(MPC)was developed and verified.First,the relationship of speed and torque of different power source under every working mode was analyzed,and a model of power split system was built.Then the mechanical points of different power split modes were analyzed,and the relationship between system efficiency and gear ratio was obtained.Based on the fuel consumption characteristic curve of the engine,its mathematical model was established.In the meantime,the first-order RC model of battery based on the amper-hour integral method was built.Further,a short-time prediction model for power split hybrid driveline system based on the engine and battery models was obtained to predict the variation of battery SOC and fuel consumption rate in a predictive horizon.Finally,an optimal decision law about the engineoperating point under hybrid mode at the minimum cost of the equivalent fuel consumption was proposed,and an MPC-based energy management strategy based on the optimal decision law was developed to realize the real-time optimal distribution of torque among different power sources.Simulation results show that the MPC-based energy management strategy can achieve the realtime rolling optimization of a hybrid power vehicle consuming 4.95 liters of gasoline per 100 kilometers.Compared with 5.364 liters of gasoline per 100 kilometers under the rule-based energy management,MPC-based energy management can dramatically improve fuel economy by7.7%.
To improve the fuel economy of a prototype vehicle with a new type dual-mode power split hybrid driveline system,a real-time optimized energy management strategy based on model predictive control(MPC)was developed and verified.First,the relationship of speed and torque of different power source under every working mode was analyzed,and a model of power split system was built.Then the mechanical points of different power split modes were analyzed,and the relationship between system efficiency and gear ratio was obtained.Based on the fuel consumption characteristic curve of the engine,its mathematical model was established.In the meantime,the first-order RC model of battery based on the amper-hour integral method was built.Further,a short-time prediction model for power split hybrid driveline system based on the engine and battery models was obtained to predict the variation of battery SOC and fuel consumption rate in a predictive horizon.Finally,an optimal decision law about the engineoperating point under hybrid mode at the minimum cost of the equivalent fuel consumption was proposed,and an MPC-based energy management strategy based on the optimal decision law was developed to realize the real-time optimal distribution of torque among different power sources.Simulation results show that the MPC-based energy management strategy can achieve the realtime rolling optimization of a hybrid power vehicle consuming 4.95 liters of gasoline per 100 kilometers.Compared with 5.364 liters of gasoline per 100 kilometers under the rule-based energy management,MPC-based energy management can dramatically improve fuel economy by7.7%.
引文
[1]ROBERTS A,BROOKS R,SHIPWAY P.Internal combustion engine cold-start efficiency:a review of the problem,causes and potential solutions[J].Energy Conversion and Management,2014,82:327-350.
[2]CONLON B,BLOHM T,HARPSTER M,et al.The next generation“voltec”extended range EV propulsion system[J].SAE Int J Alt Power,2015,4(2).doi:10.4271/2015-01-1152.
[3]ZHANG Xiaowu,LI Shengbo Eben,PENG Huei,et al.Design of multimode power-split hybrid vehicles:a case study on the voltec powertrain system[J].IEEETransactions on Vehicular Technology,2016,65(6):4790-4801.
[4]薛天扬,彭增雄.双模式功率分流混合动力车辆功率优化与仿真[J].机械设计与制造,2014(7):8-11.XUE Tianyang,PENG Zengxiong.Power optimizing and simulation for a dual mode power-split hybrid electric vehicle[J].Machinery Design and Manufacture,2014(7):8-11.
[5]KISACIKOGLU M C,UZUNOGLU M,ALAM M S.Load sharing using fuzzy logic control in a fuel cell/ultracapacitor hybrid vehicle[J].International Journal of Hydrogen Energy,2009,34(3):1497-1507.
[6]王庆年,王文,王鹏宇,等.基于瞬时效率的功率分流式混合动力汽车最佳分离因子的确定[J].吉林大学学报(工学版),2013,43(5):1160-1164.WANG Qingnian,WANG Wen,WANG Pengyu,et al.Determination of the best separation factor for power-split hybrid electric vehicle based on instantaneous efficiency[J].Journal of Jilin University(Engineering and Technology Edition),2013,43(5):1160-1164.
[7]郭明林,朱建新,王晨,等.新型功率分流混合动力汽车能量管理策略仿真[J].计算机仿真,2015,32(7):137-143.GUO Minglin,ZHU Jianxin,WANG Chen,et al.Power-split hybrid electric vehicle energy management strategy simulation[J].Computer Simulation,2015,32(5):137-143.
[8]沈登峰,王晨,于海生,等.复合功率分流混合动力汽车能量管理策略研究[J].汽车工程,2017,39(1):15-27.SHEN Dengfeng,WANG Chen,YU Haisheng,et al.A study on energy management strategy for compound power-split hybrid electric vehicle[J].Automotive Engineering,2017,39(1):15-27.
[9]TAGHAVIPOUR A,AZAD N L,MCPHEE J.Realtime predictive control strategy for a plug-in electric powertrain[J].Mechatronics,2015,29:13-27.
[10]崔高健,钟博浩.基于模型预测控制的混合动力汽车能量管理策略研究综述[J].时代汽车,2016(8):33-34.
[11]HE Hongwen,ZHANG Jieli,LI Gaopeng,et al.Model predictive control for energy management of a plug-in hybrid electric bus[J].Energy Procedia,2016,88:901-907.
[12]孙延秋,连静.基于模型预测控制的HEV能量管理策略研究[D].辽宁:大连理工大学,2017.
[13]BORHAN H A,VAHIDI A,PHILIPS A M,et al.Predictive energy management of a power-split hybrid electric vehicle[C]∥2009 American Control Conference.Piscataway,NJ,USA:IEEE,2009:3970-3976.
[14]LU Zijia,SONG Jipeng,YUAN Hongliang,et al.MPC-based torque distribution strategy for energy management of power-split hybrid electric vehicles[C]∥Proceedings of the 32nd Chinese Control Conference.Xi’an,China:Northwestern Polytechnical University,2013:7650-7655.
[15]XIANG Changle,DING Feng,WANG Weida,et al.Energy management of a dual mode hybrid electric vehicle based on velocity prediction and nonlinear model predictive control[J].Applied Energy,2017,189:640-653.
[16]YANG Jie,ZHU Guoming.Model predictive control of a power split hybrid powertrain[C]∥2016American Control Conference.Piscataway,NJ,USA:IEEE,2016:617-622.
[17]丁峰,王伟达,马文杰,等.基于模型预测控制的混联式混合动力车辆能量管理策略[J].北京汽车,2015(3):1-5.DING Feng,WANG Weida,MA Wenjie,et al.Energy management strategy for power-split hybrid electric vehicle based on model predictive control theory[J].Beijing Vehicle,2015(3):1-5.
[18]ZHANG Jiangyan,SHEN Tielong.Real-time fuel economy optimization with nonlinear MPC for PHEVs[J].IEEE Transactions on Control Systems Technology,2016,24(6):2167-2175.
[19]WANG Weida,XIANG Changle,LIU Hui,et al.Amodel predictive control based power management strategy for a power-split electromechanical transmission[J].Journal of Automobile Engineering,2016,230(14):108-109.
[20]王晨,赵治国,张彤,等.复合功率分流式e-CVT结构优化及验证[J].中国公路学报,2015,28(3):117-126.WANG Chen,ZHAO Zhiguo,ZHANG Tong,et al.Structure optimization and its validation for compound power-split e-CVT[J].China Journal of Highway and Transport,2015,28(3):117-126.
[21]WANG Chen,ZHAO Zhiguo,ZHANG Tong,et al.Development of a compact compound power-split hybrid transmission based on altered ravigneaux gear set:SAE Technical Paper 2014-01-1793[R].New York,USA:SAE,2014.
[22]陈虹.模型预测控制[M].北京:科学出版社,2013:328-561.
[23]LI Liang,YOU Sixiong,YANG Chao.Multi-objective stochastic MPC-based system control architecture for plug-in hybrid electric buses[J].IEEE Transactions on Industrial Electronics,2016,99(1):4752-4763.
[2]CONLON B,BLOHM T,HARPSTER M,et al.The next generation“voltec”extended range EV propulsion system[J].SAE Int J Alt Power,2015,4(2).doi:10.4271/2015-01-1152.
[3]ZHANG Xiaowu,LI Shengbo Eben,PENG Huei,et al.Design of multimode power-split hybrid vehicles:a case study on the voltec powertrain system[J].IEEETransactions on Vehicular Technology,2016,65(6):4790-4801.
[4]薛天扬,彭增雄.双模式功率分流混合动力车辆功率优化与仿真[J].机械设计与制造,2014(7):8-11.XUE Tianyang,PENG Zengxiong.Power optimizing and simulation for a dual mode power-split hybrid electric vehicle[J].Machinery Design and Manufacture,2014(7):8-11.
[5]KISACIKOGLU M C,UZUNOGLU M,ALAM M S.Load sharing using fuzzy logic control in a fuel cell/ultracapacitor hybrid vehicle[J].International Journal of Hydrogen Energy,2009,34(3):1497-1507.
[6]王庆年,王文,王鹏宇,等.基于瞬时效率的功率分流式混合动力汽车最佳分离因子的确定[J].吉林大学学报(工学版),2013,43(5):1160-1164.WANG Qingnian,WANG Wen,WANG Pengyu,et al.Determination of the best separation factor for power-split hybrid electric vehicle based on instantaneous efficiency[J].Journal of Jilin University(Engineering and Technology Edition),2013,43(5):1160-1164.
[7]郭明林,朱建新,王晨,等.新型功率分流混合动力汽车能量管理策略仿真[J].计算机仿真,2015,32(7):137-143.GUO Minglin,ZHU Jianxin,WANG Chen,et al.Power-split hybrid electric vehicle energy management strategy simulation[J].Computer Simulation,2015,32(5):137-143.
[8]沈登峰,王晨,于海生,等.复合功率分流混合动力汽车能量管理策略研究[J].汽车工程,2017,39(1):15-27.SHEN Dengfeng,WANG Chen,YU Haisheng,et al.A study on energy management strategy for compound power-split hybrid electric vehicle[J].Automotive Engineering,2017,39(1):15-27.
[9]TAGHAVIPOUR A,AZAD N L,MCPHEE J.Realtime predictive control strategy for a plug-in electric powertrain[J].Mechatronics,2015,29:13-27.
[10]崔高健,钟博浩.基于模型预测控制的混合动力汽车能量管理策略研究综述[J].时代汽车,2016(8):33-34.
[11]HE Hongwen,ZHANG Jieli,LI Gaopeng,et al.Model predictive control for energy management of a plug-in hybrid electric bus[J].Energy Procedia,2016,88:901-907.
[12]孙延秋,连静.基于模型预测控制的HEV能量管理策略研究[D].辽宁:大连理工大学,2017.
[13]BORHAN H A,VAHIDI A,PHILIPS A M,et al.Predictive energy management of a power-split hybrid electric vehicle[C]∥2009 American Control Conference.Piscataway,NJ,USA:IEEE,2009:3970-3976.
[14]LU Zijia,SONG Jipeng,YUAN Hongliang,et al.MPC-based torque distribution strategy for energy management of power-split hybrid electric vehicles[C]∥Proceedings of the 32nd Chinese Control Conference.Xi’an,China:Northwestern Polytechnical University,2013:7650-7655.
[15]XIANG Changle,DING Feng,WANG Weida,et al.Energy management of a dual mode hybrid electric vehicle based on velocity prediction and nonlinear model predictive control[J].Applied Energy,2017,189:640-653.
[16]YANG Jie,ZHU Guoming.Model predictive control of a power split hybrid powertrain[C]∥2016American Control Conference.Piscataway,NJ,USA:IEEE,2016:617-622.
[17]丁峰,王伟达,马文杰,等.基于模型预测控制的混联式混合动力车辆能量管理策略[J].北京汽车,2015(3):1-5.DING Feng,WANG Weida,MA Wenjie,et al.Energy management strategy for power-split hybrid electric vehicle based on model predictive control theory[J].Beijing Vehicle,2015(3):1-5.
[18]ZHANG Jiangyan,SHEN Tielong.Real-time fuel economy optimization with nonlinear MPC for PHEVs[J].IEEE Transactions on Control Systems Technology,2016,24(6):2167-2175.
[19]WANG Weida,XIANG Changle,LIU Hui,et al.Amodel predictive control based power management strategy for a power-split electromechanical transmission[J].Journal of Automobile Engineering,2016,230(14):108-109.
[20]王晨,赵治国,张彤,等.复合功率分流式e-CVT结构优化及验证[J].中国公路学报,2015,28(3):117-126.WANG Chen,ZHAO Zhiguo,ZHANG Tong,et al.Structure optimization and its validation for compound power-split e-CVT[J].China Journal of Highway and Transport,2015,28(3):117-126.
[21]WANG Chen,ZHAO Zhiguo,ZHANG Tong,et al.Development of a compact compound power-split hybrid transmission based on altered ravigneaux gear set:SAE Technical Paper 2014-01-1793[R].New York,USA:SAE,2014.
[22]陈虹.模型预测控制[M].北京:科学出版社,2013:328-561.
[23]LI Liang,YOU Sixiong,YANG Chao.Multi-objective stochastic MPC-based system control architecture for plug-in hybrid electric buses[J].IEEE Transactions on Industrial Electronics,2016,99(1):4752-4763.