前后双离合器式并联混合动力城市公交车控制策略研究
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摘要
在不降低车辆性能的前提下,提出一种既能降低系统复杂程度,又能降低成本的混合动力驱动系统方案是开发适用于国内市场的混合动力城市公交车的首要关键问题。国外研发的混合动力城市公交车的各项性能指标优良,但其成本相对于我国国情显得过于昂贵,对于开发适用于国内市场的混合动力城市公交车并无太多可以参考和借鉴的地方。由此,本文提出一种新型的前后双离合器式并联混合动力驱动系统方案,此方案动力系统采用双轴并联的耦合方式,同时在耦合箱与发动机和变速箱之间分别安装了一个单向离合器和一个主离合器。该方案既保持了国内已开发的双轴耦合混合动力驱动系统成本相对较低,复杂程度适中且节油效果不错的优点,又解决了电机和耦合箱转动惯量增加造成AMT换挡延迟以及工作不可靠等问题,使其成为目前最具产业化前景的大功率城市公交车用混合动力类型。
混合动力驱动系统方案的不同决定了其相应的控制策略也有所不同。本文以上海市科委与上汽集团工程研究院联合资助项目“内燃机混合动力公共汽车关键技术研究”为背景,对前后双离合器式并联混合动力城市公交车的控制策略进行了比较深入的探索,包括如下的研究重点:
(1)首先对国内外混合动力城市公交车所采用的驱动方案进行调研,通过比较各种驱动方案适用范围、价格成本、结构复杂程度以及性能指标的优缺点,吸收有益的经验为本文研究的前后双离合器式并联混合动力驱动系统方案的提出提供了依据。
(2)采用理论模型与试验数据相结合的方法,在Matlab/Simulink环境下建立了前后双离合式混合动力城市公交车的前向仿真模型,为整车控制策略的研究和开发提供了必要的仿真平台。
(3)实现整车能量管理与动力系统控制的算法称为控制策略,控制策略是迄今为止混合动力汽车领域研究最多、文献最丰富的内容之一,然而大多数文献研究的控制算法仅仅停留在能量管理策略上,提出的各种算法也只是静态地针对少数几种稳态工况进行优化,并联式混合动力汽车包含多种工作模式,一般可分为稳态工作模式与瞬态工作模式。混合动力总成部件诸如内燃机、电机、离合器以及变速箱的工作状态在行驶过程中会随时发生改变,导致并联式混合动力汽车运行特性比较复杂,控制难度也较大。因此,混合动力系统工作模式管理策略也是控制策略的另一个方面。本文为整车控制设计一个分层的控制策略,其能量管理层确定发动机、电机、制动系统的最优转矩分配,系统工作模式管理层将最优的转矩分配结合当前车辆的实际工作模式确定目标工作模式,最终确定发动机、电机、离合器和变速箱的目标工作状态以改善车辆的动力性、经济性和的燃油经济性。
(4)转矩分配控制策略中的能量管理策略属于基线控制策略,发动机经常工作在低效区、优化能力有限、难以保证电池SOC平衡等是其主要缺陷。为了使得混合动力系统尽可能达到综合效率最优,引入一瞬时优化算法对转矩分配策略进行修正,目的是为了一方面维持电池SOC的平衡,一方面尽量高效地使用车载能源。由于优化的对象是发动机的工作点,因此当混合动力系统进入发动机参与驱动的工作模式时,优化算法将对发动机的工作点进行优化控制。
(5)采用分层控制的思想设计混合动力控制系统,开发出与SAE J1939标准兼容的整车CAN通讯协议,提出以MC68376为核心的硬件设计方案,摒弃以往硬件系统设计采用的模块化介绍方法,着重从抗干扰的角度介绍混合动力总成控制器的软硬件设计方法,为控制策略的实现提供了可靠的平台。
(6)根据国标设计台架和道路试验来测试零部件以及混合动力整车的实际性能。台架试验包括关键零部件特性试验、混合动力总成外特性试验、混合动力基本控制功能试验等。道路试验包括动力性试验和燃油经济性试验。动力性试验结果表明,尽管混合动力城市公交样车动力性数据与原型车相比稍差一些,但是基本上还是满足原型车设计之初的动力性要求。燃油经济性试验结果表明,采用本文提出的转矩控制策略,混合动力系统实现预期的工作模式和模式间的平滑切换,驾驶性能良好;同时,电池SOC始终在合理的工作区间变化,与传统原型城市公交车相比,SOC校正后的燃油经济性可以提高近16.1%。
试验结果初步验证了本文提出的前后双离合器式并联混合动力城市公交车系统结构合理、控制策略有效可靠,达到了预期的设计目标。
The primary element for developing hybrid electric urban buses applicable to domestic market is to provide a kind of hybrid powertrain system with which both the price and the complex degree of the powertrain system can be reduced without any vehicle performance degradation. The price of the hybrid electric urban buses developed abroad is still much expensive compared with domestic consumption level, even though its majority performance index are quite good. Little reference can be found for development of domestic hybrid electric urban buses from the schemes of the hybrid powertrain system abroad. Therefore, in this paper a novel biaxial coupling parallel hybrid electric powertrain system configuration is proposed as the study subject with which a one-way clutch is installed between the engine and torque coupler, a main clutch is installed between the transmission and the torque coupler. The proposed powertrain scheme can not only keep the merit of relative lower cost, moderate complex degree and quite good fuel economy but also can overcome the problems caused by the increased inertia of the motor and the torque coupler such as unreliable operating of the AMT and delay from gearshifting process as well; all the factors stated above makes the researched hybrid powertrain system to be with the most industrialization prospect for high power urban buses.
Different hybrid powetrain system configuration makes the corresponding control strategy to be different. With the supporting research project of Parallel Hybrid Electric Urban Buses sponsored by Science and Technology Commission of Shanghai Municipality and Shanghai Automotive Engineering Academic,this dissertation makes a deepened study on the development of the control strategy and its implementation, the research emphasis are listed as follows:
(1) At first, this dissertation makes an investigation on the development status of the hybrid electric vehicle at home and abroad, especially the powertrain system adopted by hybrid electric urban buses. After that, all the powertrain systems invested are compared from the scope of application, price and cost, structure complicated degree and performance index advantages and disadvantages. And then the useful experiences absorbed are provided as the basis for design of the specific hybrid powertrain system equipped with two clutches.
(2) Under the environment of Matlab/Simulink, a computer simulation model for the researched hybrid electric urban buses is constructed by using the model building method combining theoretical analysis and bench test data. It provides the necessary simulation platform for the development of the control strategy.
(3) Control strategy is the algorithm to realize vehicle energy management and powertrain control. Up to now, control strategy has been most researched and enriched with abundant literature among the research field of the hybrid electric vehicle. However, much of them addressed to the control algorithm emphasized on the energy management strategy, and the proposed control algorithms just only optimized the torque distribution for several steady operating mode. Parallel hybrid electric vehicle has many operating modes; it generally can be classified as steady operating mode and instantaneous operating mode. The status of the engine, the motor, clutches and the transmission system would change whenever necessary during the process of vehicle driving, and it makes the operating characteristic of hybrid powertrain is relative complex and the corresponding control technique is relative tough. Therefore, operating mode management strategy for the hybrid powertrain system is another aspect of the control strategy. In this paper, a hierarchical control strategy is designed for vehicle control, its energy management strategy determine the optimal torque distribution for the engine, the motor and the brake system; while the operating mode governor layer would determine the target operating mode of the hybrid system according to the optimal torque distribution and the current operating mode of the vehicle as well, and the target state of the engine, the motor, the clutches and the transmission would finally determined which can improve the performance of the vehicle in the end.
(4) The energy management strategy of the proposed torque distribution control strategy is belong to base line control method; its main deficiency is that the engine is always working in low efficiency area, the optimization is limited and it is hard to maintain the balance of the battery soc. In order to overcome these drawbacks and make the hybrid system reach maximum overall efficiency as much as possible, an instantaneously optimization algorithm is introduced to rectify the torque distribution control strategy, the aim of it is to keep the balance of battery SOC and utilize more effectively the vehicular energy than it did before. Since the object of optimization is the engine operating points, once the system enters into the operating modes where the engine is tart part in driving, the instantaneous optimization algorithm is applying to calculate the optimal hybrid system operating points.
(5) Thought of hierarchical control scheme is implemented for the investigated hybrid powertrain control system; the control system‘s CAN communication protocol incorporating with SAE J1939 standard are developed as well. Hardware design scheme which taken MC68376 as the control kernel is proposed In stead of using the traditional way to introduce the modular method for hardware system design, this paper puts great emphasis on the introduction of the hardware and software anti-interference design method for hybrid powertrain controller, which provided a stable and reliable implementation platform for control strategy.
(6) According to the national standards, hybrid powertrain bench test and vehicle road field test are designed to test and validate the performance of the components and hybrid vehicle as well. Hybrid powertrain bench test includes key components performance test, outer characteristic test and the fundamental control function of the hybrid powertrain system. Road field test includes kinetic performances test and fuel economy test. Even though Kinetic performance test results of the hybrid bus is a slightly inferior compared with that of the prototype bus, it still satisfies the kinetic design requirement of the prototype bus. Fuel economy test results shows that the control strategy proposed in this paper is able to realize the expected operating modes and the smooth transitions between modes of the hybrid powertrain with acceptable drivability, and the battery SOC is controlled within rational operating range at the same time. The fuel economy improvement of the hybrid urban bus is up to 16.1% with SOC correction over the same conventional ICE buses, which demonstrates the effectiveness of the control strategy and reliability of the control system.
混合动力驱动系统方案的不同决定了其相应的控制策略也有所不同。本文以上海市科委与上汽集团工程研究院联合资助项目“内燃机混合动力公共汽车关键技术研究”为背景,对前后双离合器式并联混合动力城市公交车的控制策略进行了比较深入的探索,包括如下的研究重点:
(1)首先对国内外混合动力城市公交车所采用的驱动方案进行调研,通过比较各种驱动方案适用范围、价格成本、结构复杂程度以及性能指标的优缺点,吸收有益的经验为本文研究的前后双离合器式并联混合动力驱动系统方案的提出提供了依据。
(2)采用理论模型与试验数据相结合的方法,在Matlab/Simulink环境下建立了前后双离合式混合动力城市公交车的前向仿真模型,为整车控制策略的研究和开发提供了必要的仿真平台。
(3)实现整车能量管理与动力系统控制的算法称为控制策略,控制策略是迄今为止混合动力汽车领域研究最多、文献最丰富的内容之一,然而大多数文献研究的控制算法仅仅停留在能量管理策略上,提出的各种算法也只是静态地针对少数几种稳态工况进行优化,并联式混合动力汽车包含多种工作模式,一般可分为稳态工作模式与瞬态工作模式。混合动力总成部件诸如内燃机、电机、离合器以及变速箱的工作状态在行驶过程中会随时发生改变,导致并联式混合动力汽车运行特性比较复杂,控制难度也较大。因此,混合动力系统工作模式管理策略也是控制策略的另一个方面。本文为整车控制设计一个分层的控制策略,其能量管理层确定发动机、电机、制动系统的最优转矩分配,系统工作模式管理层将最优的转矩分配结合当前车辆的实际工作模式确定目标工作模式,最终确定发动机、电机、离合器和变速箱的目标工作状态以改善车辆的动力性、经济性和的燃油经济性。
(4)转矩分配控制策略中的能量管理策略属于基线控制策略,发动机经常工作在低效区、优化能力有限、难以保证电池SOC平衡等是其主要缺陷。为了使得混合动力系统尽可能达到综合效率最优,引入一瞬时优化算法对转矩分配策略进行修正,目的是为了一方面维持电池SOC的平衡,一方面尽量高效地使用车载能源。由于优化的对象是发动机的工作点,因此当混合动力系统进入发动机参与驱动的工作模式时,优化算法将对发动机的工作点进行优化控制。
(5)采用分层控制的思想设计混合动力控制系统,开发出与SAE J1939标准兼容的整车CAN通讯协议,提出以MC68376为核心的硬件设计方案,摒弃以往硬件系统设计采用的模块化介绍方法,着重从抗干扰的角度介绍混合动力总成控制器的软硬件设计方法,为控制策略的实现提供了可靠的平台。
(6)根据国标设计台架和道路试验来测试零部件以及混合动力整车的实际性能。台架试验包括关键零部件特性试验、混合动力总成外特性试验、混合动力基本控制功能试验等。道路试验包括动力性试验和燃油经济性试验。动力性试验结果表明,尽管混合动力城市公交样车动力性数据与原型车相比稍差一些,但是基本上还是满足原型车设计之初的动力性要求。燃油经济性试验结果表明,采用本文提出的转矩控制策略,混合动力系统实现预期的工作模式和模式间的平滑切换,驾驶性能良好;同时,电池SOC始终在合理的工作区间变化,与传统原型城市公交车相比,SOC校正后的燃油经济性可以提高近16.1%。
试验结果初步验证了本文提出的前后双离合器式并联混合动力城市公交车系统结构合理、控制策略有效可靠,达到了预期的设计目标。
The primary element for developing hybrid electric urban buses applicable to domestic market is to provide a kind of hybrid powertrain system with which both the price and the complex degree of the powertrain system can be reduced without any vehicle performance degradation. The price of the hybrid electric urban buses developed abroad is still much expensive compared with domestic consumption level, even though its majority performance index are quite good. Little reference can be found for development of domestic hybrid electric urban buses from the schemes of the hybrid powertrain system abroad. Therefore, in this paper a novel biaxial coupling parallel hybrid electric powertrain system configuration is proposed as the study subject with which a one-way clutch is installed between the engine and torque coupler, a main clutch is installed between the transmission and the torque coupler. The proposed powertrain scheme can not only keep the merit of relative lower cost, moderate complex degree and quite good fuel economy but also can overcome the problems caused by the increased inertia of the motor and the torque coupler such as unreliable operating of the AMT and delay from gearshifting process as well; all the factors stated above makes the researched hybrid powertrain system to be with the most industrialization prospect for high power urban buses.
Different hybrid powetrain system configuration makes the corresponding control strategy to be different. With the supporting research project of Parallel Hybrid Electric Urban Buses sponsored by Science and Technology Commission of Shanghai Municipality and Shanghai Automotive Engineering Academic,this dissertation makes a deepened study on the development of the control strategy and its implementation, the research emphasis are listed as follows:
(1) At first, this dissertation makes an investigation on the development status of the hybrid electric vehicle at home and abroad, especially the powertrain system adopted by hybrid electric urban buses. After that, all the powertrain systems invested are compared from the scope of application, price and cost, structure complicated degree and performance index advantages and disadvantages. And then the useful experiences absorbed are provided as the basis for design of the specific hybrid powertrain system equipped with two clutches.
(2) Under the environment of Matlab/Simulink, a computer simulation model for the researched hybrid electric urban buses is constructed by using the model building method combining theoretical analysis and bench test data. It provides the necessary simulation platform for the development of the control strategy.
(3) Control strategy is the algorithm to realize vehicle energy management and powertrain control. Up to now, control strategy has been most researched and enriched with abundant literature among the research field of the hybrid electric vehicle. However, much of them addressed to the control algorithm emphasized on the energy management strategy, and the proposed control algorithms just only optimized the torque distribution for several steady operating mode. Parallel hybrid electric vehicle has many operating modes; it generally can be classified as steady operating mode and instantaneous operating mode. The status of the engine, the motor, clutches and the transmission system would change whenever necessary during the process of vehicle driving, and it makes the operating characteristic of hybrid powertrain is relative complex and the corresponding control technique is relative tough. Therefore, operating mode management strategy for the hybrid powertrain system is another aspect of the control strategy. In this paper, a hierarchical control strategy is designed for vehicle control, its energy management strategy determine the optimal torque distribution for the engine, the motor and the brake system; while the operating mode governor layer would determine the target operating mode of the hybrid system according to the optimal torque distribution and the current operating mode of the vehicle as well, and the target state of the engine, the motor, the clutches and the transmission would finally determined which can improve the performance of the vehicle in the end.
(4) The energy management strategy of the proposed torque distribution control strategy is belong to base line control method; its main deficiency is that the engine is always working in low efficiency area, the optimization is limited and it is hard to maintain the balance of the battery soc. In order to overcome these drawbacks and make the hybrid system reach maximum overall efficiency as much as possible, an instantaneously optimization algorithm is introduced to rectify the torque distribution control strategy, the aim of it is to keep the balance of battery SOC and utilize more effectively the vehicular energy than it did before. Since the object of optimization is the engine operating points, once the system enters into the operating modes where the engine is tart part in driving, the instantaneous optimization algorithm is applying to calculate the optimal hybrid system operating points.
(5) Thought of hierarchical control scheme is implemented for the investigated hybrid powertrain control system; the control system‘s CAN communication protocol incorporating with SAE J1939 standard are developed as well. Hardware design scheme which taken MC68376 as the control kernel is proposed In stead of using the traditional way to introduce the modular method for hardware system design, this paper puts great emphasis on the introduction of the hardware and software anti-interference design method for hybrid powertrain controller, which provided a stable and reliable implementation platform for control strategy.
(6) According to the national standards, hybrid powertrain bench test and vehicle road field test are designed to test and validate the performance of the components and hybrid vehicle as well. Hybrid powertrain bench test includes key components performance test, outer characteristic test and the fundamental control function of the hybrid powertrain system. Road field test includes kinetic performances test and fuel economy test. Even though Kinetic performance test results of the hybrid bus is a slightly inferior compared with that of the prototype bus, it still satisfies the kinetic design requirement of the prototype bus. Fuel economy test results shows that the control strategy proposed in this paper is able to realize the expected operating modes and the smooth transitions between modes of the hybrid powertrain with acceptable drivability, and the battery SOC is controlled within rational operating range at the same time. The fuel economy improvement of the hybrid urban bus is up to 16.1% with SOC correction over the same conventional ICE buses, which demonstrates the effectiveness of the control strategy and reliability of the control system.
引文
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