基于CVT的四轮驱动混合动力汽车传动控制策略研究
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摘要
近年来,随着汽车工业的高速发展,资源短缺与环境污染日益严重,由于纯电动汽车短时间内在其长寿命、大容量电池等关键技术上难以突破,混合动力电动汽车将在相当长时间内发挥其独特优势。为了改善轻型SUV(Sport Utility Vehicle)汽车的燃油经济性和动力性能,本文提出了一种基于无级变速器(CVT)的四轮驱动混联式混合动力汽车系统结构方案,对四驱混合电动汽车整车传动控制策略相关技术进行了深入分析和研究。
首先通过计算分析,确定了包括驱动和能源部件的参数设计和选型、关键零部件的选择及设计,以及所有部件在整车中的安装布置。同时基于Matlab/Simulink平台系统,采取理论建模为辅,试验建模为主的方法建立起CVT混联式四驱混合动力整车传动系统正向仿真模型,该模型既可以用驾驶员的转矩或功率需求作输入,也可将循环工况转化为驾驶员需求,所建模型可用于分析评价不同的设计方案和控制策略的优化,也可为实车控制策略的开发建立仿真分析平台。
在分析了传统混合动力典型运行模式基础上,根据CVT混联式四驱混合动力整车动力总成系统结构特点,对包括驻车发电、电力变矩、纯电动、混合驱动等多种运行模式进行分类并分别进行详细的动力学分析,建立起各个运行模式下转矩、转速在传动过程中的变化规律和实现模式切换的发动机、电机及离合器控制规则。
根据动力总成控制系统结构特点,以发动机、电机稳态效率图和电池充放电效率曲线为依据,并基于发动机效率曲线和等功率及等转矩曲线,求得发动机高效工作区的功率门限Pe _min、Pe _max以及转矩门限Te _min、Te _max。然后根据驾驶员对施加在车轮上的驱动需求(其中低速以驱动转矩为参考量,高速以驱动功率为参考量)、车速、电池SOC等,通过不同的逻辑门限参数区分混合动力系统在不同模式间切换的规律,通过离合器和电机系统协调控制,提出了保证模式切换的平顺性的控制方法。并以混合动力系统综合效率最大化为原则确定了不同运行模式下的最佳工作曲线,以及前后电机、发动机转矩及CVT速比及夹紧力在不同模式下的控制方法。基于Matlab/Simulink平台的仿真研究表明,这种根据整车运行工况并综合了转矩及功率需求为控制变量的多参量逻辑门限能量管理策略,能实现运行模式的合理切换,在不降低车辆动力性能的前提条件下,非常有效的降低混合动力汽车的燃油消耗,并保持电池SOC的基本稳定。
以瞬时优化理论为基础,从等效燃油消耗量的思想出发,建立了四驱混联电动汽车在充?放电模式下的等效模型。在控制发动机工作于最佳燃油经济区的基础上,以有效燃油消耗率为优化目标函数,寻求出整车燃油消耗量最小时的理想操作线,理想操作线决定了发动机和各个电机的最佳控制值。并以此优化计算结果为基础,制定了模糊控制规则,仿真结果表明:基于瞬时优化的模糊控制策略能有效提高混联式混合动力汽车燃油经济性。
针对基于CVT的四驱混联式电动汽车的模式切换问题进行了较深入的研究。通过发动机、电机和离合器的协调控制,提出可使系统快速响应以及在模式切换时平稳的控制要点。
同时开发了基于CAN总线的多能源动力总成控制硬件系统,搭建完成了多能源动力总成半实物试验台架,并对CAN总线网络通讯、电子节气门系统、整车运行模式及模式切换等进行试验,最对改装后的混合动力汽车进行标定与匹配工作,并完成整车的动力性、燃油经济性试验。实验结果表明:改装后的混合动力汽车整车0~100km/h加速时间较原始车型减少3秒,燃油经济性提高约8%。同时整车模式切换较为平稳,没有明显冲击感觉。
The shortage of resources and environmental pollution become serious increasingly with the rapid development of the automobile industrial .Because the key techniques of pure electrical automobile will be difficult made a breakthrough in the near future, especially the high performance battery with big capacity and long life. The hybrid electric vehicle will show its special advantages in a very long time. In order to improve the fuel economy of the light sport utility vehicle, a new four wheels drive hybrid electric vehicle equipped with continuously variable transmission (CVT) is proposed, the whole vehicle driveline control strategy and related techniques are also thoroughly analyzed and researched.
Firstly, the preferences of the powertrain components are confirmed through the calculation, as well as the selection and design of the key components, and the arrangement of each component. And then the forward-facing simulation model of the hybrid electric vehicle is founded in the Matlab/simulink platform, the model can accept the power demanded and torque demanded as the input parameters, and also can translate the inputted duty cycle into the power or torque of the driver demanded. It can be used to optimize the control strategy of simulation model as well as the real vehicle control strategy development.
Secondly, the running mode of the traditional hybrid electric vehicle are analyzed, and then based on the system configuration of the four wheels drive hybrid electric vehicle , the classification of running mode of the vehicle and its dynamics characteristic are researched. including the generate electricity mode in halt, the engine and motor cooperative drive mode, only motor drive mode and so on. At the same time, the control strategies of the clutch/engine and the motor during mode transfer are also proposed.
According to the static efficiency maps of the engine /motor and the charge/ discharge character of the battery, the optimization power curve and the optimization torque region of the engine are got by taking account of the equal power curve and equal torque curve. As a result, the mode transition rules are obtained by means of the power demanded or the torque demanded, the vehicle speed, the state of the charge (SOC) of the battery. The clutch and the motor cooperation control strategy are also proposed in order to keep smooth mode switching. at the same time ,the optimization operating line of the engine/motor in each mode, the output torque of the two motor ,the speed ratio of CVT,and the output torque of engine are got based on the maximum efficiency principle of the whole vehicle. The simulation results show that the control strategy take account of the required torque and required power simultaneity can comprehensively and efficiently manage the flow of energy among the driveline and keep the stability of the SOC , including the engine fuel economy is significantly improved while at the same time attractive driving performance is achieved.
An equivalent model for charge/recharge modes of the 4WD hybrid electric vehicle is proposed through the method of the equivalent fuel consumption. When the engine is operated within the ranges of the best fuel economy, the desired operation curve (DOC) is derived based on the definition of optimization target function for the effective specific fuel consumption. The optimization result is obtained by calculating in the Matlab/Simulink, and then the fuzzy logic control rules are obtained by the optimization results. The simulation results show that the instantaneous optimization fuzzy logic control strategy can improve the fuel economy greatly.
Besides, the control strategy of the mode transition are profound analysis according to the structure of power coupling of the hybrid electric vehicle , By means of cooperation control of the engine, motors and clutches. The control strategy that enables the system to achieve the sufficient response and smoothness in drive mode transition is proposed.
Finally, the hybrid control unit (HCU) based on CAN bus is developed by using the chip of TMSF2812.The power train test bench is also established and the validity of the CAN net, the strategy of running mode shift, the electrically controlled throttle system are tested. Finally, the remodeled hybrid electric vehicle is tested in real road, experiment results show that the hybrid system improved fuel economy approximately 8 percent and deduced 3 seconds of the 0-to 100km/h acceleration time compare with the vehicle on which it is based. And the smooth mode transition is also obtained.
首先通过计算分析,确定了包括驱动和能源部件的参数设计和选型、关键零部件的选择及设计,以及所有部件在整车中的安装布置。同时基于Matlab/Simulink平台系统,采取理论建模为辅,试验建模为主的方法建立起CVT混联式四驱混合动力整车传动系统正向仿真模型,该模型既可以用驾驶员的转矩或功率需求作输入,也可将循环工况转化为驾驶员需求,所建模型可用于分析评价不同的设计方案和控制策略的优化,也可为实车控制策略的开发建立仿真分析平台。
在分析了传统混合动力典型运行模式基础上,根据CVT混联式四驱混合动力整车动力总成系统结构特点,对包括驻车发电、电力变矩、纯电动、混合驱动等多种运行模式进行分类并分别进行详细的动力学分析,建立起各个运行模式下转矩、转速在传动过程中的变化规律和实现模式切换的发动机、电机及离合器控制规则。
根据动力总成控制系统结构特点,以发动机、电机稳态效率图和电池充放电效率曲线为依据,并基于发动机效率曲线和等功率及等转矩曲线,求得发动机高效工作区的功率门限Pe _min、Pe _max以及转矩门限Te _min、Te _max。然后根据驾驶员对施加在车轮上的驱动需求(其中低速以驱动转矩为参考量,高速以驱动功率为参考量)、车速、电池SOC等,通过不同的逻辑门限参数区分混合动力系统在不同模式间切换的规律,通过离合器和电机系统协调控制,提出了保证模式切换的平顺性的控制方法。并以混合动力系统综合效率最大化为原则确定了不同运行模式下的最佳工作曲线,以及前后电机、发动机转矩及CVT速比及夹紧力在不同模式下的控制方法。基于Matlab/Simulink平台的仿真研究表明,这种根据整车运行工况并综合了转矩及功率需求为控制变量的多参量逻辑门限能量管理策略,能实现运行模式的合理切换,在不降低车辆动力性能的前提条件下,非常有效的降低混合动力汽车的燃油消耗,并保持电池SOC的基本稳定。
以瞬时优化理论为基础,从等效燃油消耗量的思想出发,建立了四驱混联电动汽车在充?放电模式下的等效模型。在控制发动机工作于最佳燃油经济区的基础上,以有效燃油消耗率为优化目标函数,寻求出整车燃油消耗量最小时的理想操作线,理想操作线决定了发动机和各个电机的最佳控制值。并以此优化计算结果为基础,制定了模糊控制规则,仿真结果表明:基于瞬时优化的模糊控制策略能有效提高混联式混合动力汽车燃油经济性。
针对基于CVT的四驱混联式电动汽车的模式切换问题进行了较深入的研究。通过发动机、电机和离合器的协调控制,提出可使系统快速响应以及在模式切换时平稳的控制要点。
同时开发了基于CAN总线的多能源动力总成控制硬件系统,搭建完成了多能源动力总成半实物试验台架,并对CAN总线网络通讯、电子节气门系统、整车运行模式及模式切换等进行试验,最对改装后的混合动力汽车进行标定与匹配工作,并完成整车的动力性、燃油经济性试验。实验结果表明:改装后的混合动力汽车整车0~100km/h加速时间较原始车型减少3秒,燃油经济性提高约8%。同时整车模式切换较为平稳,没有明显冲击感觉。
The shortage of resources and environmental pollution become serious increasingly with the rapid development of the automobile industrial .Because the key techniques of pure electrical automobile will be difficult made a breakthrough in the near future, especially the high performance battery with big capacity and long life. The hybrid electric vehicle will show its special advantages in a very long time. In order to improve the fuel economy of the light sport utility vehicle, a new four wheels drive hybrid electric vehicle equipped with continuously variable transmission (CVT) is proposed, the whole vehicle driveline control strategy and related techniques are also thoroughly analyzed and researched.
Firstly, the preferences of the powertrain components are confirmed through the calculation, as well as the selection and design of the key components, and the arrangement of each component. And then the forward-facing simulation model of the hybrid electric vehicle is founded in the Matlab/simulink platform, the model can accept the power demanded and torque demanded as the input parameters, and also can translate the inputted duty cycle into the power or torque of the driver demanded. It can be used to optimize the control strategy of simulation model as well as the real vehicle control strategy development.
Secondly, the running mode of the traditional hybrid electric vehicle are analyzed, and then based on the system configuration of the four wheels drive hybrid electric vehicle , the classification of running mode of the vehicle and its dynamics characteristic are researched. including the generate electricity mode in halt, the engine and motor cooperative drive mode, only motor drive mode and so on. At the same time, the control strategies of the clutch/engine and the motor during mode transfer are also proposed.
According to the static efficiency maps of the engine /motor and the charge/ discharge character of the battery, the optimization power curve and the optimization torque region of the engine are got by taking account of the equal power curve and equal torque curve. As a result, the mode transition rules are obtained by means of the power demanded or the torque demanded, the vehicle speed, the state of the charge (SOC) of the battery. The clutch and the motor cooperation control strategy are also proposed in order to keep smooth mode switching. at the same time ,the optimization operating line of the engine/motor in each mode, the output torque of the two motor ,the speed ratio of CVT,and the output torque of engine are got based on the maximum efficiency principle of the whole vehicle. The simulation results show that the control strategy take account of the required torque and required power simultaneity can comprehensively and efficiently manage the flow of energy among the driveline and keep the stability of the SOC , including the engine fuel economy is significantly improved while at the same time attractive driving performance is achieved.
An equivalent model for charge/recharge modes of the 4WD hybrid electric vehicle is proposed through the method of the equivalent fuel consumption. When the engine is operated within the ranges of the best fuel economy, the desired operation curve (DOC) is derived based on the definition of optimization target function for the effective specific fuel consumption. The optimization result is obtained by calculating in the Matlab/Simulink, and then the fuzzy logic control rules are obtained by the optimization results. The simulation results show that the instantaneous optimization fuzzy logic control strategy can improve the fuel economy greatly.
Besides, the control strategy of the mode transition are profound analysis according to the structure of power coupling of the hybrid electric vehicle , By means of cooperation control of the engine, motors and clutches. The control strategy that enables the system to achieve the sufficient response and smoothness in drive mode transition is proposed.
Finally, the hybrid control unit (HCU) based on CAN bus is developed by using the chip of TMSF2812.The power train test bench is also established and the validity of the CAN net, the strategy of running mode shift, the electrically controlled throttle system are tested. Finally, the remodeled hybrid electric vehicle is tested in real road, experiment results show that the hybrid system improved fuel economy approximately 8 percent and deduced 3 seconds of the 0-to 100km/h acceleration time compare with the vehicle on which it is based. And the smooth mode transition is also obtained.
引文
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