并联式混合动力汽车控制策略与显示系统研究
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摘要
作为实现绿色环保车的一种切实可行方案,混合动力汽车及其开发技术正越来越受到人们的关注。其中控制策略是混合动力汽车的关键技术之一。它负责协调控制发动机和其它动力源之间的能量分配,混合动力汽车的节能、减排正是建立在控制策略对动力系统的管理和精确控制基础上的。本文以并联式混合动力汽车为研究对象,作了如下几方面的工作:混合动力汽车前向仿真建模的建立;基于规则的逻辑门限值控制策略和模糊逻辑控制策略研究;混合动力汽车整车控制器的软硬件设计;显示系统的设计与软硬件实现。
采用实验建模为主、理论建模为辅的方法,在Matlab/Simulink环境下建立了混合动力汽车的前向仿真模型,为整车控制策略的设计和控制算法开发奠定了基础。
在工作模式分析、需求转矩识别基础上,为混合动力汽车制定了基于规则的逻辑门限控制策略和模糊转矩控制策略。仿真分析表明,模糊逻辑控制策略的燃油经济性能和排放性能要优于逻辑门限值控制策略。
完成了整车控制器的软硬件设计。根据整车控制器输入输出信号的分析以及混合动力性能要求,完成了整车控制器的软硬件设计。整车控制器除制定基于规则的逻辑门限值控制策略外,还完成了通讯功能及其它一些必要的输入输出处理,实现了整车控制器对各部件的协调控制。
设计了混合动力汽车显示系统的实现方案,完成了其软硬件实现。在嵌入式操作系统WinCE支持下,通过串口通讯获取混合动力汽车各种参数信息并在液晶屏上实时显示,用触摸屏完成了人机交互功能。和传统汽车的仪表显示系统相比,该方案具有设计灵活、开发简单、界面友好等优点。
As a practical program to realize green cars, hybrid electric vehicle (HEV) and its relevant development technology are paid more and more attentions. Control strategy is one of the key technologies of HEV, which takes charge of coordination and control of power distribution between engine and other energy sources. The reasons why HEV can save energy and reduce air pollution are based on the management and precise control of power system. This thesis takes the parallel HEV as research object and mainly studies the following aspects: establishment of HEV’s forward simulation model; study of logic threshold control strategy and fuzzy logic control strategy; vehicle controller’s software and hardware design; HEV display system’s design and realization.
Using experimental modeling approach with the aid of theoretical modeling, a forward simulation model of HEV is established in the Matlab/Simulink environment, which provides a necessary simulation platform for the development of control strategy and its arithmetic realization.
After analyzing the working mode and demand torque of HEV, this thesis designs logic threshold control strategy and fuzzy torque control strategy. Simulation analysis result shows that the latter has a better fuel economy and emission behavior than the former.
Based on the analysis of input and output signals of hybrid controller and HEV’s performance requirements, this thesis completes the hybrid controller’s software and hardware implementation. Besides control strategy, the controller also has communication function and some input/output processing, which realize harmonious control between the hybrid controller and other component controllers of the vehicle.
The design proposal for HEV’s display system and its software and hardware realization are also introduced in this thesis. Hybrid vehicle information is obtained through serial port communication and displayed on LCD screen in real-time under the support of embedded operating system (WinCE), and meanwhile, user’s operation is realized by touch screen. Compared with traditional display instrumentation,the HEV display system has the advantages of flexible design, simple development, friendly interface, etc.
采用实验建模为主、理论建模为辅的方法,在Matlab/Simulink环境下建立了混合动力汽车的前向仿真模型,为整车控制策略的设计和控制算法开发奠定了基础。
在工作模式分析、需求转矩识别基础上,为混合动力汽车制定了基于规则的逻辑门限控制策略和模糊转矩控制策略。仿真分析表明,模糊逻辑控制策略的燃油经济性能和排放性能要优于逻辑门限值控制策略。
完成了整车控制器的软硬件设计。根据整车控制器输入输出信号的分析以及混合动力性能要求,完成了整车控制器的软硬件设计。整车控制器除制定基于规则的逻辑门限值控制策略外,还完成了通讯功能及其它一些必要的输入输出处理,实现了整车控制器对各部件的协调控制。
设计了混合动力汽车显示系统的实现方案,完成了其软硬件实现。在嵌入式操作系统WinCE支持下,通过串口通讯获取混合动力汽车各种参数信息并在液晶屏上实时显示,用触摸屏完成了人机交互功能。和传统汽车的仪表显示系统相比,该方案具有设计灵活、开发简单、界面友好等优点。
As a practical program to realize green cars, hybrid electric vehicle (HEV) and its relevant development technology are paid more and more attentions. Control strategy is one of the key technologies of HEV, which takes charge of coordination and control of power distribution between engine and other energy sources. The reasons why HEV can save energy and reduce air pollution are based on the management and precise control of power system. This thesis takes the parallel HEV as research object and mainly studies the following aspects: establishment of HEV’s forward simulation model; study of logic threshold control strategy and fuzzy logic control strategy; vehicle controller’s software and hardware design; HEV display system’s design and realization.
Using experimental modeling approach with the aid of theoretical modeling, a forward simulation model of HEV is established in the Matlab/Simulink environment, which provides a necessary simulation platform for the development of control strategy and its arithmetic realization.
After analyzing the working mode and demand torque of HEV, this thesis designs logic threshold control strategy and fuzzy torque control strategy. Simulation analysis result shows that the latter has a better fuel economy and emission behavior than the former.
Based on the analysis of input and output signals of hybrid controller and HEV’s performance requirements, this thesis completes the hybrid controller’s software and hardware implementation. Besides control strategy, the controller also has communication function and some input/output processing, which realize harmonious control between the hybrid controller and other component controllers of the vehicle.
The design proposal for HEV’s display system and its software and hardware realization are also introduced in this thesis. Hybrid vehicle information is obtained through serial port communication and displayed on LCD screen in real-time under the support of embedded operating system (WinCE), and meanwhile, user’s operation is realized by touch screen. Compared with traditional display instrumentation,the HEV display system has the advantages of flexible design, simple development, friendly interface, etc.
引文
1岳东鹏,张俊智,郝志勇.混合动力电动汽车研究开发及前景展望.拖拉机与农用运输车. 2004, (2):1~4
2胡安生.汽车新动力的发展趋势研究.汽车工业研究. 2005, (8):2~9
3 C C Chan, K T Chau. Mordern Electric Vehicle Technology. Oxford University Press, 2001:10~15
4范健文,吴彤峰.丰田PRIUS控制策略研究.机械制造. 2004, 42(484):10~12
5陈全士,朱家琏,田光宇.先进电动汽车技术.化学工业出版社, 2007:70~82
6郑祖庆.美国混合动力车的开发与前景.城市公用事业, 2004, 18(1):40~42
7 John M. Hybrid Powered Vehicle. SAE international. 2003, (5):8~12
8王瑞武.我国混合动力城市客车的开发与应用.城市车辆. 2008, (1):17~20
9 G Paganelli, T M Guerra, S Delprat, et al. Simulation and Assessment of Power Control Strategies for a Parallel Hybrid Car. Institution Mechanical Engineers, Part D: Journal of Automobile Engineering. 2000, 214(7): 705~717
10 K L Butler, K M Stevens, Ehsani M. A Versatile Computer Simulation Tool for Design and Analysis of Electric and Hybrid Drive Trains. SAE Paper 970199. 1997:102~106
11 M R Cuddy, K B Wipke. Analysis of the Fuel Economy Benefit of Drivetrain Hybridization. SAE Paper 970289. 1997:110~115
12邓亚东,高海鹏,王仲范.并联式混合动力电动汽车控制策略研究.武汉大学学报. 2004, 3(7):78~81
13刘金玲,宋健,于良耀等.并联混合动力客车控制策略比较.公路交通科技. 2005, 22:47~50
14 Atsushi Shibutani, Shuuji Kato, Toshiaki Kaku. Development of Motor Assist System for Hybrid Four-door Sedan. EVS19 Busan. 2002, (3):114~116
15白凤良,杨建国.混合动力电动汽车实时控制策略.现代车用动力. 2003, 3:15~19
16 V H Johnson, K B Wipke, D J Rausen. HEV Control Strategy for Real-time Optimization of Fuel Economy and Emissions. SAE Paper 2000-01-1543. 2000:1153~1159
17 Yuan Zhu, Yaobin Che, Quanshi Chen. Analysis and Design of an Optimal EnergyManagement an Control System for Hybrid Electric Vehicles. EVS119 Busan. 2002:101~103
18 A Wagener, C Korner, P Seger, et al. Cost Function Based Adaptive Energy Management in Hybrid Drivetrains. Proceedings of the 18th International Electric Vehicle Symposium, Berlin, Germany, 2001:87~91
19 S D Farrall, R P Jones. Energy Management in an Automotive Electric/heat Engine Hybrid Power Train using Fuzzy Decision Making. Proceeding of the International Symposium on Intelligent Control, 1993:463~468
20 N J Schouten, M A Salman, N A Kheir. Energy Management Strategies for Parallel Hybrid Vehicles using Fuzzy Logic. Control Engineering Practice. 2003, 11(2): 171~177
21段岩波,张武高,黄震.混合动力汽车模糊逻辑控制策略仿真.内燃机工程. 2004, 24:58~62
22 F Gagliardi, A Piccolo, A Vaccaro, et al. A Fuzzy Based Control Unit for the Optimal Power Flow Management in Parallel Hybrid Electric Vehicles. Proceedig of the 19th International Electric Vehicle Symposium, Busan, Korea, 2002, 4:876~887
23陈立辉,宋年秀,张涛.神经网络及其在汽车中的应用.世界汽车. 2003, (5):28~31
24 V Galdi, L Ippolito, A Piccolo, et al. Multiobjective Optimization for Fuel Economy and Emissions of HEV using the Goal-attainment Method. Proceeding of the 18th International Electric Vehicle Symposium, Berlin, Germany, 2001:110~113
25 S Rimaux, M Delhom, E Combes. Hybrid Vehicle Powertrain: Modeling and Control. Proceedings of the 16th International Electric Vehicle Symposium, Beijing, China, 1999:145~148
26 S Delprat, T M Guerra, J Rimaux. Optimal control of a Parallel Powertrain: From Global Optimization to Real Time Control Strategy. Proceeding of the 18th International Electric Vehicle Symposium, Berlin, Germany, 2002, 4:2082~2088
27于俊伟.并联混合动力汽车传动系统建模及控制策略研究.武汉理工大学. 2005:78~82
28张翔,赵韩,钱立军. PSAT软件的前向仿真方法.计算机仿真. 2005, 22(5):219~222
29李欢,林川.基于ADVISOR的混合动力电动汽车控制策略仿真研究.广西工学院学报. 2005, (8):56~60
30史广奎.应用ADVISOR研究丰田混合动力系统.汽车技术. 2003, (4):115~117
31黄妙华,陈飚,陈胜金.电动汽车前向仿真中驾驶员模型建模与仿真.武汉理工大学学报. 2004, 28(6):825~828
32 K H Hauer. Analysis Tool for Fuel Cell Vehicle Hardwareand Software (controls) with an Application to Fuel Economy Comparisons of Alternative System Designs. PhD Dissertation, University of California Davis, USA. 2001:210~215
33 P R Crossley, J A Cook. A Nonlinear Engine Model for Drivetrain System Development. Proceeding of 1991 IEEE International Control Conference, Edinburgh, UK, 1991, 2:921~925
34白凤良,杨建国.混合动力电动汽车电动机的仿真建模.交通科技. 2003, (4):78~80
35 Johnson V H. Battery Performance Models in ADVISOR. Journal of Power Sources. 2002,110(2): 321~329
36童毅,欧阳明高.前向式混合动力汽车模型中传动系建模与仿真.汽车工程. 2003, 25(5):419~423
37 Mehrdad Ehsani Yimin Gao, Sebastien E.Gay Ali Emadi.现代电动汽车、混合动力电动汽车和燃料电池车——基本原理、理论和设计.倪光正,倪培宏,熊素铭.机械工业出版社, 2008:19~28
38 Gino Paganelli, Gabriele Ercole, Avra Brahma, et al. General Supervisory Control Policy for the Energy Optimization of Charge-sustaining Hybrid Electric Vehicles. SAE Review. 2001, 22:511–518
39 A M Philips, M Jankovic, K E Bailey. Vehicle System Controller Design for a Hybrid Electric. Vehicle. Proceedings of the 2000 IEEE International. Conference on Control Applications, Alaska. September, 2000:297~302
40 K E Bailey, S R Cikanek, N Sureshbabu. Parallel Hybrid Electric Vehicle Torque Distribution Method. Proceedings of the American Control Conference, Anchorage, AK, 2002, 5:3708~3712
41殷成良,浦金欢,张建武.并联混合动力汽车的模糊转矩控制策略.上海交通大学学报. 2006, 40(1):157~162
42熊祖品,王宏,李艾丹等.基于模糊控制理论并联混合动力城市客车控制策略研究.客车技术与研究. 2008, (2):9~12
43诸静.模糊控制理论与系统原理.机械工业出版社, 2005:58~69
44 Xiaolai He, T Maxwell, M E Parten. Development of a Hybrid Electric Vehicle With a Hydrogen-Fueled IC Engine. Vehicular Technology. 2006, 55(6):1693~1703
45 M Parten, T Maxwell. Control Development of a Hybrid Electric Sport Utility Vehicle. Vehicular Technology Conference, IEEE VTS 54th, VTC, 2001 (4): 2221~2227
46潘凯,张俊智,甘海云等.基于MPC555的混合动力电动汽车整车控制器硬件系统设计.汽车工程. 2005, 27(1):20~27
47 Freescale Semiconductor Incorporation, MC9S12DP512 Datasheet. 2001
48王幸之,王雷,翟成等.单片机应用系统抗干扰设计.北京航空航天大学出版社, 2000:52~64
49 J James, Dattola. Implementation of CAN for Heavy Duty Truck and Bus Market-Specification J1939.2nd International CAN Conference,London, United Kingdom, 1995:231~235
50陈伟峰,高宝建,汪俊等.基于点阵图形液晶模块的多菜单设计.液晶与显示. 2007, 22(5):634~637
51李山,雄文,刘伟等.基于CAN总线的混合动力汽车车载信息系统.汽车电器. 2005, 11:7~9
52单晟. Windows CE操作系统在机车显示器上的应用研究.机车电传动. 2004, 6:62~65
53 Suhua Xiao, Di Li, Yizong Lai, Jiafu Wan. An Open Architecture Numerical Control System Based on Windows CE. IEEE International Conference on Control and Automation, 2007:1237~1240
54陈显楚,郭其一.基于Windows CE的嵌入式车载监控系统设计.计算机测量与控制. 2007, 1(15):85~87
55熊宇昆,邱智亮. Windows CE. Net内核定制.电子科技. 2006, 9:60~62
56田东风. Windows CE应用程序设计.机械工业出版社, 2003:45~58
2胡安生.汽车新动力的发展趋势研究.汽车工业研究. 2005, (8):2~9
3 C C Chan, K T Chau. Mordern Electric Vehicle Technology. Oxford University Press, 2001:10~15
4范健文,吴彤峰.丰田PRIUS控制策略研究.机械制造. 2004, 42(484):10~12
5陈全士,朱家琏,田光宇.先进电动汽车技术.化学工业出版社, 2007:70~82
6郑祖庆.美国混合动力车的开发与前景.城市公用事业, 2004, 18(1):40~42
7 John M. Hybrid Powered Vehicle. SAE international. 2003, (5):8~12
8王瑞武.我国混合动力城市客车的开发与应用.城市车辆. 2008, (1):17~20
9 G Paganelli, T M Guerra, S Delprat, et al. Simulation and Assessment of Power Control Strategies for a Parallel Hybrid Car. Institution Mechanical Engineers, Part D: Journal of Automobile Engineering. 2000, 214(7): 705~717
10 K L Butler, K M Stevens, Ehsani M. A Versatile Computer Simulation Tool for Design and Analysis of Electric and Hybrid Drive Trains. SAE Paper 970199. 1997:102~106
11 M R Cuddy, K B Wipke. Analysis of the Fuel Economy Benefit of Drivetrain Hybridization. SAE Paper 970289. 1997:110~115
12邓亚东,高海鹏,王仲范.并联式混合动力电动汽车控制策略研究.武汉大学学报. 2004, 3(7):78~81
13刘金玲,宋健,于良耀等.并联混合动力客车控制策略比较.公路交通科技. 2005, 22:47~50
14 Atsushi Shibutani, Shuuji Kato, Toshiaki Kaku. Development of Motor Assist System for Hybrid Four-door Sedan. EVS19 Busan. 2002, (3):114~116
15白凤良,杨建国.混合动力电动汽车实时控制策略.现代车用动力. 2003, 3:15~19
16 V H Johnson, K B Wipke, D J Rausen. HEV Control Strategy for Real-time Optimization of Fuel Economy and Emissions. SAE Paper 2000-01-1543. 2000:1153~1159
17 Yuan Zhu, Yaobin Che, Quanshi Chen. Analysis and Design of an Optimal EnergyManagement an Control System for Hybrid Electric Vehicles. EVS119 Busan. 2002:101~103
18 A Wagener, C Korner, P Seger, et al. Cost Function Based Adaptive Energy Management in Hybrid Drivetrains. Proceedings of the 18th International Electric Vehicle Symposium, Berlin, Germany, 2001:87~91
19 S D Farrall, R P Jones. Energy Management in an Automotive Electric/heat Engine Hybrid Power Train using Fuzzy Decision Making. Proceeding of the International Symposium on Intelligent Control, 1993:463~468
20 N J Schouten, M A Salman, N A Kheir. Energy Management Strategies for Parallel Hybrid Vehicles using Fuzzy Logic. Control Engineering Practice. 2003, 11(2): 171~177
21段岩波,张武高,黄震.混合动力汽车模糊逻辑控制策略仿真.内燃机工程. 2004, 24:58~62
22 F Gagliardi, A Piccolo, A Vaccaro, et al. A Fuzzy Based Control Unit for the Optimal Power Flow Management in Parallel Hybrid Electric Vehicles. Proceedig of the 19th International Electric Vehicle Symposium, Busan, Korea, 2002, 4:876~887
23陈立辉,宋年秀,张涛.神经网络及其在汽车中的应用.世界汽车. 2003, (5):28~31
24 V Galdi, L Ippolito, A Piccolo, et al. Multiobjective Optimization for Fuel Economy and Emissions of HEV using the Goal-attainment Method. Proceeding of the 18th International Electric Vehicle Symposium, Berlin, Germany, 2001:110~113
25 S Rimaux, M Delhom, E Combes. Hybrid Vehicle Powertrain: Modeling and Control. Proceedings of the 16th International Electric Vehicle Symposium, Beijing, China, 1999:145~148
26 S Delprat, T M Guerra, J Rimaux. Optimal control of a Parallel Powertrain: From Global Optimization to Real Time Control Strategy. Proceeding of the 18th International Electric Vehicle Symposium, Berlin, Germany, 2002, 4:2082~2088
27于俊伟.并联混合动力汽车传动系统建模及控制策略研究.武汉理工大学. 2005:78~82
28张翔,赵韩,钱立军. PSAT软件的前向仿真方法.计算机仿真. 2005, 22(5):219~222
29李欢,林川.基于ADVISOR的混合动力电动汽车控制策略仿真研究.广西工学院学报. 2005, (8):56~60
30史广奎.应用ADVISOR研究丰田混合动力系统.汽车技术. 2003, (4):115~117
31黄妙华,陈飚,陈胜金.电动汽车前向仿真中驾驶员模型建模与仿真.武汉理工大学学报. 2004, 28(6):825~828
32 K H Hauer. Analysis Tool for Fuel Cell Vehicle Hardwareand Software (controls) with an Application to Fuel Economy Comparisons of Alternative System Designs. PhD Dissertation, University of California Davis, USA. 2001:210~215
33 P R Crossley, J A Cook. A Nonlinear Engine Model for Drivetrain System Development. Proceeding of 1991 IEEE International Control Conference, Edinburgh, UK, 1991, 2:921~925
34白凤良,杨建国.混合动力电动汽车电动机的仿真建模.交通科技. 2003, (4):78~80
35 Johnson V H. Battery Performance Models in ADVISOR. Journal of Power Sources. 2002,110(2): 321~329
36童毅,欧阳明高.前向式混合动力汽车模型中传动系建模与仿真.汽车工程. 2003, 25(5):419~423
37 Mehrdad Ehsani Yimin Gao, Sebastien E.Gay Ali Emadi.现代电动汽车、混合动力电动汽车和燃料电池车——基本原理、理论和设计.倪光正,倪培宏,熊素铭.机械工业出版社, 2008:19~28
38 Gino Paganelli, Gabriele Ercole, Avra Brahma, et al. General Supervisory Control Policy for the Energy Optimization of Charge-sustaining Hybrid Electric Vehicles. SAE Review. 2001, 22:511–518
39 A M Philips, M Jankovic, K E Bailey. Vehicle System Controller Design for a Hybrid Electric. Vehicle. Proceedings of the 2000 IEEE International. Conference on Control Applications, Alaska. September, 2000:297~302
40 K E Bailey, S R Cikanek, N Sureshbabu. Parallel Hybrid Electric Vehicle Torque Distribution Method. Proceedings of the American Control Conference, Anchorage, AK, 2002, 5:3708~3712
41殷成良,浦金欢,张建武.并联混合动力汽车的模糊转矩控制策略.上海交通大学学报. 2006, 40(1):157~162
42熊祖品,王宏,李艾丹等.基于模糊控制理论并联混合动力城市客车控制策略研究.客车技术与研究. 2008, (2):9~12
43诸静.模糊控制理论与系统原理.机械工业出版社, 2005:58~69
44 Xiaolai He, T Maxwell, M E Parten. Development of a Hybrid Electric Vehicle With a Hydrogen-Fueled IC Engine. Vehicular Technology. 2006, 55(6):1693~1703
45 M Parten, T Maxwell. Control Development of a Hybrid Electric Sport Utility Vehicle. Vehicular Technology Conference, IEEE VTS 54th, VTC, 2001 (4): 2221~2227
46潘凯,张俊智,甘海云等.基于MPC555的混合动力电动汽车整车控制器硬件系统设计.汽车工程. 2005, 27(1):20~27
47 Freescale Semiconductor Incorporation, MC9S12DP512 Datasheet. 2001
48王幸之,王雷,翟成等.单片机应用系统抗干扰设计.北京航空航天大学出版社, 2000:52~64
49 J James, Dattola. Implementation of CAN for Heavy Duty Truck and Bus Market-Specification J1939.2nd International CAN Conference,London, United Kingdom, 1995:231~235
50陈伟峰,高宝建,汪俊等.基于点阵图形液晶模块的多菜单设计.液晶与显示. 2007, 22(5):634~637
51李山,雄文,刘伟等.基于CAN总线的混合动力汽车车载信息系统.汽车电器. 2005, 11:7~9
52单晟. Windows CE操作系统在机车显示器上的应用研究.机车电传动. 2004, 6:62~65
53 Suhua Xiao, Di Li, Yizong Lai, Jiafu Wan. An Open Architecture Numerical Control System Based on Windows CE. IEEE International Conference on Control and Automation, 2007:1237~1240
54陈显楚,郭其一.基于Windows CE的嵌入式车载监控系统设计.计算机测量与控制. 2007, 1(15):85~87
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