考虑再生制动的混合动力轿车能量管理策略及多能源集成控制研究
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摘要
能源危机和环境污染问题日益严峻，人们对汽车工业节能环保的要求也日益提高。混合动力电动汽车具有低油耗、低排放的优点，被认为是目前最有希望替代传统内燃机汽车的方案。混合动力电动汽车能量管理控制策略和制动控制策略设计是整车控制系统设计的重要环节，这个课题属于混合动力电动汽车的关键技术，当前各国主流汽车厂商都在进行相关研究。
本文以“十一五”国家863计划电动汽车重大专项以及其他校企合作混合动力电动汽车项目为背景，在全面分析混合动力电动汽车的特点、研究现状和发展趋势的基础上，以混联式混合动力电动汽车为对象，做了如下几方面工作：根据驾驶员的转矩需求，对混合动力驱动系统的三个动力源进行工作转矩分配；制定再生制定控制策略，在满足法规要求和制定安全性的前提下，尽量回收制动能量；对电机和液压混合制动系统进行研究，制定混合制动控制策略；建立该混联式混合动力电动汽车前向式仿真软件平台；对该混合动力电动汽车控制策略进行仿真分析并研究了其在实车上的应用。
转矩分配策略是混合动力电动汽车控制策略设计的关键环节，是重要的节油点。它涉及到发动机和电机、电池的协同工作。本文研究了混联式混合动力系统的结构，分析了主要工作模式的能量流路径，提出了等效BSFC的方法，来对发动机和电机的工作转矩进行分配。
制动时的能量回收是提高混合动力电动汽车燃油经济性的重要技术之一。再生制动是目前混合动力电动汽车制造商普遍采用的一项技术。再生制动策略的涉及到制动安全性、驾驶员感觉和能量回馈率，需要对各方面因素进行综合考虑。在满足ECE制动法规要求并尽量提高安全性和驾驶员感觉的前提下，提出了一种最大制动能量回收控制策略，对制动时的电机工作点进行了基于全局效率最优的优化。
考虑到电机的制动效能以及制动稳定性，需要采用电机、液压制动相结合的混合制动方案。因此，再生制动控制系统与ABS液压制动控制系统协同工作的研究就成了混合动力电动汽车制动系统研究必须面临的问题。本文提出一种再生制动与ABS制动集成控制方案，实现常规制动与防抱死制动情况下摩擦制动与再生制动之间的配合。即确保制动安全性，又回收部分制动能量。
仿真平台的开发是混合动力电动汽车控制策略研究的重要组成部分，直接影响到控制器开发效率和精度。本文采用理论建模和实验建模结合的方法，在Matlab/Simulink环境中建立了适合混合动力电动汽车仿真分析和控制策略研究的动力学模型。模型主要包括整车、驾驶员、控制器、发动机、电机等动力源元件、变速器、离合器、功率消耗元件等。仿真和试验结果都表明了该模型的正确性和有效性，能够满足精度要求和后续工作需要。
在建立的混合动力电动汽车模型的基础上，建立了整车控制器模型，对前面设计的转矩分配策略及制动控制策略进行仿真分析。最后，搭建实车测试系统，进行了整车控制器的底盘测功机和道路试验。仿真和试验结果都表明，发动机和电机根据汽车状态和驾驶员需求协同工作，合理的分配驱动转矩，能量消耗满足设计要求。控制器能很好地控制再生制动系统和液压制动系统，在常规制动时回收制动能量约40%。防抱死制动时能保证制动强度和稳定性，并能回收部分制动能量。
能量管理策略和制动控制策略作为混合动力电动汽车的关键技术，在混合动力电动汽车研发中占有重要地位。希望本文的研究对于提高我国混合动力电动汽车研发水平和实现自主知识产权能够起到一定的作用。
As the energy crisis and environmental pollution problems getting serious, people’srequirements of the energy saving and environmental protection of auto industry are increasing.The hybrid electric vehicle with low fuel consumption and low emissions is considered as themost promising alternatives to the traditional internal combustion engine vehicle. The design ofenergy management control strategies and braking control strategies is a significant part step ofthe control system design of hybrid electric vehicles. This subject is one of the key technologies ofhybrid electric vehicles. Many auto manufacturers around the world are conducting this research.
This dissertation takes a ‘national863program’ and some university-enterprise cooperationprojects as background, takes a complex hybrid electric car as research object, conducts researcheson the base of allover analysis of the specifics, research status and development trends of hybridelectric vehicles. This dissertation research focus on the following aspects: a working torquedistribution according the driver’s torque demand of tree power sources of the hybrid drive system;developing a regenerative braking control strategy that can recovery braking energy as much aspossible under the premise of meeting the requirements of regulation and security; analyzing theworking principles of regenerative braking and hydraulic braking system and developing aintegrated braking control strategy; developing the simulation software platform of the complexhybrid electric vehicle; carrying out the simulation analysis and real car test.
The torque distribution strategy is a key part of the hybrid electric vehicle control strategydesign, as well as a significant method to reduce fuel consumption. It relates to the cooperation ofthe internal combustion engine, electric machine and battery. This paper studies the structure ofhybrid electric system and analyses the working modes and energy flows to distribute the outputtorques of engine and electric machines with an equivalent BSFC method.
The braking energy recover technology is one of the important methods to improve the fueleconomy of hybrid vehicles. The regenerative braking is a technique that is commonly used inhybrid electric vehicle manufacture. Regenerative braking strategy involves the braking safety, thedriver’s feeling and energy recovery rate. The design needs comprehensive consideration ofvarious factors. This paper put forward an optimal braking energy recovery control strategy on thepremise of meeting the ECE regulation’s requirements, maximizing safety and satisfying thedriver’s feelings. The electric machine’s operating points during braking are optimized with apurpose of getting the highest overall efficiency.
Since the braking strength and braking stability of electric machines may not be enough insome situations, an integrated braking system with electric machines and hydraulic brake system should be used. Therefore, the cooperation of the regenerative braking control system and ABShydraulic brake control system has become a unavoidable problem that the hybrid electric vehicleresearch team must face. In this paper, an integrated braking precept of regenerative braking andABS hydraulic braking is put forward. This precept can carry out the cooperation of electricmachines and friction braking disks both in the normal braking and anti-lock braking situations.This integrated braking control system is designed to ensure the braking safety and recover part ofthe braking energy.
The development of simulation platform is an important part of the hybrid electric vehiclecontrol strategy design. The simulation platform has a direct impact on the efficiency and accuracyof the controller development. In this paper, a combined methods of theoretical modeling andexperimental modeling is used to build the dynamic model in Matlab/Simulink environment. Thissimulation model is suitable for both simulation analysis and control strategy study of hybridelectric vehicles. The model includes the full vehicle, driver, controller, engine, electric machinesand other components as power source, transmission, clutch, power consumption components, andso on. Both simulation and experiment results show the correctness and validity of the model willthe accuracy requirements and following tasks’ needs.
On the base of the established simulation model, the controller model is built. Then,simulation and analysis of the torque distribution strategy and braking control strategy is carriedout. Finally, a real car test system is built and tests for controller are carried into execution both onroad and chassis dynamometer. Both simulation and tests results show that the engine and electricmachines cooperate quite well under different vehicle status and driver demands. The controllercan distribute the required torque reasonably and reduce energy consumption to design target. Thecontroller can control the regenerative braking system and hydraulic braking system and recoveryabout40%of braking energy in normal braking. The anti-lock braking control strategy can ensurebrake strength and stability and recover part of the braking energy.
As the key technologies of hybrid electric vehicles, energy management strategies andbraking control strategy play an important role in the development of hybrid electric vehicles. Thisstudy provides a bit contribution to improve the level of research and development of hybridelectric vehicles and achieve the independent intellectual property rights in China.
本文以“十一五”国家863计划电动汽车重大专项以及其他校企合作混合动力电动汽车项目为背景，在全面分析混合动力电动汽车的特点、研究现状和发展趋势的基础上，以混联式混合动力电动汽车为对象，做了如下几方面工作：根据驾驶员的转矩需求，对混合动力驱动系统的三个动力源进行工作转矩分配；制定再生制定控制策略，在满足法规要求和制定安全性的前提下，尽量回收制动能量；对电机和液压混合制动系统进行研究，制定混合制动控制策略；建立该混联式混合动力电动汽车前向式仿真软件平台；对该混合动力电动汽车控制策略进行仿真分析并研究了其在实车上的应用。
转矩分配策略是混合动力电动汽车控制策略设计的关键环节，是重要的节油点。它涉及到发动机和电机、电池的协同工作。本文研究了混联式混合动力系统的结构，分析了主要工作模式的能量流路径，提出了等效BSFC的方法，来对发动机和电机的工作转矩进行分配。
制动时的能量回收是提高混合动力电动汽车燃油经济性的重要技术之一。再生制动是目前混合动力电动汽车制造商普遍采用的一项技术。再生制动策略的涉及到制动安全性、驾驶员感觉和能量回馈率，需要对各方面因素进行综合考虑。在满足ECE制动法规要求并尽量提高安全性和驾驶员感觉的前提下，提出了一种最大制动能量回收控制策略，对制动时的电机工作点进行了基于全局效率最优的优化。
考虑到电机的制动效能以及制动稳定性，需要采用电机、液压制动相结合的混合制动方案。因此，再生制动控制系统与ABS液压制动控制系统协同工作的研究就成了混合动力电动汽车制动系统研究必须面临的问题。本文提出一种再生制动与ABS制动集成控制方案，实现常规制动与防抱死制动情况下摩擦制动与再生制动之间的配合。即确保制动安全性，又回收部分制动能量。
仿真平台的开发是混合动力电动汽车控制策略研究的重要组成部分，直接影响到控制器开发效率和精度。本文采用理论建模和实验建模结合的方法，在Matlab/Simulink环境中建立了适合混合动力电动汽车仿真分析和控制策略研究的动力学模型。模型主要包括整车、驾驶员、控制器、发动机、电机等动力源元件、变速器、离合器、功率消耗元件等。仿真和试验结果都表明了该模型的正确性和有效性，能够满足精度要求和后续工作需要。
在建立的混合动力电动汽车模型的基础上，建立了整车控制器模型，对前面设计的转矩分配策略及制动控制策略进行仿真分析。最后，搭建实车测试系统，进行了整车控制器的底盘测功机和道路试验。仿真和试验结果都表明，发动机和电机根据汽车状态和驾驶员需求协同工作，合理的分配驱动转矩，能量消耗满足设计要求。控制器能很好地控制再生制动系统和液压制动系统，在常规制动时回收制动能量约40%。防抱死制动时能保证制动强度和稳定性，并能回收部分制动能量。
能量管理策略和制动控制策略作为混合动力电动汽车的关键技术，在混合动力电动汽车研发中占有重要地位。希望本文的研究对于提高我国混合动力电动汽车研发水平和实现自主知识产权能够起到一定的作用。
As the energy crisis and environmental pollution problems getting serious, people’srequirements of the energy saving and environmental protection of auto industry are increasing.The hybrid electric vehicle with low fuel consumption and low emissions is considered as themost promising alternatives to the traditional internal combustion engine vehicle. The design ofenergy management control strategies and braking control strategies is a significant part step ofthe control system design of hybrid electric vehicles. This subject is one of the key technologies ofhybrid electric vehicles. Many auto manufacturers around the world are conducting this research.
This dissertation takes a ‘national863program’ and some university-enterprise cooperationprojects as background, takes a complex hybrid electric car as research object, conducts researcheson the base of allover analysis of the specifics, research status and development trends of hybridelectric vehicles. This dissertation research focus on the following aspects: a working torquedistribution according the driver’s torque demand of tree power sources of the hybrid drive system;developing a regenerative braking control strategy that can recovery braking energy as much aspossible under the premise of meeting the requirements of regulation and security; analyzing theworking principles of regenerative braking and hydraulic braking system and developing aintegrated braking control strategy; developing the simulation software platform of the complexhybrid electric vehicle; carrying out the simulation analysis and real car test.
The torque distribution strategy is a key part of the hybrid electric vehicle control strategydesign, as well as a significant method to reduce fuel consumption. It relates to the cooperation ofthe internal combustion engine, electric machine and battery. This paper studies the structure ofhybrid electric system and analyses the working modes and energy flows to distribute the outputtorques of engine and electric machines with an equivalent BSFC method.
The braking energy recover technology is one of the important methods to improve the fueleconomy of hybrid vehicles. The regenerative braking is a technique that is commonly used inhybrid electric vehicle manufacture. Regenerative braking strategy involves the braking safety, thedriver’s feeling and energy recovery rate. The design needs comprehensive consideration ofvarious factors. This paper put forward an optimal braking energy recovery control strategy on thepremise of meeting the ECE regulation’s requirements, maximizing safety and satisfying thedriver’s feelings. The electric machine’s operating points during braking are optimized with apurpose of getting the highest overall efficiency.
Since the braking strength and braking stability of electric machines may not be enough insome situations, an integrated braking system with electric machines and hydraulic brake system should be used. Therefore, the cooperation of the regenerative braking control system and ABShydraulic brake control system has become a unavoidable problem that the hybrid electric vehicleresearch team must face. In this paper, an integrated braking precept of regenerative braking andABS hydraulic braking is put forward. This precept can carry out the cooperation of electricmachines and friction braking disks both in the normal braking and anti-lock braking situations.This integrated braking control system is designed to ensure the braking safety and recover part ofthe braking energy.
The development of simulation platform is an important part of the hybrid electric vehiclecontrol strategy design. The simulation platform has a direct impact on the efficiency and accuracyof the controller development. In this paper, a combined methods of theoretical modeling andexperimental modeling is used to build the dynamic model in Matlab/Simulink environment. Thissimulation model is suitable for both simulation analysis and control strategy study of hybridelectric vehicles. The model includes the full vehicle, driver, controller, engine, electric machinesand other components as power source, transmission, clutch, power consumption components, andso on. Both simulation and experiment results show the correctness and validity of the model willthe accuracy requirements and following tasks’ needs.
On the base of the established simulation model, the controller model is built. Then,simulation and analysis of the torque distribution strategy and braking control strategy is carriedout. Finally, a real car test system is built and tests for controller are carried into execution both onroad and chassis dynamometer. Both simulation and tests results show that the engine and electricmachines cooperate quite well under different vehicle status and driver demands. The controllercan distribute the required torque reasonably and reduce energy consumption to design target. Thecontroller can control the regenerative braking system and hydraulic braking system and recoveryabout40%of braking energy in normal braking. The anti-lock braking control strategy can ensurebrake strength and stability and recover part of the braking energy.
As the key technologies of hybrid electric vehicles, energy management strategies andbraking control strategy play an important role in the development of hybrid electric vehicles. Thisstudy provides a bit contribution to improve the level of research and development of hybridelectric vehicles and achieve the independent intellectual property rights in China.
引文
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