基于电机电池协调控制的混合动力再生制动控制算法研究
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摘要
随着世界石油资源的枯竭及人类对环保意识的增强，节能减排已成为当今汽车研究的趋势。再生制动功能作为混合动力汽车提高经济性能的重要因素而成为一个研究热点。混合动力汽车在制动过程中要求在保证驾驶员制动需求及制动安全性的基础上尽可能多的回收制动能量，混合动力汽车的再生制动过程实际上是能量转换并储存的过程，再生制动时的车辆的机械能经永磁同步电机转变为电能，电能充入到电池中后以化学能的形式储存。电机提供再生制动力矩的能力受驾驶员制动需求、电机当前转速等因素的影响，电池回收制动能量受电池荷电状态SOC值、最大充电电流I及电池工作温度T等因素的影响，再生制动系统能量回收效率取决于电机的发电效率及电池的充电效率，即电机、电池工作的联合效率决定了最终的能量回收效果。由于电机、电池工作状态的不同从而导致电机电池不可能同时工作于联合高效率区，从而影响了再生制动能量的回收。
本文就混合动力汽车再生制动时电机、电池工作效率不匹配的问题展开研究，论文的主要内容包括：
（1）对混合动力轿车再生制动系统关键部件特性进行研究。再生制动系统关键部件主要指动力电机和车载电池，电机与电池的工作特性之间制约着再生制动系统的性能。对电机工作特性的研究，确定影响电机发电效率的因素，并对混合动力汽车永磁同步电机在制动时的控制方法进行研究；对电池充电特性研究，确定影响电池充电效率的因素；在电机、电池工作特性研究基础上，对双向DC/DC变换器拓扑结构进行选型，并对其工作特性进行研究。
（2）在考虑电机发电效率和电池充电效率及DC/DC工作特性基础上，以回收有效制动功率最大为控制目标，提出了电机-电池协调控制算法。首先根据制动法规及循环工况对前后轴间制动力及液压制动力和电机制动力进行分配，并确定小强度制动时的制动强度阈值。然后考虑引入DC/DC变换器后电机电池效率对制动能量回收的影响，采用遗传算法求解回收至电池中的有效制动功率最大时对应的电机制动转矩及此时的充电电流期望值。考虑车速、电池荷电状态及温度等因素对再生制动的影响，搭建模糊控制器对电机制动力工作区间进行优化。对根据求取的电池充电电流期望值对双向DC/DC变换器电压期望输出值进行求解，并应用滑模变结构理论对DC/DC进行控制。
（3）采用正向式、模块化的建模方法，搭建离线仿真平台并仿真验证。在AVLCruise软件中搭建整车模型并设置仿真循环工况，在Matlab/Simulink中建立混合动力汽车整车控制策略模型，其中再生制动控制模型根据本文提出的电机电池协调控制算法搭建，联合仿真建立再生制动系统离线仿真平台。应用该平台对电机电池协调控制算法进行仿真试验验证，试验结果证明本文提出的电机电池协调控制算法能有效的提高制动能量回收率。
With the petroleum being exhausted gradually and the increasing of environmentprotection all over the world, the problem of energy-saving and environmental protection hasbecome the trend of automotive research. To ensure the driver's brake demand and underassurance of braking safety maximizing the recovery of braking energy is focused onregenerative braking research in HEV. The process of regenerative braking of hybrid electricvehicle is actually the process of mechanical and electrical energy conversion and energystorage. The function of Regenerative braking system is to change the kinetic energy of thevehicle to electric energy by the permanent magnet synchronous motor，and the electricenergy is transformated into chemical energy of the active materials in battery and in storageof that format. Motor regenerative braking torque is influenced by the driver braking demand,the motor current speed and so on. Battery recycling braking energy is affected by thebattery state of charge, the maximum charging current and battery current temperature.Regenerative braking energy recovery efficiency depends on the power generation efficiencyof the motor and battery charging efficiency, in other words, combined efficiency of motorand battery determines the final effect of energy recovery. Because of different performanceof the battery and the motor, they can’t work in the high efficiency region at the same time,so the energy recovery of the RBS is affected by that.
This paper is to study the coordinate control of working efficiency between electricmotor and battery. The following work is studied in the paper:
(1)The paper study the characteristics of key components of RBS system, includingthe study of motor, battery and DC/DC. Firstly to research on operating characteristics of themotor and to determine the factors of affecting the electrical power generation efficiency,and study how to control the permanent magnet synchronous motor precisely and high efficiently. Then to study charging characteristics of the battery and the charging influencefactors. At last, according to the study of characteristics of motor and battery the rightBi-directional DC/DC converter topology is selected and the operating characteristics arestudied.
(2)Considering the efficiency of motor operating and battery charging, aimed torecover the more effective braking power in the battery, the Coordinated effiency of ElectricMotor and Battery is proposed. Using genetic algorithm the motor braking torque and theexpectation value of charge current corresponding effective braking power are calculated.Consider the impact of speed, status of charge, and temperature during regenerative braking,a fuzzy controller is built to optimize the dynamic working range of the electric mechanism.According to the expectation charging current, the output voltage value is calculated and thesliding mode variable structure control is applied to follow the DC/DC converter controlsignal.
(3) With forward modeling method the offline simulation platform for HEVregenerative braking control system is built. Vehicle dynamic model is built based on thesoftware Cruise, and control model for the Vehicle is built based on Matlab/Simulinkplatform. This paper simulates the model to validate the coordination control algorithmoff-line. The result of simulation Coordinated Control of Electric Motor and Batteryalgorithm can recover the braking energy effectively.
本文就混合动力汽车再生制动时电机、电池工作效率不匹配的问题展开研究，论文的主要内容包括：
（1）对混合动力轿车再生制动系统关键部件特性进行研究。再生制动系统关键部件主要指动力电机和车载电池，电机与电池的工作特性之间制约着再生制动系统的性能。对电机工作特性的研究，确定影响电机发电效率的因素，并对混合动力汽车永磁同步电机在制动时的控制方法进行研究；对电池充电特性研究，确定影响电池充电效率的因素；在电机、电池工作特性研究基础上，对双向DC/DC变换器拓扑结构进行选型，并对其工作特性进行研究。
（2）在考虑电机发电效率和电池充电效率及DC/DC工作特性基础上，以回收有效制动功率最大为控制目标，提出了电机-电池协调控制算法。首先根据制动法规及循环工况对前后轴间制动力及液压制动力和电机制动力进行分配，并确定小强度制动时的制动强度阈值。然后考虑引入DC/DC变换器后电机电池效率对制动能量回收的影响，采用遗传算法求解回收至电池中的有效制动功率最大时对应的电机制动转矩及此时的充电电流期望值。考虑车速、电池荷电状态及温度等因素对再生制动的影响，搭建模糊控制器对电机制动力工作区间进行优化。对根据求取的电池充电电流期望值对双向DC/DC变换器电压期望输出值进行求解，并应用滑模变结构理论对DC/DC进行控制。
（3）采用正向式、模块化的建模方法，搭建离线仿真平台并仿真验证。在AVLCruise软件中搭建整车模型并设置仿真循环工况，在Matlab/Simulink中建立混合动力汽车整车控制策略模型，其中再生制动控制模型根据本文提出的电机电池协调控制算法搭建，联合仿真建立再生制动系统离线仿真平台。应用该平台对电机电池协调控制算法进行仿真试验验证，试验结果证明本文提出的电机电池协调控制算法能有效的提高制动能量回收率。
With the petroleum being exhausted gradually and the increasing of environmentprotection all over the world, the problem of energy-saving and environmental protection hasbecome the trend of automotive research. To ensure the driver's brake demand and underassurance of braking safety maximizing the recovery of braking energy is focused onregenerative braking research in HEV. The process of regenerative braking of hybrid electricvehicle is actually the process of mechanical and electrical energy conversion and energystorage. The function of Regenerative braking system is to change the kinetic energy of thevehicle to electric energy by the permanent magnet synchronous motor，and the electricenergy is transformated into chemical energy of the active materials in battery and in storageof that format. Motor regenerative braking torque is influenced by the driver braking demand,the motor current speed and so on. Battery recycling braking energy is affected by thebattery state of charge, the maximum charging current and battery current temperature.Regenerative braking energy recovery efficiency depends on the power generation efficiencyof the motor and battery charging efficiency, in other words, combined efficiency of motorand battery determines the final effect of energy recovery. Because of different performanceof the battery and the motor, they can’t work in the high efficiency region at the same time,so the energy recovery of the RBS is affected by that.
This paper is to study the coordinate control of working efficiency between electricmotor and battery. The following work is studied in the paper:
(1)The paper study the characteristics of key components of RBS system, includingthe study of motor, battery and DC/DC. Firstly to research on operating characteristics of themotor and to determine the factors of affecting the electrical power generation efficiency,and study how to control the permanent magnet synchronous motor precisely and high efficiently. Then to study charging characteristics of the battery and the charging influencefactors. At last, according to the study of characteristics of motor and battery the rightBi-directional DC/DC converter topology is selected and the operating characteristics arestudied.
(2)Considering the efficiency of motor operating and battery charging, aimed torecover the more effective braking power in the battery, the Coordinated effiency of ElectricMotor and Battery is proposed. Using genetic algorithm the motor braking torque and theexpectation value of charge current corresponding effective braking power are calculated.Consider the impact of speed, status of charge, and temperature during regenerative braking,a fuzzy controller is built to optimize the dynamic working range of the electric mechanism.According to the expectation charging current, the output voltage value is calculated and thesliding mode variable structure control is applied to follow the DC/DC converter controlsignal.
(3) With forward modeling method the offline simulation platform for HEVregenerative braking control system is built. Vehicle dynamic model is built based on thesoftware Cruise, and control model for the Vehicle is built based on Matlab/Simulinkplatform. This paper simulates the model to validate the coordination control algorithmoff-line. The result of simulation Coordinated Control of Electric Motor and Batteryalgorithm can recover the braking energy effectively.
引文
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