燃料电池混合动力系统建模与仿真研究
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摘要
燃料电池混合动力系统是一种具有潜力的新型汽车动力系统。燃料电池混合动力系统具有能源利用效率高和无污染物排放的优点,但是目前燃料电池混合动力系统存在燃料电池部件生产成本较高以及耐久性能较差的缺点。燃料电池混合动力系统批量生产可以部分降低燃料电池部件生产成本。进行燃料电池混合动力系统组成部件功率匹配以及功率分配策略优化可以部分提高燃料电池部件耐久性能。
进行燃料电池混合动力系统组成部件功率匹配以及功率分配策略优化需要进行大量研究。如果直接利用燃料电池混合动力系统实体原型机进行研究,将会造成研究成本过高以及研发周期过长。使用燃料电池混合动力系统仿真模型预先进行仿真计算研究可以节省研究经费,并且可以加快研究进度缩短研发周期。
本文主要讨论如何在Matlab/Simulink仿真环境下建立燃料电池混合动力系统仿真计算模型。本文所讨论的燃料电池混合动力系统采用燃料电池间接连接结构；采用PEM燃料电池系统作为本文所讨论的燃料电池混合动力系统的主要能量存储系统；采用动力电池系统作为本文所讨论的燃料电池混合动力系统的辅助能量存储系统。
使用反应机理模型描述燃料电池系统工作特性过于复杂,这将增加仿真计算所需时间,而且精度提高作用有限,因此本文采用基于经验数据的仿真模型描述燃料电池系统工作特性,不仅可以加快仿真计算速度,而且可以得到一定精度。同样,使用化学反应机理模型描述动力电池系统工作特性不仅过于复杂,而且精度提高作用有限,因此本文采用Rint等效电路仿真模型描述动力电池系统工作特性。本文使用机理模型描述驱动电机系统以及汽车传动系统工作特性。由于本文主要讨论如何建立燃料电池混合动力系统仿真计算模型,因此本文仅仅采用一种简单功率分配策略进行燃料电池混合动力系统功率分配控制。
仿真计算所得到的燃料电池混合动力系统重要变量变化曲线说明本文所建立的燃料电池混合动力系统仿真计算模型以及所设计的功率分配控制策略可以正常进行仿真计算。所得到的重要变量变化曲线同时指明进行燃料电池混合动力系统实际配置所需要重点注意调节的几种参数。
The fuel cell hybrid powertrain is a new potential automotive powertrain. The fuel cell hybrid powertrain is high energy efficiency and without any pollution, but the fuel cell stack which is used in the fuel cell hybrid powertrain is expensive and not durable at present. The mass production of the fuel cell hybrid powertrain will partially decrease the cost of producing the fuel cell stack. The well selected configuration of the fuel cell hybrid powertrain and the well designed power distribution strategy will partially increase the durability of the fuel cell stack.
Completing the configuration selection and the power distribution strategy optimization will need a lot of research. Researching directly using the fuel cell hybrid powertrain real prototype will increase the cost and decrease the R&D speed. Previous simulation calculation using the fuel cell hybrid powertrain simulation model will decrease the cost and increase the R&D speed.
This thesis primarily discusses how to complete the simulation model of the fuel cell hybrid powertrain in the Matlab/Simulink simulation environment. In the fuel cell hybrid powertrain discussed in this thesis, the fuel cell is not connected to the power bus directly. The fuel cell hybrid powertrain discussed in this thesis uses PEM fuel cell stack as the primary energy storage system, and uses the power battery as the auxiliary energy storage system.
Describing the operating characteristics of the fuel cell stack using the mechanism model will be too complex. Using the mechanism model of the fuel cell stack will decrease computing speed, and the increase of the accuracy will be not obvious. An empirical model is used to describe the operating characteristics of the fuel cell stack in this thesis. For the same reason, a Rint empirical model is used to describe the operating characteristics of the power battery in this thesis. A mechanical model is used to describe the operating characteristics of the drive motor in this thesis. A mechanical model is also used to describe the operating characteristics of the vehicle in this thesis. This thesis primarily discusses how to model the simulation model of the fuel cell hybrid powertrain, so a simple power distribution strategy is used in this thesis.
The key variable curves obtained in the simulation demonstrate that the designed fuel cell hybrid powertrain simulation model and the designed power distribution strategy are correct. At the same time, the key variable curves demonstrate that several coefficients are very important in the real configuration of the fuel cell hybrid powertrain.
进行燃料电池混合动力系统组成部件功率匹配以及功率分配策略优化需要进行大量研究。如果直接利用燃料电池混合动力系统实体原型机进行研究,将会造成研究成本过高以及研发周期过长。使用燃料电池混合动力系统仿真模型预先进行仿真计算研究可以节省研究经费,并且可以加快研究进度缩短研发周期。
本文主要讨论如何在Matlab/Simulink仿真环境下建立燃料电池混合动力系统仿真计算模型。本文所讨论的燃料电池混合动力系统采用燃料电池间接连接结构；采用PEM燃料电池系统作为本文所讨论的燃料电池混合动力系统的主要能量存储系统；采用动力电池系统作为本文所讨论的燃料电池混合动力系统的辅助能量存储系统。
使用反应机理模型描述燃料电池系统工作特性过于复杂,这将增加仿真计算所需时间,而且精度提高作用有限,因此本文采用基于经验数据的仿真模型描述燃料电池系统工作特性,不仅可以加快仿真计算速度,而且可以得到一定精度。同样,使用化学反应机理模型描述动力电池系统工作特性不仅过于复杂,而且精度提高作用有限,因此本文采用Rint等效电路仿真模型描述动力电池系统工作特性。本文使用机理模型描述驱动电机系统以及汽车传动系统工作特性。由于本文主要讨论如何建立燃料电池混合动力系统仿真计算模型,因此本文仅仅采用一种简单功率分配策略进行燃料电池混合动力系统功率分配控制。
仿真计算所得到的燃料电池混合动力系统重要变量变化曲线说明本文所建立的燃料电池混合动力系统仿真计算模型以及所设计的功率分配控制策略可以正常进行仿真计算。所得到的重要变量变化曲线同时指明进行燃料电池混合动力系统实际配置所需要重点注意调节的几种参数。
The fuel cell hybrid powertrain is a new potential automotive powertrain. The fuel cell hybrid powertrain is high energy efficiency and without any pollution, but the fuel cell stack which is used in the fuel cell hybrid powertrain is expensive and not durable at present. The mass production of the fuel cell hybrid powertrain will partially decrease the cost of producing the fuel cell stack. The well selected configuration of the fuel cell hybrid powertrain and the well designed power distribution strategy will partially increase the durability of the fuel cell stack.
Completing the configuration selection and the power distribution strategy optimization will need a lot of research. Researching directly using the fuel cell hybrid powertrain real prototype will increase the cost and decrease the R&D speed. Previous simulation calculation using the fuel cell hybrid powertrain simulation model will decrease the cost and increase the R&D speed.
This thesis primarily discusses how to complete the simulation model of the fuel cell hybrid powertrain in the Matlab/Simulink simulation environment. In the fuel cell hybrid powertrain discussed in this thesis, the fuel cell is not connected to the power bus directly. The fuel cell hybrid powertrain discussed in this thesis uses PEM fuel cell stack as the primary energy storage system, and uses the power battery as the auxiliary energy storage system.
Describing the operating characteristics of the fuel cell stack using the mechanism model will be too complex. Using the mechanism model of the fuel cell stack will decrease computing speed, and the increase of the accuracy will be not obvious. An empirical model is used to describe the operating characteristics of the fuel cell stack in this thesis. For the same reason, a Rint empirical model is used to describe the operating characteristics of the power battery in this thesis. A mechanical model is used to describe the operating characteristics of the drive motor in this thesis. A mechanical model is also used to describe the operating characteristics of the vehicle in this thesis. This thesis primarily discusses how to model the simulation model of the fuel cell hybrid powertrain, so a simple power distribution strategy is used in this thesis.
The key variable curves obtained in the simulation demonstrate that the designed fuel cell hybrid powertrain simulation model and the designed power distribution strategy are correct. At the same time, the key variable curves demonstrate that several coefficients are very important in the real configuration of the fuel cell hybrid powertrain.
引文
[1]Andrew F. Burke. Batteries and Ultracapacitors for Electric, Hybrid, and Fuel Cell Vehicles. Proceedings of the IEEE,2007, Vol.95:806-820.
[2]Bernard J., Delprat S., Buechi F., et al. Global Optimisation in the Power Management of a Fuel Cell Hybrid Vehicle(FCHV). IEEE,2006.
[3]Chan-Chiao Lin. Modeling and Control Strategy Development for Hybrid Vehicles. A dissertation submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy. The University of Michigan,2004.
[4]Christian Dufour, Tetsuhiro Ishikawa, Simon, et al. Modern Hardware-in-the-loop Simulation Technology for Fuel Cell Hybrid Electric Vehicles. IEEE,2007.
[5]C. S Hearn, M. M. Flynn, M. C. Lewis, et al. Low Cost Flywheel Energy Storage for a Fuel Cell Powered Transit Bus. IEEE,2007.
[6]Daisie D. Boettner, M. S. E.. Modeling of PEM Fuel Cell Systems including Controls and Reforming Effects for Hybrid Automotive Applications. A dissertation presented in partial fulfillment of the requirements for the degree of Doctor of Philosophy. The Ohio State University,2001.
[7]Di Wu, Sheldon S. Williamson. A Novel Design and Feasibility Analysis of a Fuel Cell Plug-in Hybrid Electric Vehicle. IEEE Vehicle Power and Propulsion Conference (VPPC),2008.
[8]Feifei Liu, Zhenhua Jin, Dawei Gao, et al. Development and Application of Fuel Cell Hybrid Powertrain Simulation Platform. IEEE Vehicle Power and Propulsion Conference (VPPC),2008.
[9]Giorgio Rizzoni, Lino Guzzella, Bernd M. Baumann. Unified Modeling of Hybrid Electric Vehicle Drivetrains. IEEE/ASME Transactions on Mechatronics,1999, Vol. 4, No.3:246-257.
[10]Haitao Yun, Zaimin Zhong, Zechang Sun, et al. Research on Power Balance Strategy of Fuel Cell Vehicle Powertrain. IEEE,2006.
[11]Hassan Moghbelli, Abolfazl Halvaei Niasar, Reza Langari. New Generation of Passenger Vehicles:FCV or HEV?. IEEE,2006.
[12]HE Hong-wen, ZHANG Cheng-ning, YU Xiao-jiang. Power Distribution Control for a Fuel Cell Hybrid Electric Bus. IEEE,2007.
[13]J. Bernard, S. Delprat, F. N. Buchi, et al. Fuel Cell Hybrid Power train:Towards Minimization of Hydrogen Consumption. IEEE,2007.
[14]Jeffrey Daniel Wishart. Modelling, Simulation, Testing, and Optimization of Advanced Hybrid Vehicle Powertrains. A thesis submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy. University of Victoria, 2008.
[15]Jin Ming, Zhong Zaiming, Sun Zechang. Adapting of a Fuel Cell Engine to Existing Fuel Cell Hybrid Vehicle. IEEE,2006.
[16]Jin Zhenhua, Gao Dawei, Lu Qingchun, Ouyang Minggao. Integration of Fuel Cell Hybrid Powertrain Based on Dynamic Testbed. IEEE Vehicle Power and Propulsion Conference(VPPC),2008.
[17]Joeri Van Mierlo, Gaston Maggetto. Innovative Iteration Algorithm for a Vehicle Simulation Program. IEEE Transactions on Vehicular Technology,2004, Vol.53, No. 2:401-412.
[18]Junghwan Bang, Han-Sang Kim, Dong-Hun Lee, et al. Study on Operating Characteristics of Fuel Cell Powered Electric Vehicle with Different Air Feeding Systems. Journal of Mechanical Science and Technology,2008,22:1602-1611.
[19]Liqing Sun, C. C. Chan, Ruchuan Liang, et al. State-of-art of Energy System for New Energy Vehicles. IEEE Vehicle Power and Propulsion Conference (VPPC),2008.
[20]Li Yufang, Zhao Youqun, Yang Zhenlin. Study on Power Distribution Strategy and Optimization of Fuel Cell Hybrid Vehicles. IEEE Vehicle Power and Propulsion Conference (VPPC),2008.
[21]Lucia Gauchia, Javier Sanz. Hardware-in-loop Simulation Platform for Energy Systems in Hybrid Electric Vehicles. IEEE,2008.
[22]Mehdi T. Abolhassani. A Novel Multiphase Fault Tolerant Permanent Magnet Motor Drive for Fuel Cell Powered Vehicles. IEEE,2007.
[23]M. Elbuluk, N. R. N. Idris. The Role Power Electronics in Future Energy Systems and Green Industrialization.2nd IEEE International Conference on Power and Energy (PECon08),2008.
[24]Micheal Parten, Tim Maxwell. Development of a PEM Fuel Cell Vehicle. IEEE,2001.
[25]Min Joong Kim, Huei Peng. Combined Control/Plant Optimization of Fuel Cell Hybrid Vehicles. Proceedings of the 2006 American Control Conference,2006.
[26]Min Joong Kim, Huei Peng, Chan-chiao, et al. Testing, Modeling and Control of a Fuel Cell Hybrid Vehicle.2005 American Control Conference,2005.
[27]Prof. Ravindra P. Joshi, Prof. Anil P. Deshmukh. Vector Control:A New Control Technique for Latest Automotive Applications (EV). IEEE,2008.
[28]Radu C. Donca, Horia Balan, Sorin Besoiu, et al. Implementation of a Load Control Method for the Improvement of the Efficiency of a Fuel Cell, Based on the Hardware-In-The-Loop technique. IEEE,2008.
[29]S. Bontour, D. Hissel, H. Gualous, et al. Design of a Parallel Fuel Cell-Supercapacitor Auxiliary Power Unit (APU). IEEE.
[30]Sebastien E. Gay, Hongwei Gao, Dr. Mehrdad Ehsani. Fuel Cell Hybrid Drive Train Configurations and Motor Drive Selection. IEEE,2002.
[31]Shinji Aso, Mikio Kizaki, Yasuhiro Nonobe. Development of Fuel Cell Hybrid Vehicles in TOYOTA. IEEE,2007.
[32]S. M. Naylor, V. Pickert, D. J. Atkinson. Fuel Cell Drive Train Topologies-Computer Analysis of Potential Systems. IEEE.
[33]Sridhar Thondikulam Raveendran. Analysis of a Fuel Cell-Internal Combustion Engine Series Hybrid Vehicle. A thesis submitted in partial fulfillment of the requirements for the Master of Science Degree. University of Nevada, Las Vegas, 2007.
[34]Sun Zechang, Wei Xuezhe, Dai Haifeng. Battery Management Systems in the China-made "Start" Series FCHVs. IEEE,2008.
[35]Yimin Gao, Mahrdad Ehsani, Fellow, IEEE. Systematic Design of Fuel Cell Powered Hybrid Vehicle Drive Train. IEEE,2001.
[36]Young-Do Kim, Ki-Bum Park, Chong-Eun Kim, et al. Band-Gap Reference Voltage Control Strategy of Power Conditioning System for Fuel Cell Hybrid Vehicle. IEEE, 2008.
[37]Z. JIN, M. OUYANG, Q. LU, et al. Development of Fuel Cell Hybrid Powertrain Research Platform Based on Dynamic Testbed. International Journal of Automotive Technology,2008, Vol.9, No.3:365-372.
[38]徐梁飞,李相俊,华剑锋等.燃料电池混合动力参数识别及整车控制策略优化.机械工程学报,2009,Vol.45,No.2：56-61.
[39]徐梁飞,卢兰光,李建秋等.燃料电池混合动力系统建模及能量管理算法仿真.机械工程学报,2009,Vol.45,No.1：141-147.
[40]金振华,欧阳明高,卢青春等.燃料电池混合动力系统优化控制策略.清华大学学报(自然科学版),2009,No.2：273-276.
[41]李发海,王岩.电机与拖动基础.第3版.北京：清华大学出版社,2008.
[42]马卡,赛勒著,李乃文,孙江宏等译.动态系统建模与控制.北京：清华大学出版社,2006.
[43]欧阳明高,李建秋,杨福源,卢兰光著.汽车新型动力系统：构型、建模与控制.北京：清华大学出版社,2008.
[44]尾形克彦著,卢伯英,于海勋等译.现代控制工程.第四版.北京：电子工业出版社,2007.
[45]余志生主编.汽车理论.第3版.北京：机械工业出版社,2006.
[46]ADVISOR2002程序动力系统参数文件.
[47]Matlab程序Help文档.
[2]Bernard J., Delprat S., Buechi F., et al. Global Optimisation in the Power Management of a Fuel Cell Hybrid Vehicle(FCHV). IEEE,2006.
[3]Chan-Chiao Lin. Modeling and Control Strategy Development for Hybrid Vehicles. A dissertation submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy. The University of Michigan,2004.
[4]Christian Dufour, Tetsuhiro Ishikawa, Simon, et al. Modern Hardware-in-the-loop Simulation Technology for Fuel Cell Hybrid Electric Vehicles. IEEE,2007.
[5]C. S Hearn, M. M. Flynn, M. C. Lewis, et al. Low Cost Flywheel Energy Storage for a Fuel Cell Powered Transit Bus. IEEE,2007.
[6]Daisie D. Boettner, M. S. E.. Modeling of PEM Fuel Cell Systems including Controls and Reforming Effects for Hybrid Automotive Applications. A dissertation presented in partial fulfillment of the requirements for the degree of Doctor of Philosophy. The Ohio State University,2001.
[7]Di Wu, Sheldon S. Williamson. A Novel Design and Feasibility Analysis of a Fuel Cell Plug-in Hybrid Electric Vehicle. IEEE Vehicle Power and Propulsion Conference (VPPC),2008.
[8]Feifei Liu, Zhenhua Jin, Dawei Gao, et al. Development and Application of Fuel Cell Hybrid Powertrain Simulation Platform. IEEE Vehicle Power and Propulsion Conference (VPPC),2008.
[9]Giorgio Rizzoni, Lino Guzzella, Bernd M. Baumann. Unified Modeling of Hybrid Electric Vehicle Drivetrains. IEEE/ASME Transactions on Mechatronics,1999, Vol. 4, No.3:246-257.
[10]Haitao Yun, Zaimin Zhong, Zechang Sun, et al. Research on Power Balance Strategy of Fuel Cell Vehicle Powertrain. IEEE,2006.
[11]Hassan Moghbelli, Abolfazl Halvaei Niasar, Reza Langari. New Generation of Passenger Vehicles:FCV or HEV?. IEEE,2006.
[12]HE Hong-wen, ZHANG Cheng-ning, YU Xiao-jiang. Power Distribution Control for a Fuel Cell Hybrid Electric Bus. IEEE,2007.
[13]J. Bernard, S. Delprat, F. N. Buchi, et al. Fuel Cell Hybrid Power train:Towards Minimization of Hydrogen Consumption. IEEE,2007.
[14]Jeffrey Daniel Wishart. Modelling, Simulation, Testing, and Optimization of Advanced Hybrid Vehicle Powertrains. A thesis submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy. University of Victoria, 2008.
[15]Jin Ming, Zhong Zaiming, Sun Zechang. Adapting of a Fuel Cell Engine to Existing Fuel Cell Hybrid Vehicle. IEEE,2006.
[16]Jin Zhenhua, Gao Dawei, Lu Qingchun, Ouyang Minggao. Integration of Fuel Cell Hybrid Powertrain Based on Dynamic Testbed. IEEE Vehicle Power and Propulsion Conference(VPPC),2008.
[17]Joeri Van Mierlo, Gaston Maggetto. Innovative Iteration Algorithm for a Vehicle Simulation Program. IEEE Transactions on Vehicular Technology,2004, Vol.53, No. 2:401-412.
[18]Junghwan Bang, Han-Sang Kim, Dong-Hun Lee, et al. Study on Operating Characteristics of Fuel Cell Powered Electric Vehicle with Different Air Feeding Systems. Journal of Mechanical Science and Technology,2008,22:1602-1611.
[19]Liqing Sun, C. C. Chan, Ruchuan Liang, et al. State-of-art of Energy System for New Energy Vehicles. IEEE Vehicle Power and Propulsion Conference (VPPC),2008.
[20]Li Yufang, Zhao Youqun, Yang Zhenlin. Study on Power Distribution Strategy and Optimization of Fuel Cell Hybrid Vehicles. IEEE Vehicle Power and Propulsion Conference (VPPC),2008.
[21]Lucia Gauchia, Javier Sanz. Hardware-in-loop Simulation Platform for Energy Systems in Hybrid Electric Vehicles. IEEE,2008.
[22]Mehdi T. Abolhassani. A Novel Multiphase Fault Tolerant Permanent Magnet Motor Drive for Fuel Cell Powered Vehicles. IEEE,2007.
[23]M. Elbuluk, N. R. N. Idris. The Role Power Electronics in Future Energy Systems and Green Industrialization.2nd IEEE International Conference on Power and Energy (PECon08),2008.
[24]Micheal Parten, Tim Maxwell. Development of a PEM Fuel Cell Vehicle. IEEE,2001.
[25]Min Joong Kim, Huei Peng. Combined Control/Plant Optimization of Fuel Cell Hybrid Vehicles. Proceedings of the 2006 American Control Conference,2006.
[26]Min Joong Kim, Huei Peng, Chan-chiao, et al. Testing, Modeling and Control of a Fuel Cell Hybrid Vehicle.2005 American Control Conference,2005.
[27]Prof. Ravindra P. Joshi, Prof. Anil P. Deshmukh. Vector Control:A New Control Technique for Latest Automotive Applications (EV). IEEE,2008.
[28]Radu C. Donca, Horia Balan, Sorin Besoiu, et al. Implementation of a Load Control Method for the Improvement of the Efficiency of a Fuel Cell, Based on the Hardware-In-The-Loop technique. IEEE,2008.
[29]S. Bontour, D. Hissel, H. Gualous, et al. Design of a Parallel Fuel Cell-Supercapacitor Auxiliary Power Unit (APU). IEEE.
[30]Sebastien E. Gay, Hongwei Gao, Dr. Mehrdad Ehsani. Fuel Cell Hybrid Drive Train Configurations and Motor Drive Selection. IEEE,2002.
[31]Shinji Aso, Mikio Kizaki, Yasuhiro Nonobe. Development of Fuel Cell Hybrid Vehicles in TOYOTA. IEEE,2007.
[32]S. M. Naylor, V. Pickert, D. J. Atkinson. Fuel Cell Drive Train Topologies-Computer Analysis of Potential Systems. IEEE.
[33]Sridhar Thondikulam Raveendran. Analysis of a Fuel Cell-Internal Combustion Engine Series Hybrid Vehicle. A thesis submitted in partial fulfillment of the requirements for the Master of Science Degree. University of Nevada, Las Vegas, 2007.
[34]Sun Zechang, Wei Xuezhe, Dai Haifeng. Battery Management Systems in the China-made "Start" Series FCHVs. IEEE,2008.
[35]Yimin Gao, Mahrdad Ehsani, Fellow, IEEE. Systematic Design of Fuel Cell Powered Hybrid Vehicle Drive Train. IEEE,2001.
[36]Young-Do Kim, Ki-Bum Park, Chong-Eun Kim, et al. Band-Gap Reference Voltage Control Strategy of Power Conditioning System for Fuel Cell Hybrid Vehicle. IEEE, 2008.
[37]Z. JIN, M. OUYANG, Q. LU, et al. Development of Fuel Cell Hybrid Powertrain Research Platform Based on Dynamic Testbed. International Journal of Automotive Technology,2008, Vol.9, No.3:365-372.
[38]徐梁飞,李相俊,华剑锋等.燃料电池混合动力参数识别及整车控制策略优化.机械工程学报,2009,Vol.45,No.2：56-61.
[39]徐梁飞,卢兰光,李建秋等.燃料电池混合动力系统建模及能量管理算法仿真.机械工程学报,2009,Vol.45,No.1：141-147.
[40]金振华,欧阳明高,卢青春等.燃料电池混合动力系统优化控制策略.清华大学学报(自然科学版),2009,No.2：273-276.
[41]李发海,王岩.电机与拖动基础.第3版.北京：清华大学出版社,2008.
[42]马卡,赛勒著,李乃文,孙江宏等译.动态系统建模与控制.北京：清华大学出版社,2006.
[43]欧阳明高,李建秋,杨福源,卢兰光著.汽车新型动力系统：构型、建模与控制.北京：清华大学出版社,2008.
[44]尾形克彦著,卢伯英,于海勋等译.现代控制工程.第四版.北京：电子工业出版社,2007.
[45]余志生主编.汽车理论.第3版.北京：机械工业出版社,2006.
[46]ADVISOR2002程序动力系统参数文件.
[47]Matlab程序Help文档.