混合动力汽车再生制动与稳定性集成控制算法研究
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摘要
混合动力汽车由于其良好的经济性能和低排放性已被人们接受,再生制动功能作为其提高经济性能的一个重要因素现已成为一个研究热点,车辆稳定性控制系统作为一种主动安全技术,可抑制车辆的过多转向及严重不足转向趋势,提高车辆的操纵稳定性,因此在混合动力汽车上装备车辆稳定性系统已成为发展趋势。这就需要混合动力汽车既具有再生制动功能又具有稳定性控制功能,即需要对混合动力汽车再生制动与稳定性集成控制算法进行研究。
混合动力汽车再生制动与稳定性集成控制研究在国内外尚属前沿,论文结合科技部863专项、国际科技合作及省科技支撑计划重大专项等项目与中国第一汽车集团公司技术中心密切合作,以混合动力轿车为研究对象,围绕混合动力汽车的再生制动与稳定性集成控制算法展开研究。
本文的研究内容主要涉及到再生制动力分配、车辆稳定性控制及再生制动与车辆稳定性协调控制三个方面。论文的主要内容包括:
(1)在分析再生制动力分配影响因素的基础上,提出了电机制动力分配优化算法。首先对混合动力汽车的制动能量回收的影响因素进行分析,这些影响因素主要为:车辆的循环工况制动强度、电机发电特性、电池充电特性及发动机拖滞转矩。对电机发电特性及电池充电特性进行分析,依据分析结果限定考虑电机、电池后的最大电机制动转矩。考虑电机电池联合效率对制动能量回收的影响,采用改进的自适应遗传算法求解最大有效电机制动功率所对应的电机制动转矩。依据车辆的制动强度对车辆的前后轴制动力进行分配,结合电机制动力分配优化算法即可实现对电机制动力与液压制动力的分配。
(2)对车辆制动稳定性控制算法的整体结构进行研究,在此基础上,进行车辆状态估算、车轮与车辆稳定状态判别及横摆力矩控制算法的研究。在车辆的状态估算中,重点研究了基于混和观测器的车辆质心侧偏角估算算法。由状态空间估算、动力学积分及权值计算模块所组成的混和观测器在整个轮胎工作区间内都可保证估算精度。采用车轮加速度、车轮滑移率及附加门限修正量确定车轮的稳定状态。在车辆稳定状态的判别中,运用相平面的方法对影响车辆稳定性的车辆横摆角速度及车辆质心侧偏角进行分析,在此基础上,设计了车辆稳定性控制算法的开启及退出逻辑。在横摆力矩控制算法中,运用灰色预测PID控制对目标横摆力矩进行了研究,可有效减小系统中不确定因素对控制算法的影响。运用线性最优的方法对横摆力矩的分配进行研究,在保证车辆稳定性的前提下,充分利用轮胎附着力。
(3)对再生制动与稳定性控制集成控制算法的总体结构进行研究,开发再生制动与稳定性协调控制器。再生制动与稳定性协调控制器主要包括液压制动力与电机制动力的协调控制、再生制动与车轮防抱死(ABS)的协调控制、再生制动与稳定性控制(ESP)的协调控制等。考虑驾驶员的制动意图,引入制动踏板行程对电机制动力与液压制动力进行二次分配,可有效保证制动力满足驾驶员的动态制动意图且减少再生制动时ABS触发的几率。针对混合动力轿车制动时再生制动与ABS及ESP频繁切换的问题,依据状态机方法设计再生制动与ABS及ESP的协调控制算法。考虑电机制动力动态响应特性与液压制动力动态响应特性的差异,依据作用于车轮的电机制动力滞后于液压制动力的特性,提出采用液压制动力补偿电机制动力的动态特性,并基于自适应滑模控制方法设计了液压制动力补偿控制算法。采用液压制动力补偿控制后,整车的动态及稳态制动力均可满足驾驶员需求制动力需求,提高了制动过程的平顺性。
(4)基于Matlab/Simulink平台,建立了混合动力汽车再生制动与稳定性集成控制系统离线仿真平台。仿真平台包括混合动力汽车车辆模型、控制算法模型及用户图形界面三部分。在不同循环工况下对电机制动力分配优化算法进行试验验证,在不同转向工况下对车辆稳定性控制算法进行试验验证,在不同制动强度下对液压制动力补偿控制算法进行试验验证,在转向及直线行驶工况下对再生制动与稳定性控制协调控制算法进行试验验证。试验结果表明本文所开发的电机制动力分配优化算法能有效回收制动能量,提高整车燃油经济性。所开发的车辆稳定性控制算法能够在多种工况下保证车辆的操纵稳定性,所开发的液压制动力补偿控制算法能够在整个制动过程中保证整车的制动力需求,提高了制动过程的平顺性。所开发的再生制动与稳定性协调控制算法能够在保证车辆制动稳定性的前提下尽可能的回收制动能量。
(5)在离线仿真平台的基础上,基于Matlab/XPC平台建立了混合动力车辆再生制动与稳定性集成控制系统硬件在环试验平台。试验平台主要包括xPc Target实时平台、传感器、数据采集与处理系统、硬件台架及仿真软件,其中硬件台架包括液压制动系统台架、电机台架及操纵台架等三部分。利用硬件在环试验台对开发的再生制动与稳定性集成控制算法在多种工况下进行试验研究,试验结果表明所开发的再生制动与稳定性集成控制算法能够在多种工况下有效回收制动能量、满足驾驶员制动力需求及保证车辆的操纵稳定性。
As the good economic performance and low emissions, hybrid electric vehicles become more and more popular. Regenerative braking improves vehicle economic performance and has become a research topic. As an active safety technology, vehicle stability control system can inhibit the over turning of vehicles and severe understeering tendency, to improve vehicle handling and stability. The hybrid vehicles equipped with the vehicle stability system has become a trendence. This requires a hybrid vehicle have regenerative braking and stability control functions. It needs the study the integrated control algorithm of regenerative braking and stability control for hybrid electric vehicles.
There are few paper of the research on integrated control of regenerative braking and stability for hybrid vehicles in the domestic and the abroad. This paper combined with 863 projects, international scientific, technological cooperation projects, provincial scientific and technological support projects etc. At the same time, it makes close cooperation with China FAW Group Corporation Technical Center. Hybrid electric vehicles are studied in the paper, and how to integrate the braking regenerative and the stability control algorithm become a main topic.
This paper mainly includes three aspects, the distribution of regenerative braking force, vehicle stability control and the coordinated control algorithm of regenerative braking and vehicle stability control.
(1) Base on the analysis of factors related to the distribution of regenerative braking forces of the hybrid vehicles, the author proposed the optimal control algorithm of electric motor braking force distribution. First, it analyzes the factors related to braking energy recovery rate in the hybrid vehicle. These factors mainly include: the vehicle braking strength in the cycle conditions, the characteristics of the electrical power generation, the battery charging characteristics and the engine drag torque hysteresis. It analysis power generating characteristics of the motor and charging characteristics of battery, according to motor maximum braking torque concerned the motor and battery. Considering the motor and the battery efficiency on the braking energy recovery, an improved adaptive genetic algorithm is proposed to calculate the maximum effective motor braking power, corresponding to the motor braking torque. According to the vehicle braking strength and optimal algorithm for electric power distribution system, it makes different braking force to the front and rear axles of vehicles, realizing the distribution of motor and hydraulic braking forces.
(2) The paper studies the overall structure of control algorithm for vehicle braking stability. It estimates the state of the vehicle, identifies the stable state of the wheel and vehicle and study the yaw moment control algorithm. By estimating the state of the vehicle, dynamics integral and weight calculation module, the author proposes the hybrid observer to insure the estimation accuracy in the tire working range. To identify the stability of the wheel, the author uses the wheel acceleration, wheel slip rate and the threshold correction to determine additional wheel steady state. The method of phase plane was used as steady identifying state in the vehicle. The author analysis the impact of yaw rate and sideslip angle in the stability of vehicle. On this basis, the author also designs trigger and cut-off conditions for stable control algorithm in vehicle. In the yaw moment control algorithm, a gray PID control was used to calculate the target yaw moment in the research. The algorithm can effectively reduce the uncertainty of the control algorithm, using optimal tire force distribution algorithm to determine the yaw moment in the study. To ensure vehicle stability in the premise, the vehicle should make use of tire adhesion as far as possible.
(3) The overall structure of coordination control algorithm of regenerative braking and stability was carried out in the research. The author develops the controller to coordinate the braking forces. The controller includes the coordination control of hydraulic and electrical power system, the coordination control of regenerative braking and wheel anti-lock braking (ABS), and the coordination control of regenerative braking and electronic stability control (ESP). Considering the driver's braking intention, the brake pedal travel was used to analysis electric power and hydraulic braking system for secondary distribution. The method can effectively guarantee the driver's braking force to meet the intent of the dynamic braking and regenerative braking to reduce the risk of triggering ABS. For the problems of frequent switching on hybrid vehicles among regenerative braking, ABS and ESP systems, the author designs the coordination algorithm of ABS, ESP and regenerative braking with the method of state machine. Considering the dynamic response characteristics between electric power system and the hydraulic braking force system, the author uses braking force to compensate electric hydraulic power system, according to the electric mechanism acting on the wheel driving force with the hydraulic braking force dynamic characteristics. At the same time, based on adaptive self-sliding mode control algorithm, the author designs the method to compensate hydraulic braking force. With the vehicle's dynamic and steady state, driver's braking force can meet the needs of the system power requirements and improve the smoothness of the braking process.
(4) Based on Matlab/Simulink platform, an offline simulation platform for integrated regenerative braking and stability control algorithm is established in hybrid vehicles. The model simulation platform includes three parts, hybrid vehicles model, the controller model and the graphical user interface. Using different driving cycles, the author verifies the effectiveness of regeneration braking force distribution algorithm. On different steering test conditions, the author verifies the effectiveness of vehicle stability control algorithm. To verify the effectiveness of hydraulic braking force compensation control algorithm, the author uses the brake strength in the low and middle intensity. On cornering and straight line conditions, the author verifies the effectiveness of the coordinate control algorithm of stability control with regenerative braking control. The results have shown that the developed regenerative brake force distribution algorithm can effectively improve vehicle fuel economy for the recovery of braking energy. The vehicle stability algorithm can ensure the vehicle handling and stability in a variety of conditions, and the hydraulic braking force compensation control algorithm can ensure the vehicle's braking force needs to improve the braking process as well as to improve vehicle ride performance in the entire braking process. The coordinated control algorithm of regenerative braking and stability designed in the paper can not only guarantee braking stability, but also recover the braking energy as far as possible.
(5) Based on the off-line simulation platform, a hybrid vehicle integrated regenerative braking and stability control hardware is established by using Matlab /xPC platform in the loop test bench. The test bench includes xPC Target real-time platform, sensors, data acquisition and processing systems, hardware bench and simulation software. And the hardware bench includes three parts, hydraulic braking system test bench, motor test bench, and operate board. The hardware in the loop test bench is used for verifying the effectiveness of the integrated control algorithm of regenerative braking and stability control in a variety of test conditions, the test results show that the developed control algorithm can effectively recover braking energy in a variety of conditions, and at same time, the algorithm can meet the needs of the driver's braking force as well as ensure that the vehicle handling and stability.
混合动力汽车再生制动与稳定性集成控制研究在国内外尚属前沿,论文结合科技部863专项、国际科技合作及省科技支撑计划重大专项等项目与中国第一汽车集团公司技术中心密切合作,以混合动力轿车为研究对象,围绕混合动力汽车的再生制动与稳定性集成控制算法展开研究。
本文的研究内容主要涉及到再生制动力分配、车辆稳定性控制及再生制动与车辆稳定性协调控制三个方面。论文的主要内容包括:
(1)在分析再生制动力分配影响因素的基础上,提出了电机制动力分配优化算法。首先对混合动力汽车的制动能量回收的影响因素进行分析,这些影响因素主要为:车辆的循环工况制动强度、电机发电特性、电池充电特性及发动机拖滞转矩。对电机发电特性及电池充电特性进行分析,依据分析结果限定考虑电机、电池后的最大电机制动转矩。考虑电机电池联合效率对制动能量回收的影响,采用改进的自适应遗传算法求解最大有效电机制动功率所对应的电机制动转矩。依据车辆的制动强度对车辆的前后轴制动力进行分配,结合电机制动力分配优化算法即可实现对电机制动力与液压制动力的分配。
(2)对车辆制动稳定性控制算法的整体结构进行研究,在此基础上,进行车辆状态估算、车轮与车辆稳定状态判别及横摆力矩控制算法的研究。在车辆的状态估算中,重点研究了基于混和观测器的车辆质心侧偏角估算算法。由状态空间估算、动力学积分及权值计算模块所组成的混和观测器在整个轮胎工作区间内都可保证估算精度。采用车轮加速度、车轮滑移率及附加门限修正量确定车轮的稳定状态。在车辆稳定状态的判别中,运用相平面的方法对影响车辆稳定性的车辆横摆角速度及车辆质心侧偏角进行分析,在此基础上,设计了车辆稳定性控制算法的开启及退出逻辑。在横摆力矩控制算法中,运用灰色预测PID控制对目标横摆力矩进行了研究,可有效减小系统中不确定因素对控制算法的影响。运用线性最优的方法对横摆力矩的分配进行研究,在保证车辆稳定性的前提下,充分利用轮胎附着力。
(3)对再生制动与稳定性控制集成控制算法的总体结构进行研究,开发再生制动与稳定性协调控制器。再生制动与稳定性协调控制器主要包括液压制动力与电机制动力的协调控制、再生制动与车轮防抱死(ABS)的协调控制、再生制动与稳定性控制(ESP)的协调控制等。考虑驾驶员的制动意图,引入制动踏板行程对电机制动力与液压制动力进行二次分配,可有效保证制动力满足驾驶员的动态制动意图且减少再生制动时ABS触发的几率。针对混合动力轿车制动时再生制动与ABS及ESP频繁切换的问题,依据状态机方法设计再生制动与ABS及ESP的协调控制算法。考虑电机制动力动态响应特性与液压制动力动态响应特性的差异,依据作用于车轮的电机制动力滞后于液压制动力的特性,提出采用液压制动力补偿电机制动力的动态特性,并基于自适应滑模控制方法设计了液压制动力补偿控制算法。采用液压制动力补偿控制后,整车的动态及稳态制动力均可满足驾驶员需求制动力需求,提高了制动过程的平顺性。
(4)基于Matlab/Simulink平台,建立了混合动力汽车再生制动与稳定性集成控制系统离线仿真平台。仿真平台包括混合动力汽车车辆模型、控制算法模型及用户图形界面三部分。在不同循环工况下对电机制动力分配优化算法进行试验验证,在不同转向工况下对车辆稳定性控制算法进行试验验证,在不同制动强度下对液压制动力补偿控制算法进行试验验证,在转向及直线行驶工况下对再生制动与稳定性控制协调控制算法进行试验验证。试验结果表明本文所开发的电机制动力分配优化算法能有效回收制动能量,提高整车燃油经济性。所开发的车辆稳定性控制算法能够在多种工况下保证车辆的操纵稳定性,所开发的液压制动力补偿控制算法能够在整个制动过程中保证整车的制动力需求,提高了制动过程的平顺性。所开发的再生制动与稳定性协调控制算法能够在保证车辆制动稳定性的前提下尽可能的回收制动能量。
(5)在离线仿真平台的基础上,基于Matlab/XPC平台建立了混合动力车辆再生制动与稳定性集成控制系统硬件在环试验平台。试验平台主要包括xPc Target实时平台、传感器、数据采集与处理系统、硬件台架及仿真软件,其中硬件台架包括液压制动系统台架、电机台架及操纵台架等三部分。利用硬件在环试验台对开发的再生制动与稳定性集成控制算法在多种工况下进行试验研究,试验结果表明所开发的再生制动与稳定性集成控制算法能够在多种工况下有效回收制动能量、满足驾驶员制动力需求及保证车辆的操纵稳定性。
As the good economic performance and low emissions, hybrid electric vehicles become more and more popular. Regenerative braking improves vehicle economic performance and has become a research topic. As an active safety technology, vehicle stability control system can inhibit the over turning of vehicles and severe understeering tendency, to improve vehicle handling and stability. The hybrid vehicles equipped with the vehicle stability system has become a trendence. This requires a hybrid vehicle have regenerative braking and stability control functions. It needs the study the integrated control algorithm of regenerative braking and stability control for hybrid electric vehicles.
There are few paper of the research on integrated control of regenerative braking and stability for hybrid vehicles in the domestic and the abroad. This paper combined with 863 projects, international scientific, technological cooperation projects, provincial scientific and technological support projects etc. At the same time, it makes close cooperation with China FAW Group Corporation Technical Center. Hybrid electric vehicles are studied in the paper, and how to integrate the braking regenerative and the stability control algorithm become a main topic.
This paper mainly includes three aspects, the distribution of regenerative braking force, vehicle stability control and the coordinated control algorithm of regenerative braking and vehicle stability control.
(1) Base on the analysis of factors related to the distribution of regenerative braking forces of the hybrid vehicles, the author proposed the optimal control algorithm of electric motor braking force distribution. First, it analyzes the factors related to braking energy recovery rate in the hybrid vehicle. These factors mainly include: the vehicle braking strength in the cycle conditions, the characteristics of the electrical power generation, the battery charging characteristics and the engine drag torque hysteresis. It analysis power generating characteristics of the motor and charging characteristics of battery, according to motor maximum braking torque concerned the motor and battery. Considering the motor and the battery efficiency on the braking energy recovery, an improved adaptive genetic algorithm is proposed to calculate the maximum effective motor braking power, corresponding to the motor braking torque. According to the vehicle braking strength and optimal algorithm for electric power distribution system, it makes different braking force to the front and rear axles of vehicles, realizing the distribution of motor and hydraulic braking forces.
(2) The paper studies the overall structure of control algorithm for vehicle braking stability. It estimates the state of the vehicle, identifies the stable state of the wheel and vehicle and study the yaw moment control algorithm. By estimating the state of the vehicle, dynamics integral and weight calculation module, the author proposes the hybrid observer to insure the estimation accuracy in the tire working range. To identify the stability of the wheel, the author uses the wheel acceleration, wheel slip rate and the threshold correction to determine additional wheel steady state. The method of phase plane was used as steady identifying state in the vehicle. The author analysis the impact of yaw rate and sideslip angle in the stability of vehicle. On this basis, the author also designs trigger and cut-off conditions for stable control algorithm in vehicle. In the yaw moment control algorithm, a gray PID control was used to calculate the target yaw moment in the research. The algorithm can effectively reduce the uncertainty of the control algorithm, using optimal tire force distribution algorithm to determine the yaw moment in the study. To ensure vehicle stability in the premise, the vehicle should make use of tire adhesion as far as possible.
(3) The overall structure of coordination control algorithm of regenerative braking and stability was carried out in the research. The author develops the controller to coordinate the braking forces. The controller includes the coordination control of hydraulic and electrical power system, the coordination control of regenerative braking and wheel anti-lock braking (ABS), and the coordination control of regenerative braking and electronic stability control (ESP). Considering the driver's braking intention, the brake pedal travel was used to analysis electric power and hydraulic braking system for secondary distribution. The method can effectively guarantee the driver's braking force to meet the intent of the dynamic braking and regenerative braking to reduce the risk of triggering ABS. For the problems of frequent switching on hybrid vehicles among regenerative braking, ABS and ESP systems, the author designs the coordination algorithm of ABS, ESP and regenerative braking with the method of state machine. Considering the dynamic response characteristics between electric power system and the hydraulic braking force system, the author uses braking force to compensate electric hydraulic power system, according to the electric mechanism acting on the wheel driving force with the hydraulic braking force dynamic characteristics. At the same time, based on adaptive self-sliding mode control algorithm, the author designs the method to compensate hydraulic braking force. With the vehicle's dynamic and steady state, driver's braking force can meet the needs of the system power requirements and improve the smoothness of the braking process.
(4) Based on Matlab/Simulink platform, an offline simulation platform for integrated regenerative braking and stability control algorithm is established in hybrid vehicles. The model simulation platform includes three parts, hybrid vehicles model, the controller model and the graphical user interface. Using different driving cycles, the author verifies the effectiveness of regeneration braking force distribution algorithm. On different steering test conditions, the author verifies the effectiveness of vehicle stability control algorithm. To verify the effectiveness of hydraulic braking force compensation control algorithm, the author uses the brake strength in the low and middle intensity. On cornering and straight line conditions, the author verifies the effectiveness of the coordinate control algorithm of stability control with regenerative braking control. The results have shown that the developed regenerative brake force distribution algorithm can effectively improve vehicle fuel economy for the recovery of braking energy. The vehicle stability algorithm can ensure the vehicle handling and stability in a variety of conditions, and the hydraulic braking force compensation control algorithm can ensure the vehicle's braking force needs to improve the braking process as well as to improve vehicle ride performance in the entire braking process. The coordinated control algorithm of regenerative braking and stability designed in the paper can not only guarantee braking stability, but also recover the braking energy as far as possible.
(5) Based on the off-line simulation platform, a hybrid vehicle integrated regenerative braking and stability control hardware is established by using Matlab /xPC platform in the loop test bench. The test bench includes xPC Target real-time platform, sensors, data acquisition and processing systems, hardware bench and simulation software. And the hardware bench includes three parts, hydraulic braking system test bench, motor test bench, and operate board. The hardware in the loop test bench is used for verifying the effectiveness of the integrated control algorithm of regenerative braking and stability control in a variety of test conditions, the test results show that the developed control algorithm can effectively recover braking energy in a variety of conditions, and at same time, the algorithm can meet the needs of the driver's braking force as well as ensure that the vehicle handling and stability.
引文
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