多轴特种混动车辆工况自适应驱动力分配控制
|
摘要
针对多轴电子驱动桥式特种混合动力车辆,提出基于工况自适应识别算法的驱动力协调分配控制策略。基于C-WTVC以及WUVSUB车辆标准行驶循环工况划分运动学片段,利用聚类分析的方法对车辆行驶工况分类,并基于简化的神经网络算法建立车辆行驶工况在线识别机制;基于工况识别结果提出工况自适应驱动力预分配控制策略,包括平均分配、动力性分配及经济性分配,其中经济性分配系数基于系统效率最优进行解算;在驱动力预分配的基础上,基于多轴车辆动力源冗余配置的特点,提出驱动力失效分配控制策略,保障车辆在故障状态下仍具备一定的行驶能力;最后通过仿真测试验证了驱动力协调分配控制策略的有效性。仿真结果表明:所提策略能够有效保证车辆在动力源失效状态下的动力性能,提高了车辆运行可靠性。
Aiming at multi-axis electronically driven special hybrid vehicles, a coordinated distribution control strategy of driving forces was proposed based on drive-cycle adaptive recognition algorithm. Firstly, the C-WTVC and WUVSUB standard drive-cycles were divided into several kinematics fragments and the drive-cycles of vehicles were classified by clustering analysis. And the online recognition mechanism of vehicle drive-cycle was established based on simplified neural network algorithm. According to the drive-cycle recognition results, the pre-distribution control strategy of driving forces was developed, including average distribution, dynamic distribution and economy distribution, and the economy distribution coefficients were calculated based on the optimal system efficiency. Then, on the basis of pre-distribution control strategy of driving forces, the failure distribution control strategy of driving forces was proposed to ensure certainty driving ability at error modes according to the redundant configuration features of the vehicles. Finally, the coordinated distribution control strategy of driving forces was validated by simulation tests. The simulation results show that the proposed strategy may effectively guarantee the dynamic performance of vehicles under the states of power source failures and improve the reliability of the vehicles.
Aiming at multi-axis electronically driven special hybrid vehicles, a coordinated distribution control strategy of driving forces was proposed based on drive-cycle adaptive recognition algorithm. Firstly, the C-WTVC and WUVSUB standard drive-cycles were divided into several kinematics fragments and the drive-cycles of vehicles were classified by clustering analysis. And the online recognition mechanism of vehicle drive-cycle was established based on simplified neural network algorithm. According to the drive-cycle recognition results, the pre-distribution control strategy of driving forces was developed, including average distribution, dynamic distribution and economy distribution, and the economy distribution coefficients were calculated based on the optimal system efficiency. Then, on the basis of pre-distribution control strategy of driving forces, the failure distribution control strategy of driving forces was proposed to ensure certainty driving ability at error modes according to the redundant configuration features of the vehicles. Finally, the coordinated distribution control strategy of driving forces was validated by simulation tests. The simulation results show that the proposed strategy may effectively guarantee the dynamic performance of vehicles under the states of power source failures and improve the reliability of the vehicles.
引文
[1] 钱立军, 荆红娟, 邱利宏. 基于随机模型预测控制的四驱混合动力汽车能量管理[J]. 中国机械工程, 2018, 29(11):1342-1348.QIAN Lijun, JING Hongjuan, QIU Lihong. Energy Management of a 4WD HEV Based on SMPC [J]. China Mechanical Engineering, 2018, 29(11):1342-1348.
[2] 任晓景. 五轴重型越野车电传动系统设计仿真及参数匹配[D]. 武汉:武汉理工大学, 2014.REN Xiaojing. The Performance Simulation and Optimization of Electric Transmission and Drive System for Five-axle Heavy Off-road Vehicle [D]. Wuhan: Wuhan University of Technology, 2014.
[3] 阚萍, 邱利宏, 钱立军,等. 基于Willans Line的双轴驱动混合动力越野车实时能量管理[J]. 中国机械工程, 2016, 27(11):1546-1553.KAN Ping, QIU Lihong, QIAN Lijun, et al. Real-time Energy Management of a Dual-axle-driven Off-road HEV Based on Willans Line [J]. China Mechanical Engineering, 2016, 27(11):1546-1553.
[4] 罗剑. 分布式电驱动车辆制/驱动力协调及主动容错控制[D]. 北京:清华大学, 2014.LUO Jian. Brake and Traction Force Coordination and Active Fault Tolerant Control for Distributed Electric Vehicles[D]. Beijing: Tsinghua University, 2014.
[5] 邱斌斌. 多轮独立电驱动车辆驱动力分层控制策略[D]. 杭州:浙江大学, 2015.QIU Binbin. Driving Force Hierarchical Control Strategy for Multi-wheel-independent-drive Electric Vehicle [D]. Hangzhou: Zhejiang University, 2015.
[6] 范晶晶, 罗禹贡, 李克强. 多轴独立电驱动混合动力车整车控制系统的开发[J]. 机械工程学报, 2010, 46(10): 126-131.FAN Jingjing, LUO Yugong, LI Keqiang.Development of Supervisory Control System for Multi-axle Independent Drive Hybrid Vehicle [J]. Journal of Mechanical Engineering, 2010, 46(10): 126-131.
[7] 范晶晶, 罗禹贡, 张弦, 等. 多轴独立电驱动车辆驱动力的协调控制[J]. 清华大学学报(自然科学版), 2011, 51(4): 478-481.FAN Jingjing, LUO Yugong, ZHANG Xian, et al. Coordinated Control of Driving Torque for Multi-axles Independent Driving Vehicles [J]. Journal of Tsinghua University (Sci. & Tech.), 2011, 51(4): 478-481.
[8] 韦克康, 郝瑞祥, 孙湖, 等. 串联式混合动力多轴独立驱动车辆的电机驱动系统设计[J]. 电力电子, 2009(2): 17-20.WEI Kekang, HAO Ruixiang, SUN Hu, et al. Design of the Motor Propulsion System for Multiple-axis-independent Driver SHEV [J]. Power Electronics, 2009(2): 17-20.
[9] 褚文博, 罗禹贡, 李克强. 基于失效工况的分布式电驱动越野车辆驱动力协调控制[J]. 清华大学学报(自然科学版), 2013(10): 1476-1480.CHU Wenbo, LUO Yugong, LI Keqiang. Failure Based Traction Coordination Control for a Distributed Electric Off-road Vehicle [J]. Journal of Tsinghua University (Sci. & Tech.), 2013(10): 1476-1480.
[10] 褚文博, 罗禹贡, 韩云武, 等. 基于规则的分布式电驱动车辆驱动系统失效控制[J]. 机械工程学报, 2012, 48(10):90-95.CHU Wenbo, LUO Yugong, HAN Yunwu, et al. Rule-based Traction System Failure Control of Distributed Electric Drive Vehicle [J]. Journal of Mechanical Engineering, 2012, 48(10):90-95.
[11] 褚文博, 罗禹贡, 赵峰, 等. 分布式驱动电动汽车驱动转矩协调控制[J]. 汽车工程, 2012(3): 185-189.CHU Wenbo, LUO Yugong, ZHAO Feng, et al. Driving Torque Coordinated Control of Distributed Drive Electric Vehicles [J]. Automotive Engineering, 2012(3): 185-189.
[12] 周楠, 王庆年, 曾小华. 基于工况识别的 HEV 自适应能量管理算法[J]. 湖南大学学报 (自然科学版), 2009, 36(9): 37-41.ZHOU Nan, WANG Qingnian, ZENG Xiaohua. Adaptive HEV Energy Management Algorithms Based on Drive-cycle Recognition [J]. Journal of Hunan University (Natural Sciences), 2009, 36(9): 37-41.
[13] 范晶晶, 毛明. 基于经济性的三轴电传动车辆驱动力分配策略研究[J]. 车辆与动力技术, 2007 (1): 49-51.FAN Jingjing, MAO Ming. A Study of Driving Force Distribution Strategy for Three-axles Electric Driving Vehicle Based on Economics [J]. Vehicle & Power Technology, 2007 (1): 49-51.
[14] 邹琳, 夏巨谌. 混合多目标遗传算法及其在热挤压模具型腔形状优化设计中的应用[J]. 中国机械工程, 2006, 17(21):2261-2265.ZOU Lin, XIA Juchen. Hybrid Multi-objective Genetic Algotrithm for an Optimal Die Profile in the Hot Extrusion Process [J]. China Mechanical Engineering, 2006, 17(21):2261-2265.
[2] 任晓景. 五轴重型越野车电传动系统设计仿真及参数匹配[D]. 武汉:武汉理工大学, 2014.REN Xiaojing. The Performance Simulation and Optimization of Electric Transmission and Drive System for Five-axle Heavy Off-road Vehicle [D]. Wuhan: Wuhan University of Technology, 2014.
[3] 阚萍, 邱利宏, 钱立军,等. 基于Willans Line的双轴驱动混合动力越野车实时能量管理[J]. 中国机械工程, 2016, 27(11):1546-1553.KAN Ping, QIU Lihong, QIAN Lijun, et al. Real-time Energy Management of a Dual-axle-driven Off-road HEV Based on Willans Line [J]. China Mechanical Engineering, 2016, 27(11):1546-1553.
[4] 罗剑. 分布式电驱动车辆制/驱动力协调及主动容错控制[D]. 北京:清华大学, 2014.LUO Jian. Brake and Traction Force Coordination and Active Fault Tolerant Control for Distributed Electric Vehicles[D]. Beijing: Tsinghua University, 2014.
[5] 邱斌斌. 多轮独立电驱动车辆驱动力分层控制策略[D]. 杭州:浙江大学, 2015.QIU Binbin. Driving Force Hierarchical Control Strategy for Multi-wheel-independent-drive Electric Vehicle [D]. Hangzhou: Zhejiang University, 2015.
[6] 范晶晶, 罗禹贡, 李克强. 多轴独立电驱动混合动力车整车控制系统的开发[J]. 机械工程学报, 2010, 46(10): 126-131.FAN Jingjing, LUO Yugong, LI Keqiang.Development of Supervisory Control System for Multi-axle Independent Drive Hybrid Vehicle [J]. Journal of Mechanical Engineering, 2010, 46(10): 126-131.
[7] 范晶晶, 罗禹贡, 张弦, 等. 多轴独立电驱动车辆驱动力的协调控制[J]. 清华大学学报(自然科学版), 2011, 51(4): 478-481.FAN Jingjing, LUO Yugong, ZHANG Xian, et al. Coordinated Control of Driving Torque for Multi-axles Independent Driving Vehicles [J]. Journal of Tsinghua University (Sci. & Tech.), 2011, 51(4): 478-481.
[8] 韦克康, 郝瑞祥, 孙湖, 等. 串联式混合动力多轴独立驱动车辆的电机驱动系统设计[J]. 电力电子, 2009(2): 17-20.WEI Kekang, HAO Ruixiang, SUN Hu, et al. Design of the Motor Propulsion System for Multiple-axis-independent Driver SHEV [J]. Power Electronics, 2009(2): 17-20.
[9] 褚文博, 罗禹贡, 李克强. 基于失效工况的分布式电驱动越野车辆驱动力协调控制[J]. 清华大学学报(自然科学版), 2013(10): 1476-1480.CHU Wenbo, LUO Yugong, LI Keqiang. Failure Based Traction Coordination Control for a Distributed Electric Off-road Vehicle [J]. Journal of Tsinghua University (Sci. & Tech.), 2013(10): 1476-1480.
[10] 褚文博, 罗禹贡, 韩云武, 等. 基于规则的分布式电驱动车辆驱动系统失效控制[J]. 机械工程学报, 2012, 48(10):90-95.CHU Wenbo, LUO Yugong, HAN Yunwu, et al. Rule-based Traction System Failure Control of Distributed Electric Drive Vehicle [J]. Journal of Mechanical Engineering, 2012, 48(10):90-95.
[11] 褚文博, 罗禹贡, 赵峰, 等. 分布式驱动电动汽车驱动转矩协调控制[J]. 汽车工程, 2012(3): 185-189.CHU Wenbo, LUO Yugong, ZHAO Feng, et al. Driving Torque Coordinated Control of Distributed Drive Electric Vehicles [J]. Automotive Engineering, 2012(3): 185-189.
[12] 周楠, 王庆年, 曾小华. 基于工况识别的 HEV 自适应能量管理算法[J]. 湖南大学学报 (自然科学版), 2009, 36(9): 37-41.ZHOU Nan, WANG Qingnian, ZENG Xiaohua. Adaptive HEV Energy Management Algorithms Based on Drive-cycle Recognition [J]. Journal of Hunan University (Natural Sciences), 2009, 36(9): 37-41.
[13] 范晶晶, 毛明. 基于经济性的三轴电传动车辆驱动力分配策略研究[J]. 车辆与动力技术, 2007 (1): 49-51.FAN Jingjing, MAO Ming. A Study of Driving Force Distribution Strategy for Three-axles Electric Driving Vehicle Based on Economics [J]. Vehicle & Power Technology, 2007 (1): 49-51.
[14] 邹琳, 夏巨谌. 混合多目标遗传算法及其在热挤压模具型腔形状优化设计中的应用[J]. 中国机械工程, 2006, 17(21):2261-2265.ZOU Lin, XIA Juchen. Hybrid Multi-objective Genetic Algotrithm for an Optimal Die Profile in the Hot Extrusion Process [J]. China Mechanical Engineering, 2006, 17(21):2261-2265.