基于模型预测控制的多电机驱动系统能量最优分配策略
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摘要
为了解决传统电动汽车单电机驱动系统高效区无法覆盖汽车行驶工况点的问题,提出了一种基于模型预测控制的纯电动汽车多电机驱动系统能量最优分配策略。首先,以整个多电机驱动系统为研究对象,建立了电机模型和汽车纵向动力学模型,并讨论了采用高效区不同的前后轴电机时提高整车效率的方法。其次,通过台架实验标定出电机在特定转速-转矩工作点的效率,通过引入前后轮驱动力分配比α,将两张电机的效率图转换为整车的车速-驱动力效率图。再次,对模型预测转矩控制下的永磁同步电机系统进行了理论分析与仿真验证。最后,通过硬件在环实验,验证了能量最优分配策略对整车效率以及续航里程提升的有效性。
In order to solve the problem that the driving condition of the electric vehicle(EV) cannot be covered by the high efficiency area of traditional single motor drive system,an optimal allocation strategy for the multi-motor drive system of EV was presented based on model predictive control. Firstly,taking the whole multi-motor drive system as research object,the model of motor and longitudinal dynamic model of automobile were established. The method to improve the efficiency of the vehicle with different front and rear axle motors in the high efficiency area was discussed. Secondly,the efficiency of the motor at specific speed and torque operation points was calibrated by the bench test. It was found that the high efficiency ranges of the two motors covered the working operation points of high speed cruising and low speed startup conditions,respectively. By introducing the driving force distribution ratio of front and rear motors,the efficiency diagram of the two motors was transformed into the vehicle driving efficiency diagram. Thirdly,theoretical analysis and simulation verification of permanent magnet synchronous motor(PMSM) system with model predictive torque control were carried out,showing that the method can ensure the rapid response of torque. Finally,the validity of the range improvement and vehicle efficiency were verified by the hardware in the loop(HIL) experiments. The results showed that the driving force distribution can integrate the high efficiency range of two motors and improve the efficiency of vehicle.Moreover,the model predictive torque control(MPTC) based on the motor benchs parameters can suppress the torque ripple in the low speed range and improve the accuracy of the output torque. The results can provide theoretical basis for the design of distributed driving system.
In order to solve the problem that the driving condition of the electric vehicle(EV) cannot be covered by the high efficiency area of traditional single motor drive system,an optimal allocation strategy for the multi-motor drive system of EV was presented based on model predictive control. Firstly,taking the whole multi-motor drive system as research object,the model of motor and longitudinal dynamic model of automobile were established. The method to improve the efficiency of the vehicle with different front and rear axle motors in the high efficiency area was discussed. Secondly,the efficiency of the motor at specific speed and torque operation points was calibrated by the bench test. It was found that the high efficiency ranges of the two motors covered the working operation points of high speed cruising and low speed startup conditions,respectively. By introducing the driving force distribution ratio of front and rear motors,the efficiency diagram of the two motors was transformed into the vehicle driving efficiency diagram. Thirdly,theoretical analysis and simulation verification of permanent magnet synchronous motor(PMSM) system with model predictive torque control were carried out,showing that the method can ensure the rapid response of torque. Finally,the validity of the range improvement and vehicle efficiency were verified by the hardware in the loop(HIL) experiments. The results showed that the driving force distribution can integrate the high efficiency range of two motors and improve the efficiency of vehicle.Moreover,the model predictive torque control(MPTC) based on the motor benchs parameters can suppress the torque ripple in the low speed range and improve the accuracy of the output torque. The results can provide theoretical basis for the design of distributed driving system.
引文
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13 ZHU B,ZHANG N,WALKER P.Two motor two speedpower-train system research of pure electric vehicle[C].SAE Paper 2013-01-1480,2013.
14韩清振,何仁.车用永磁同步电机稳定性分析[J/OL].农业机械学报,2016,47(11):363-368.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?file_no=20161149&flag=1&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2016.11.049.HAN Qingzhen,HE Ren.Stability analysis of permanent magnet synchronous motor in vehicle[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2016,47(11):363-368.(in Chinese)
15朱元,武四辈,吴志红,等.电动汽车用内置式永磁同步电动机精确转矩控制方法[J/OL].农业机械学报,2014,45(1):8-13.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?file_no=20140102&flag=1&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2014.01.002.ZHU Yuan,WU Sibei,WU Zhihong,et al.Precise torque control method of IPMSM in vehicle[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2014,45(1):8-13.(in Chinese)
16 WANG R,CHEN Y,FENG D,et al.Development and performance characterization of an electric ground vehicle with independently actuated in-wheel motors[J].Power Sources,2011,196(8):3962-3971.
17 MUTOH N,HORIGOME T,TAKITA K.Driving characteristics of an electric vehicle system with independently driven front and rear wheels[J].IEEE Transactions on Industrial Electronics,2006,53(3):813.
18 MUTOH N,NAKANO Y.Dynamics of front-and-rear-wheel-independent-drive-type electric vehicles at the time of failure[J].IEEE Transactions on Industrial Electronics,2011,59(3):1488-1499.
19 CHEN Y,WANG J.Energy-efficient control allocation with applications on planar motion control of electric ground vehicles[C]∥Proceedings of the American Control Conference,2011:2719-2724.
20 CHEN Y,WANG J.Fast and global optimal energy-efficient control allocation with applications to over-actuated electric ground vehicles[J].IEEE Transactions on Control Systems Technology,2011,20(5):1202-1211.
21 MYNAR Z,VESELY L,VACLAVEK P.PMSM model predictive control with field-weakening implementation[J].IEEETransactions on Industrial Electronics,2016,63(8):5156-5166.
2李聪波,李月,肖卫洪,等.面向能耗的纯电动汽车双电机动力系统参数优化匹配[J].计算机集成制造系统,2017,23(8):1620-1628.LI Congbo,LI Yue,XIAO Weihong,et al.Parameters optimization of dual-motor EV powertrain for energy consumption[J].Computer Integrated Manufacturing Systems,2017,23(8):1620-1628.(in Chinese)
3陈黎卿,苗伟,许泽镇,等.四驱汽车电控分动器性能预测与试验[J/OL].农业机械学报,2018,49(1):358-365.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?file_no=20180145&flag=1&journal_id=jcsam DOI:10.6041/j.issn.1000-1298.2018.01.045.CHEN Liqing,MIAO Wei,XU Zezhen,et al.Performance prediction and test of electric drive transfer for 4WD vehicle[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2018,49(1):358-365.(in Chinese)
4 COSOVIC M,SMAKA S.Design of initial topology of interior permanent magnet synchronous machine for hybrid electric vehicle[C]∥Electric Machines&Drives Conference,2016:1658-1664.
5张露,张忠富,王国业,等.基于电磁机械耦合再生制动系统的电动汽车稳定性控制[J/OL].农业机械学报,2017,48(1):309-316.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?file_no=20170141&flag=1&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2017.01.041.ZHANG Lu,ZHANG Zhongfu,WANG Guoye,et al.Electric vehicles stability control based on electromagnetic-mechanical coupled regenerative braking system[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2017,48(1):309-316.(in Chinese)
6陈舒燕,朱靖,余朝刚.具有能量回馈的纯电动车驱动控制系统[J].轻工机械,2015,33(3):54-57,61.CHEN Shuyan,ZHU Jing,YU Chaogang.Electric vehicle drive control system with energy regeneration[J].Light Industry Machinery,2015,33(3):54-57,61.(in Chinese)
7 BOUARFA A,FADEL M.Optimal predictive torque control of two PMSM supplied in parallel on a single inverter[J].IFACPapers on Line,2015,48(30):84-89.
8 CHOU F C,LI K,JENG L W.Model predictive control based optimal torque distribution strategy for a compound electric vehicle[C]∥Automatic Control Conference,2014:417-422.
9 WANG Z,YE H,WANG Y.Dynamic control of motor torque during the shifting process in PMSM-AMT system[J].WITTransactions on Modelling&Simulation,2014,60(4):1125-1132.
10毕聪.新型纯电动汽车双电机动力系统研究[D].南京:南京航空航天大学,2014.
11孟庆华,许进,王东峰.轮毂电机驱动型电动汽车动力系统研究[J/OL].农业机械学报,2013,44(8):33-37,20.http:∥www.j-csam.org/ch/reader/view_abstract.aspx?file_no=20130806&flag=1&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2013.08.006.MENG Qinghua,XU Jin,WANG Dongfeng.Power system of electric vehicle driven by in-wheel motors[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2013,44(8):33-37,20.(in Chinese)
12 ZHANG H,ZHAO W.Decoupling control of steering and driving system for in-wheel-motor-drive electric vehicle[J].Mechanical Systems and Signal Processing,2018,101:389-404.
13 ZHU B,ZHANG N,WALKER P.Two motor two speedpower-train system research of pure electric vehicle[C].SAE Paper 2013-01-1480,2013.
14韩清振,何仁.车用永磁同步电机稳定性分析[J/OL].农业机械学报,2016,47(11):363-368.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?file_no=20161149&flag=1&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2016.11.049.HAN Qingzhen,HE Ren.Stability analysis of permanent magnet synchronous motor in vehicle[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2016,47(11):363-368.(in Chinese)
15朱元,武四辈,吴志红,等.电动汽车用内置式永磁同步电动机精确转矩控制方法[J/OL].农业机械学报,2014,45(1):8-13.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?file_no=20140102&flag=1&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2014.01.002.ZHU Yuan,WU Sibei,WU Zhihong,et al.Precise torque control method of IPMSM in vehicle[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2014,45(1):8-13.(in Chinese)
16 WANG R,CHEN Y,FENG D,et al.Development and performance characterization of an electric ground vehicle with independently actuated in-wheel motors[J].Power Sources,2011,196(8):3962-3971.
17 MUTOH N,HORIGOME T,TAKITA K.Driving characteristics of an electric vehicle system with independently driven front and rear wheels[J].IEEE Transactions on Industrial Electronics,2006,53(3):813.
18 MUTOH N,NAKANO Y.Dynamics of front-and-rear-wheel-independent-drive-type electric vehicles at the time of failure[J].IEEE Transactions on Industrial Electronics,2011,59(3):1488-1499.
19 CHEN Y,WANG J.Energy-efficient control allocation with applications on planar motion control of electric ground vehicles[C]∥Proceedings of the American Control Conference,2011:2719-2724.
20 CHEN Y,WANG J.Fast and global optimal energy-efficient control allocation with applications to over-actuated electric ground vehicles[J].IEEE Transactions on Control Systems Technology,2011,20(5):1202-1211.
21 MYNAR Z,VESELY L,VACLAVEK P.PMSM model predictive control with field-weakening implementation[J].IEEETransactions on Industrial Electronics,2016,63(8):5156-5166.
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