混合动力挖掘机能量存储单元及其管理系统研究
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摘要
混合动力液压挖掘机的特殊工况对能量存储装置及其管理系统提出了特殊的要求,本文针对混合动力液压挖掘机上的能量存储装置及其管理系统进行了研究,主要进展如下:
1.通过挖掘机工况的分析以及各种能量存储单元的比较,选择了动力NIMH电池组作为5t并联式混合动力液压挖掘机的能量存储单元,并根据电压、功率、能量和寿命要求对NIMH电池组进行参数匹配研究。
2.通过和项目组成员共同搭建的混合动力实验平台对NIMH电池组的基本特性进行测试和分析,着重分析了NIMH电池的迟滞电压现象,并在此基础上建立了电池的改进型RC等效电路模型。
3.针对电流波动较大的工况,本文提出了一种以改进型RC模型和基于能量守恒SOC估算模型相结合的SOC估算模型,并利用sigma点卡尔曼率波算法进行实时计算,该方法能综合两者的优点,较好的适应挖掘机的多工作模式以及负载特性。同时,初步研究了电池SOH估算方法,并建立了其估算方法和步骤。
4.以TMSLF2812 DSP芯片为基础设计了电池管理系统的硬件电路和软件系统,主要包括电池组集散式均衡电路、充电电流控制电路、控制板电路以及基于DSP/BIOS的软件系统。
For the special working condition of hybrid hydraulic excavator, some special requirements were proposed for its energy storage device and management system, In this paper, the energy storage device and its management system centralized on the hybrid hydraulic excavator was researched, the major progress is as follows:
1. According to analysis of excavator working condition and comparison of various energy storage unit, I selected the impetus NIMH battery as a energy storage unit for 5t parallel hybrid hydraulic excavator, then chose the parameter of NIMH battery through the requirements of voltage, power, energy, and life.
2. Through a comprehensively experimental platform which built by our team, I carried out some tests and analysis of NIMH battery packs on the basic character of battery, then on this basis, established of an improved RC equivalent circuit model of battery..
3. For fluctuating current conditions of battery in HHE , this paper presents a new SOC estimation model through the combination of improved RC model and the energy conservation SOC estimation model, which observed through sigma-point kalman filtering precisely, the model can be combination of the two priority points, and adapt well to the excavator's multi-working-model and load characteristics. Besides, Researched the battery's SOH estimation methods preliminarily, and established its estimation methods and steps.
4. Designed the hardware circuitry and embedded software system of the battery management system based on the DSP chip TMSLF2812, mainly including equalizing control circuit for battery packs, charging current control circuit, electrical control board and software system on DSP / BIOS.
1.通过挖掘机工况的分析以及各种能量存储单元的比较,选择了动力NIMH电池组作为5t并联式混合动力液压挖掘机的能量存储单元,并根据电压、功率、能量和寿命要求对NIMH电池组进行参数匹配研究。
2.通过和项目组成员共同搭建的混合动力实验平台对NIMH电池组的基本特性进行测试和分析,着重分析了NIMH电池的迟滞电压现象,并在此基础上建立了电池的改进型RC等效电路模型。
3.针对电流波动较大的工况,本文提出了一种以改进型RC模型和基于能量守恒SOC估算模型相结合的SOC估算模型,并利用sigma点卡尔曼率波算法进行实时计算,该方法能综合两者的优点,较好的适应挖掘机的多工作模式以及负载特性。同时,初步研究了电池SOH估算方法,并建立了其估算方法和步骤。
4.以TMSLF2812 DSP芯片为基础设计了电池管理系统的硬件电路和软件系统,主要包括电池组集散式均衡电路、充电电流控制电路、控制板电路以及基于DSP/BIOS的软件系统。
For the special working condition of hybrid hydraulic excavator, some special requirements were proposed for its energy storage device and management system, In this paper, the energy storage device and its management system centralized on the hybrid hydraulic excavator was researched, the major progress is as follows:
1. According to analysis of excavator working condition and comparison of various energy storage unit, I selected the impetus NIMH battery as a energy storage unit for 5t parallel hybrid hydraulic excavator, then chose the parameter of NIMH battery through the requirements of voltage, power, energy, and life.
2. Through a comprehensively experimental platform which built by our team, I carried out some tests and analysis of NIMH battery packs on the basic character of battery, then on this basis, established of an improved RC equivalent circuit model of battery..
3. For fluctuating current conditions of battery in HHE , this paper presents a new SOC estimation model through the combination of improved RC model and the energy conservation SOC estimation model, which observed through sigma-point kalman filtering precisely, the model can be combination of the two priority points, and adapt well to the excavator's multi-working-model and load characteristics. Besides, Researched the battery's SOH estimation methods preliminarily, and established its estimation methods and steps.
4. Designed the hardware circuitry and embedded software system of the battery management system based on the DSP chip TMSLF2812, mainly including equalizing control circuit for battery packs, charging current control circuit, electrical control board and software system on DSP / BIOS.
引文
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[43]Xiao lin,Shuang-xia PAN,Dong-yun WANG.Dynamic simulation and optimal control strategy for a parallel hybrid hydraulic excavator[J].Zhejiang Univ Sci A,2008,9(5):624-632.
[44]刘晓康,汪斌,余向东,吴杰余.并联式混合动力电动汽车电池参数优选[J].汽车工程,2007,29(7):570-576.
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[2]Takao NANJO,Dr Etsujiro IMANISHI,Kazuhiro OOTANI.Simulation and Evaluation Technique for Power System and Related Energy Saving on Hydraulic Excavator[J].KOBELCO technology review,2007,(27):28-34.
[3]Caratozzolo P.,Serra M.,Riera J..Energy management strategies for hybrid electric vehicles[C]//Electric Machines and Drives Conference.Morelos Mexico:2003:241-248.
[4]Tae-suk Kwon,Seon-woo Lee,et al.Power Control Algorithm for Hybrid Excavator with Super Capacitor[C]//Industry Applications Society Annual Meeting.Edmonton Alta.:2008:1-8.
[5]魏英俊,柏军玲,周友.液驱混合动力技术—车辆节能新技术[J].拖拉机与农用运输车,2007,34(1):13-14.
[6]广濑久士,丹下昭二.电动车及混合动力车的现状与展望[J].汽车工程,2003,25(2):204-209.
[7]Jeffrey Gonder,Tony Markel.Energy Management Strategies for Plug-In Hybrid Electric Vehicles[C]//SAE World Congress.Detroit Michigan:2007:1-5.
[8]肖清,王庆丰,张彦廷,付强.液压挖掘机混合动力系统建模及控制策略研究[J].浙江大学学报(工学版),2007,41(3):480-483.
[9]KAGOSHIMA Masayuki,KOMIYAMA Masayuki,et al.Development of New Hybrid Excavator[J].KOBELCO TECHNOLOGY REVIEW,2007,27:39-42.
[10]孔庆璐,安秋兰.2009年的INTERMAT展建筑机械[J].2009(上半月刊).
[11]王冬云.混合动力挖掘机动力总成及参数匹配方法研究[D].杭州:浙江大学,2009.
[12]2009年中国汽车(电动车)动力电池行业分析报告[EB/OL].中国机电数据网,http://www.86mdo.com.
[13]E.Hansen,L.Wilhelm,et al.Full System Nickel-Metal Hydride Battery Packs for Hybrid Electric Vehicle Applications[C]//IEEE 17~(th) Battery Conference on Applications and Advances.2002:253-260.
[14]Peter Bauerlein,Christina Antonius,et al.Progress in high-power nickel-metal hydride batteries[J].Journal of Power Sources,2008,176(2):547-554.
[15]A.Chu,P.Braatz.Comparison of commercial super-capacitors and high-power lithium-ion batteries for power-assist applications in hybrid electric vehicles[J].Joumal of Power Sources,2002,112(1):236-246.
[16]Mark S.Duvall.Battery Evaluation for Plug-In Hybrid Electric Vehicles[C]//IEEE Vehicle Power and Propulsion Conference.2005:338-343.
[17]Tom Bartley.Ultracapacitors and Batteries for Energy Storage in Heavy-Duty Hybrid-Electric Vehicles[C]//22nd International Battery Seminar &Exhibit.Florida:2005.
[18]Andrew Burke.Ultracapacitor technologies and application in hybrid and electric vehicles[J].International Journal of Energy Research,2009.
[19]Burke A.Ultracapacitors:why,how and where is the technology.Journal of Power Sources,2000,91(1):37-50.
[20]Aurelien Du Pasquier,Irene Plitz,et al.A comparative study of Li-ion battery,super-capacitor and non-aqueous-asymmetric hybrid devices for automotive applications.Journal of Power source,2003,115(1):171-178.
[21]Tony Markel,Andrew Simpson.Plug-In Hybrid Electric Vehicle Energy Storage System Design[C]//Advanced Automotive Battery Conference.Baltimore:2006:17-19.
[22]Kenneth J.Kelly,et al.Battery Usage and Thermal Performance of the Toyota Prius and Honda Insight during Chassis Dynamometer Testing[J].Conference paper of NREL,2002:247-252.
[23]Ioannis Hadjipaschalis,et al.Overview of current and future energy storage technologies for electric power applications[J].Renew Sustain Energy Rev,2008,13(6):1513-1522.
[24]姜久春.电池管理系统的概况和发展趋势[J].新材料产业,2007,8:40-43.
[25]廖晓军,何莉萍,等.电池管理系统国内外现状及其未来发展趋势[J].汽车工程,2006,28(10):961-964.
[26]冯旭云.混合动力汽车动力电池(Ni-MH)管理系统的研究现状与发展[J].电源技术应用,2008,vol.11(8):1-5.
[27]乔国艳.电动汽车电池管理系统的研究与设计[D].武汉:武汉理工大学,2006.
[28]蒋新华.锂离子电池组管理系统研究[D].上海:中国科学院上海微系统与信息技术研究所,2007.
[29]Niu Liyong,Jiang Jiuchun,Zhang Xin.A Study on Battery Management System of Ni-MH Battery Packs for Hybrid Electric Vehicle Applications[C]//First International Power and Energy Conference.Putrajaya:2006:30-33.
[30]李贵海.电池SOC估算策略的研究[D].杭州:浙江大学,2006.
[31]Sabine Piller,Marion Perrin.Andreas Jossen.Methods for state-of-charge determination and their applications[J].Journal of Power Sources,2001,96(1):113-120.
[32]Chakradhar Pulamarasetty,Pritpal Singh.Fuzzy Logic-Based Smart Battery State-of-Charge(SOC) Monitor for Automotive Batteries[C]//2004 SAE World Congress.Detroit:2004:8-11.
[33]Song Kim.The novel state of charge estimation method for lithium battery using sliding mode observer[J].Journal of Power Sources,2006,163(1):584-590.
[34]Coleman,M.Lee,et al.State of Health Determination:Two Pulse Load Test for a VRLA Battery[C]//Power Electronics Specialists Conference.Jeju:2006:1-6.
[35]B.S.Bhangu,P.Bentley,et al.State-of-Charge and State-of-Health prediction of Lead-acid Batteries for Hybrid Electric Vehicles using non-linear observers[J].IEEE Transactions on Vehicular Technology,2005,54(3):783-794.
[36]Neeta Khare,Shalini Chandra,Rekha Govil.Statistical modeling of SOH of an automotive battery for online Indication[C]//Telecommunications Energy Conference.San Diego:2008:1-7.
[37]Ch.Kuper,M.Hoh,G.Houchin-Miller,J.Fuhr.Thermal Management of Hybrid Vehicle Battery Systems[C]//EVS24 International Battery:Hybrid and Fuel Cell Electric Vehicle Symposium.Stavanger Norway:2009:13-16.
[38]楼英莺.混合动力车用镍氢散热系统研究[D].上海:上海交通大学,2007.
[39]邵科,等.智能电池组充电器设计与实现[J].工业控制计算机,2007,20(9):63-64.
[40]Yuang-Shung Lee,Chun-Yi Duh,et al.Battery Equalization Using Bi-directional Cuk Converters in DCVM Operation[C]//Power Electronics Specialists Conference.Recife:2005:765-771.
[41]郑杭波,齐国光.电池组故障诊断模糊专家系统的研究[J].高技术通讯,2004,14(6):70-74.
[42]朱红妹,卫少克,刘钊.液压挖掘机挖掘工况与挖掘力分布特性分析[J].2007,24(8):9-12.
[43]Xiao lin,Shuang-xia PAN,Dong-yun WANG.Dynamic simulation and optimal control strategy for a parallel hybrid hydraulic excavator[J].Zhejiang Univ Sci A,2008,9(5):624-632.
[44]刘晓康,汪斌,余向东,吴杰余.并联式混合动力电动汽车电池参数优选[J].汽车工程,2007,29(7):570-576.
[45]http://www.chunlan.com/3product/battery_2para.htm.
[46]杨忠敏.现代车用镍-氢电池及其应用[J].汽车电器,2004,(12):26-27.
[47]曲荣利.混合动力汽车镍氢电池充放电特性研究[J].大连:大连理工大学硕,2007.
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