PHEV由纯电动向混合驱动模式切换协调控制设计
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摘要
针对并联混合动力汽车模式切换过程中动力中断和扭矩波动对车辆驾驶性能的影响,提出一种由纯电动向混合驱动模式切换的协调控制方法.首先,根据切换过程动力学分析及控制目标,将该过程分为离合器接合前后两部分.然后,对前者设计干扰观测器估计并补偿扭矩干扰和模型不确定性,提出基于干扰补偿的协调控制策略,以消除干扰,实现发动机的快速起动、同步;对后者引入发动机扭矩延迟变量,并利用电机扭矩补偿发动机扭矩误差,设计基于电机补偿的扭矩切换协调控制策略,实现平滑切换.仿真结果表明,该控制策略与传统控制方法相比,冲击度降低50.5%,有效减小了扭矩波动,确保了模式切换的平顺性,提高了驾驶性能.
A coordinated control method is presented for drivability worse caused by power interruption and torque fluctuation in the powertrain during the mode transition from motor driving mode to hybrid driving mode for a parallel hybrid electric vehicle(PHEV). Firstly, according to the dynamic analysis of the mode switching process and control targets, the switching process is divided into two phases, that is, before clutch engagement and after clutch engagement.Then, the mode switching control strategy based on disturbance compensation is proposed to eliminate disturbance and realize speed synchronization fastly for the former, in which a disturbance observer is designed to estimate and compensate torque disturbances and model uncertainties during mode transition. To the latter, the torque switching control strategy based on motor compensation is devised to realize smooth switching by introducing the torque delay of the engine and using the motor torque to compensate the torque error of engine. Finally, simulation results show that compared with the traditional control method, the jerk can be decreased by 50.5% during mode transition. The proposed strategies can effectively reduce the torque fluctuations in the powertrain and achieve smooth transition, accordingly, the drivability of PHEV can be improved.
A coordinated control method is presented for drivability worse caused by power interruption and torque fluctuation in the powertrain during the mode transition from motor driving mode to hybrid driving mode for a parallel hybrid electric vehicle(PHEV). Firstly, according to the dynamic analysis of the mode switching process and control targets, the switching process is divided into two phases, that is, before clutch engagement and after clutch engagement.Then, the mode switching control strategy based on disturbance compensation is proposed to eliminate disturbance and realize speed synchronization fastly for the former, in which a disturbance observer is designed to estimate and compensate torque disturbances and model uncertainties during mode transition. To the latter, the torque switching control strategy based on motor compensation is devised to realize smooth switching by introducing the torque delay of the engine and using the motor torque to compensate the torque error of engine. Finally, simulation results show that compared with the traditional control method, the jerk can be decreased by 50.5% during mode transition. The proposed strategies can effectively reduce the torque fluctuations in the powertrain and achieve smooth transition, accordingly, the drivability of PHEV can be improved.
引文
[1] Roberto M, Vadim U, Simona O. Energy management design in hybrid electric vehicles:A novel optimality and stability framework[J]. IEEE Trans on Control Systems Technology, 2015, 23(4):1307-1322.
[2] Cairano S D, Bernardini D, Bemporad A, et al. Stochastic MPC with learning for driver-predictive vehicle control and its application to HEV energy management[J]. IEEE Trans on Control Systems Technology, 2014, 22(3):1018-1031.
[3]童毅.并联式混合动力系统动态协调控制问题的研究[D].北京:清华大学汽车工程系, 2004.(Tong Y. Study on the coordinated control issue in parallel hybrid electric system[D]. Beijing:Deparment of Automotive Engineering, Tsinghua University, 2004.)
[4]张娜,赵峰,罗禹贡,等.基于电机转速闭环控制的混合动力汽车模式切换动态协调控制策略[J].汽车工程, 2014, 36(2):134-138.(Zhang N, Zhao F, Luo Y G, et al. A dynamic coordinated control strategy for the mode-switch of hybrid electric vehicle based on motor speed closed-loop control[J].Automotive Engineering, 2014, 36(2):134-138.)
[5] Kim H, Kim J, Lee H. Mode transition control using disturbance compensation for a parallel hybrid electric vehicle[J]. Proc of the Institution of Mechanical Engineers, Part D:J of Automobile Engineering, 2011,225(2):150-166.
[6]王俊.混合动力AMT客车控制策略优化与动态协调控制[D].长春:吉林大学汽车工程学院, 2015.(Wang J. Control strategy optimization and dynamic coordinated control of hybrid electric bus with AMT[D].Changchun:College of Automotive Engineering, Jilin University, 2015.)
[7]杜常清,颜伏伍,严运兵,等.用于控制的发动机扭矩估计方法研究[J].内燃机学报, 2008, 5(26):446-451.(Du C Q, Yan F W, Yan Y B, et al. Methods of engine torque estimation for control algorithms[J]. Trans of CSICE, 2008, 5(26):446-451.)
[8]严运兵,陈华明,张光德.并联混合动力汽车的发动机扭矩估计[J].汽车工程, 2008, 30(2):117-120.(Yan Y B, Chen H M, Zhang G D. Estimation of engine torque for parallel hybrid electric vehicle[J]. Automotive Engineering, 2008, 30(2):117-120.)
[9] Minh V T, Rashid A A. Modeling and model predictive control for hybrid electric vehicles[J]. Int J of Automotive Technology, 2012, 13(3):477-485.
[10] Sun J, Xing G J, Liu X D. A novel torque coordination control strategy of a single-shaft parallel hybrid electric vehicle based on model predictive control[J].Mathematical Problems in Engineering, 2015, 9(1):1-12.
[11]严运兵,崔挺.并联混合汽车状态切换过程扭矩优化分配[J].控制工程, 2016, 23(3):636-641.(Yan Y B, Cui T. Optimal torque distribution during state-switch process in parallel hybrid electric vehicle[J].Control Engineering of China, 2016, 23(3):636-641.)
[12]闫晓磊,钟勇,钟志华. HEV传动系统动力平顺性切换最优控制的研究[J].汽车工程, 2008, 30(4):28-30.(Yan X L, Zhong Y, Zhong Z H. A research on optimal control for power smooth shifting in HEV[J]. Automotive Engineering, 2008, 30(4):28-30.)
[13]王庆年,冀尔聪,王伟华.并联混合动力汽车模式切换过程的协调控制[J].吉林大学学报:工学版, 2008,38(1):1-6.(Wang Q N, Ji E C, Wang W H. Coordinated control for mode-switch of parallel hybrid electric vehicle[J]. J of Jilin University:Engineering and Technology Edition,2008, 38(1):1-6.)
[14]李显阳.并联混合动力汽车模式切换动态协调控制的仿真研究[D].北京:北京交通大学机械与电子控制工程学院, 2014.(Li X Y. Simulation study on mode-shift dynamic coordinated control of parallel hybrid electric vehicle[D].Beijing:School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, 2014.)
[15]叶明,谢佳佳,李鑫.搭载机电控制无级变速器混合动力汽车模式切换仿真分析[J].重庆大学学报:自然科学版, 2015, 38(6):58-67.(Ye M, Xie J J, Li X. Mode-switch simulation analysis of hybrid electric vehicle equipped with electrical-mechanical continuously variable transmission[J]. J of Chongqing University:Natural Science Edition, 2015, 38(6):58-67.)
[16] Sariyildiz E, Ohnishi K. A guide to design disturbance observer based motion control systems[C]. Proc of 2014Int Power Electronics Conf. Hiroshima:IEEE, 2014:2483-2488.
[17]梁利华,王保华,贾鹤鸣.基于干扰观测器的SWATH船运动非线性预测控制[J].控制与决策, 2014, 29(3):431-436.(Liang L H, Wang B H, Jia H M. Nonlinear predictive control of SWATH ship motion based on disturbance observer[J]. Control and Decision, 2014,29(3):431-436.)
[18] Kim B K, Wan K C. Unified analysis and design of robust disturbance attenuation algorithms using inherent structural equivalence[C]. Proc of the 2001 American Control Conf. Arlington:IEEE, 2001:4046-4051.
[19]孔慧芳,王瑞,鲍伟.混合动力汽车E-H模式切换中扭矩协调控制策略研究[J].合肥工业大学学报:自然科学版, 2017, 40(3):289-293.(Kong H F, Wang R, Bao W. Research on torque coordinated control strategy for hybrid electric vehicle in E-H mode switch[J]. J of Hefei University of Technology:Natural Science Edition, 2017, 40(3):289-293.)
[20] Kum D, Peng H, Bucknor N K. Optimal control of engine-starts for drivability of parallel hybrid electric vehicles[C]. Proc of the ASME 2011 Dynamic Systems and Control Conf. Arlington:American Society of Mechanical Engineers, 2011:287-294.
[2] Cairano S D, Bernardini D, Bemporad A, et al. Stochastic MPC with learning for driver-predictive vehicle control and its application to HEV energy management[J]. IEEE Trans on Control Systems Technology, 2014, 22(3):1018-1031.
[3]童毅.并联式混合动力系统动态协调控制问题的研究[D].北京:清华大学汽车工程系, 2004.(Tong Y. Study on the coordinated control issue in parallel hybrid electric system[D]. Beijing:Deparment of Automotive Engineering, Tsinghua University, 2004.)
[4]张娜,赵峰,罗禹贡,等.基于电机转速闭环控制的混合动力汽车模式切换动态协调控制策略[J].汽车工程, 2014, 36(2):134-138.(Zhang N, Zhao F, Luo Y G, et al. A dynamic coordinated control strategy for the mode-switch of hybrid electric vehicle based on motor speed closed-loop control[J].Automotive Engineering, 2014, 36(2):134-138.)
[5] Kim H, Kim J, Lee H. Mode transition control using disturbance compensation for a parallel hybrid electric vehicle[J]. Proc of the Institution of Mechanical Engineers, Part D:J of Automobile Engineering, 2011,225(2):150-166.
[6]王俊.混合动力AMT客车控制策略优化与动态协调控制[D].长春:吉林大学汽车工程学院, 2015.(Wang J. Control strategy optimization and dynamic coordinated control of hybrid electric bus with AMT[D].Changchun:College of Automotive Engineering, Jilin University, 2015.)
[7]杜常清,颜伏伍,严运兵,等.用于控制的发动机扭矩估计方法研究[J].内燃机学报, 2008, 5(26):446-451.(Du C Q, Yan F W, Yan Y B, et al. Methods of engine torque estimation for control algorithms[J]. Trans of CSICE, 2008, 5(26):446-451.)
[8]严运兵,陈华明,张光德.并联混合动力汽车的发动机扭矩估计[J].汽车工程, 2008, 30(2):117-120.(Yan Y B, Chen H M, Zhang G D. Estimation of engine torque for parallel hybrid electric vehicle[J]. Automotive Engineering, 2008, 30(2):117-120.)
[9] Minh V T, Rashid A A. Modeling and model predictive control for hybrid electric vehicles[J]. Int J of Automotive Technology, 2012, 13(3):477-485.
[10] Sun J, Xing G J, Liu X D. A novel torque coordination control strategy of a single-shaft parallel hybrid electric vehicle based on model predictive control[J].Mathematical Problems in Engineering, 2015, 9(1):1-12.
[11]严运兵,崔挺.并联混合汽车状态切换过程扭矩优化分配[J].控制工程, 2016, 23(3):636-641.(Yan Y B, Cui T. Optimal torque distribution during state-switch process in parallel hybrid electric vehicle[J].Control Engineering of China, 2016, 23(3):636-641.)
[12]闫晓磊,钟勇,钟志华. HEV传动系统动力平顺性切换最优控制的研究[J].汽车工程, 2008, 30(4):28-30.(Yan X L, Zhong Y, Zhong Z H. A research on optimal control for power smooth shifting in HEV[J]. Automotive Engineering, 2008, 30(4):28-30.)
[13]王庆年,冀尔聪,王伟华.并联混合动力汽车模式切换过程的协调控制[J].吉林大学学报:工学版, 2008,38(1):1-6.(Wang Q N, Ji E C, Wang W H. Coordinated control for mode-switch of parallel hybrid electric vehicle[J]. J of Jilin University:Engineering and Technology Edition,2008, 38(1):1-6.)
[14]李显阳.并联混合动力汽车模式切换动态协调控制的仿真研究[D].北京:北京交通大学机械与电子控制工程学院, 2014.(Li X Y. Simulation study on mode-shift dynamic coordinated control of parallel hybrid electric vehicle[D].Beijing:School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, 2014.)
[15]叶明,谢佳佳,李鑫.搭载机电控制无级变速器混合动力汽车模式切换仿真分析[J].重庆大学学报:自然科学版, 2015, 38(6):58-67.(Ye M, Xie J J, Li X. Mode-switch simulation analysis of hybrid electric vehicle equipped with electrical-mechanical continuously variable transmission[J]. J of Chongqing University:Natural Science Edition, 2015, 38(6):58-67.)
[16] Sariyildiz E, Ohnishi K. A guide to design disturbance observer based motion control systems[C]. Proc of 2014Int Power Electronics Conf. Hiroshima:IEEE, 2014:2483-2488.
[17]梁利华,王保华,贾鹤鸣.基于干扰观测器的SWATH船运动非线性预测控制[J].控制与决策, 2014, 29(3):431-436.(Liang L H, Wang B H, Jia H M. Nonlinear predictive control of SWATH ship motion based on disturbance observer[J]. Control and Decision, 2014,29(3):431-436.)
[18] Kim B K, Wan K C. Unified analysis and design of robust disturbance attenuation algorithms using inherent structural equivalence[C]. Proc of the 2001 American Control Conf. Arlington:IEEE, 2001:4046-4051.
[19]孔慧芳,王瑞,鲍伟.混合动力汽车E-H模式切换中扭矩协调控制策略研究[J].合肥工业大学学报:自然科学版, 2017, 40(3):289-293.(Kong H F, Wang R, Bao W. Research on torque coordinated control strategy for hybrid electric vehicle in E-H mode switch[J]. J of Hefei University of Technology:Natural Science Edition, 2017, 40(3):289-293.)
[20] Kum D, Peng H, Bucknor N K. Optimal control of engine-starts for drivability of parallel hybrid electric vehicles[C]. Proc of the ASME 2011 Dynamic Systems and Control Conf. Arlington:American Society of Mechanical Engineers, 2011:287-294.