基于模型预测控制的混合动力汽车模式切换中的转矩协调控制策略*

doi:10.19562/j.chinasae.qcgc.2018.09.006

摘要/Abstract

摘要： 混合动力车辆有多种工作模式,在模式切换过程中,由于系统的不连续性等特性,会出现平顺性差等问题。为此,本文中以双模混联式机电复合传动为对象,以改善模式切换品质为目的,重点进行离合器接合过程控制策略的研究。首先,对机电复合传动总体结构和特性进行了分析,并建立了功率耦合系统的等效模型;接着,提出了以减小车辆冲击度和离合器滑摩功为目标的基于模型预测控制的转矩协调控制策略;最后,利用仿真模型,对转矩协调控制策略进行了验证。结果表明,机电复合传动在所提出的模式切换控制策略的作用下,能在保证模式切换响应速度更快的同时,有效地降低输出轴的转矩波动和车辆的冲击度,减小离合器的滑摩损失,因此极大地改善了模式切换品质,对工程实践具有一定的参考价值。

关键词: 混合动力汽车, 模型预测控制, 模式切换

Abstract: Hybrid electric vehicle (HEV) has multiple working modes and due to the features of system discontinuity, the problems such as poor smoothness arise during mode switching. Accordingly, taking dual-mode series-parallel electromechanical compound transmission system as object, with improving mode switching quality as objective, the control strategy for clutch engagement process is emphatically studied in this paper. Firstly, the overall structure and characteristics of electromechanical compound transmission are analyzed, and the equivalent model for power coupling system is established. Then, a model predictive control-based control strategy for torque coordination is proposed with reducing vehicle jerk and the sliding-friction work of clutch as objective. Finally, the torque coordinated control strategy is verified with simulation model. The results indicate that with the mode switching control strategy proposed, the electromechanical compound transmission system can effectively reduce the torque ripple of output shaft and vehicle jerk, decrease the sliding friction loss of clutch, and hence greatly improve the quality of mode switching, while ensuring faster response of mode switching, having a certain reference value for engineering practice

Key words: HEV, model predictive control, mode switching

张渊博,王伟达,项昌乐,黄琨,马越,魏超,李子龙. 基于模型预测控制的混合动力汽车模式切换中的转矩协调控制策略^*[J]. 汽车工程, 2018, 40(9): 1040-1047.

Zhang Yuanbo, Wang Weida, Xiang Changle, Huang Kun, Ma Yue, Wei Chao & Li Zilong. A Model Predictive Control-based Torque Coordinated Control Strategy for Hybrid Electric Vehicle During Mode Shifting[J]. , 2018, 40(9): 1040-1047.

参考文献

[1] 郑海亮,项昌乐,王伟达,等.双模式机电复合传动系统综合控制策略[J] .吉林大学学报(工学版),2014,44(2):311-317.
[2] BECK R, RICHERT F, BOLLIG A, et al. Model predictive control of a parallel hybrid vehicle drivetrain[C] . Decision and Control,2005 and 2005 European Control Conference. CDC ECC'05. 44th IEEE Conference on. IEEE,2005:2670-2675.
[3] LEE H D, SUL S K, CHO H S, et al. Advanced gear shifting and clutching strategy for a parallel hybrid vehicle[J] . IEEE Industry Applications Magazine,2000,6(6):26-32.
[4] FALCONE F J, BURNS J, NELSON D J. Closed loop transaxle synchronization control design[C] . SAE Paper 2010-01-0817.
[5] GU Y, YIN C, ZHANG J. Optimal torque control strategy for parallel hybrid electric vehicle with automatic mechanical transmission[J] . Chinese Journal of Mechanical Engineering,2007,20(1):16-20.
[6] 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.
[7] 孙静.混合动力电动汽车驱动系统优化控制策略研究[D] .济南:山东大学, 2015.
[8] KOPRUBASI K, WESTERVELT E R, RIZZONI G. Toward the systematic design of controllers for smooth hybrid electric vehicle mode changes[C] . American Control Conference,2007. ACC'07. IEEE,2007:2985-2990.
[9] SOLIMAN I S, SYED F U, YAMAZAKI M. Control of electric to parallel hybrid drive transition in a dual drive hybrid powertrain[C] . SAE Paper 2010-01-0819.〖ZK)〗 [10] KIM H, KIM J, LEE H. Mode transition control using disturbance compensation for a parallel hybrid electric vehicle[J] . Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering,2011,225(2):150-166.
[11] 赵治国,何宁,朱阳,等.四轮驱动混合动力轿车驱动模式切换控制[J] .机械工程学报,2011,47(4):100-109.
[12] YANG C, JIAO X, LI L, et al. A robust H∞ control based hierarchical mode transition control system for plug in hybrid electric vehicle[J] . Mechanical Systems and Signal Processing,2018,99:326-344.
[13] MAYNE D Q, RAWLINGS J B, RAO C V, et al. Constrained model predictive control: stability and optimality[J] . Automatica,2000,36(6):789-814.
[14] MORARI M, LEE J H. Model predictive control: past, present and future[J] . Computers & Chemical Engineering,1999,23(4):667-682.
[15] 马建军.过驱动系统控制分配理论及其应用[D] .长沙:国防科学技术大学,2009.
[16] BODSON M. Evaluation of optimization methods for control allocation[J] . Journal of Guidance, Control, and Dynamics,2002,25(4):703-711.
[17] BUFFINGTON J, CHANDLER P, PACHTER M. Integration of on line system identification and optimization based control allocation[C] . AIAA Guidance, Navigation, and Control Conference and Exhibit,1998:17461756.
[18] BERTSEKAS D P. Nonlinear programming[M] . Belmont: Athena scientific,1999.

基于模型预测控制的混合动力汽车模式切换中的转矩协调控制策略^*

A Model Predictive Control-based Torque Coordinated Control Strategy for Hybrid Electric Vehicle During Mode Shifting

PDF (PC)

赞

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

Metrics

本文评价

推荐阅读 10

[1]	王明,唐小林,杨凯,李国法,胡晓松. 考虑预测风险的自动驾驶车辆运动规划方法[J]. 汽车工程, 2023, 45(8): 1362-1372.
[2]	高锋,冯德福,胡秋霞. 面向NMPC运动规划系统的数值优化加速技术[J]. 汽车工程, 2023, 45(8): 1438-1447.
[3]	林程, 汪博文, 吕沛原, 宫新乐, 于潇. 面向变曲率道路的自动驾驶汽车换道博弈运动规划与协同控制研究[J]. 汽车工程, 2023, 45(7): 1099-1111.
[4]	李军, 周伟, 唐爽. 基于自适应拟合的智能车换道避障轨迹规划[J]. 汽车工程, 2023, 45(7): 1174-1183.
[5]	查云飞,吕小龙,陈慧勤,易迎春,王燕燕. 基于路面附着系数估计的车辆轨迹跟踪控制[J]. 汽车工程, 2023, 45(6): 1010-1021.
[6]	贺伊琳,马建,杨舒凯,郑威,薛启帆. 融合预瞄特性的智能电动汽车稳定性模型预测控制研究[J]. 汽车工程, 2023, 45(5): 719-734.
[7]	李亚鹏,唐小林,胡晓松. 基于分层式控制的混合动力汽车生态驾驶研究[J]. 汽车工程, 2023, 45(4): 551-560.
[8]	周兵,魏佳宝,柴天,吴晓建,王鹤. 基于最优方法的碰后辅助驾驶控制策略[J]. 汽车工程, 2023, 45(4): 561-571.
[9]	张彬,邹渊,张旭东,孙逢春,吴喆,孟逸豪. 混动履带式无人平台轨迹跟踪控制研究[J]. 汽车工程, 2023, 45(4): 579-587.
[10]	张紫微,郑玲,李以农,乔旭强,郑浩,王戡. 考虑前车运动不确定性的多目标自适应巡航控制[J]. 汽车工程, 2023, 45(3): 361-371.
[11]	贺林,徐子昂,黄春荣,龚超,李书华,石琴. 线控转向系统转角预测滑模控制算法研究[J]. 汽车工程, 2023, 45(12): 2200-2208.
[12]	胡丹丹,尹鹏飞,牛国臣,赵金聚. 非结构化道路下离轴式拖挂车辆主动避障控制研究[J]. 汽车工程, 2023, 45(12): 2318-2329.
[13]	宋强,王冠峰,商赫,张念忠. 基于多参数控制的分布式驱动电动汽车操纵稳定性控制策略研究[J]. 汽车工程, 2023, 45(11): 2104-2112.
[14]	芦勇,何一超,田贺,江昆,杨殿阁. 面向量产的自适应巡航控制系统纵向加速度规划方法研究[J]. 汽车工程, 2023, 45(10): 1803-1814.
[15]	李豪迪,赵治国,唐鹏,侯永平. 基于负载补偿的功率分流混合动力系统模式切换性能测试方法[J]. 汽车工程, 2023, 45(10): 1908-1922.