混合动力汽车能量优化管理与控制策略研究

上海交通大学博士学位论文混合动力汽车能量优化管理与控制策略研究姓名：浦金欢申请学位级别：博士专业：机械制造及自动化指导教师：严隽琪;张建武20041201HEVHEV863HEVHEVHEVHEVMATLAB/SimulinkHEVHEVLTCSHEV−I−SEASEALTCSHEVFTCSSOC22LTCSFTCSSOCHEVHEVLTCSLTCSLTCSSOC30%HEVHEVHEVHEVHEV−II−ASTUDYONOPTIMALENERGYMANAGEMENTANDCONTROLSTRATEGYFORHYBRIDELECTRICVEHICLESABSTRACTHybridelectricvehicle(HEV),whichincorporatestheadvantagesofboththebatteryelectricvehicleandtheconventionalinternalcombustionengine(ICE)vehicle,emergedinthedevelopmentofelectricvehiclesasanewtypeofautomobileofhighfuelefficiency,lowemissions,longdrivingrange,andaffordableprice.Becauseoftheoverallsuperiorityintermsoftechnology,economicsandenvironment,theHEVisregardedasthemostpracticalsolutionforcleanvehiclesatpresent.Withthehybridcarprojectanditsaffiliatedvehiclecontrolsystemsub-projectofthenational863Programasitsbackground,themaintopicofthisstudyistheHEVcontrolstrategyanditsimplementationintherealvehicle.Controlstrategy,asoneofthekeytechniquesofHEV,isthealgorithmtorealizevehicleenergymanagementandpowertraincontrol.Thecharacteristicsofhighefficiency,lowemissionsandhighperformanceoftheHEVdependlargelyuponthecontrolstrategy.Itjudgesthedrivingintentionaccordingtodriver’soperation,distributesoptimallythedrivingpoweramongtheelectricmachine(EM),ICE,powerbatteryandotherpowercomponents,commandseachsubsystemtooperatesynergeticallytoobtaintheoptimalenergymanagementandthebalancebetweenefficiencyandemissionswiththeprerequisiteofsatisfyingthedrivingrequirements(performanceanddrivability).Thecontrolstrategyisacomplicatedprobleminvolvingdecisionmakingofcomplexproblemandtimevaryingnonlinearsystemcontrol.Becauseofthecomplexityofthehybridpowertrainitselfandthesynergeticoperationofdifferentcomponents,itisdifficulttoconstructanaccuratemathematicalmodelofthehybridpowertrain.Theunpredictabilityofdrivingconditionsanddriver’soperationandthedifficultyofdrivingintentionjudgmentresultedfromthediversityofdrivingstyleincreasethedifficultyofthedesignofthecontrolstrategy.Thisdissertationaddressestheoptimalvehicleenergymanagementandthedesignofthecontrolstrategy.Towardthisend,sixissuesareexplored.Theyare:forwardsimulationmodelingoftheHEV;designoftherule-based−III−logicthresholdcontrolstrategy;off-lineparametricoptimizationofthecontrolstrategy;designofthefuzzylogiccontrolstrategyforHEV;researchonglobaloptimalcontrolbasedondynamicprogramming;andthetestinvestigationandvalidationofthecontrolstrategy.Firstofall,aforwardsimulationmodeloftheHEVisconstructedintheMATLAB/Simulinkenvironmentusingempiricalmodelingapproachwiththeaidoftheoreticalmodeling.Itprovidesthenecessarysimulationplatformforthedevelopmentofthecontrolstrategy.Onthissimulationplatform,alogicthresholdcontrolstrategy(LTCS)forparallelHEVsanditsdesignprocedurearepresented.AfteradeepanalysisoftheenergymanagementstrategyofparallelHEVsandthetransitionconditionsfordifferentoperatingmodes,aload-leveling-basedtorquedistributionstrategytooptimizetheoverallenergyconversionefficiencyisproposedbasedontheoperatingmodesofthehybridpowertrain,theefficiencycharacteristicsoftheICEandtheEMandtheinternalresistancecharacteristicsofthebattery.Dynamicthresholdparametersareintroducedforthefirsttimeinthedesignofthecontrolstrategy.TheproposedLTCSisvalidatedbysimulationtest.Inordertooptimizetheparametersofthecontrolstrategyandshortenthetimeofcontrollercalibrationinrealvehicle,aconstrainednonlinearprogrammingmathematicmodelforparametricoptimizationofthecontrolstrategyisproposed.Tosolvethisproblem,anovelimprovedsteadystateevolutionalgorithm(SEA)isdesigned.TheSEAcombinedwiththeHEVsimulationmodelisusedtosearchtheoptimumsetofparametersforthecontrolstrategy.Simulationresultsdemonstratetheeffectivenessoftheproposedmethod.Intherealapplication,thismethodhasshortenedsignificantlythetimeofthecontrolstrategycalibrationandreducedthecostofcontrolsystemdesign.BasedontheLTCS,afuzzytorquecontrolstrategy(FTCS)forparallelHEVsisdesignedbyemployingfuzzylogic.Afuzzyinferenceenginewith22rulesisconstructedusingtheratioofthedrivertorquerequesttotheoptimalenginetorqueandthebatterystate-of-charge(SOC)astheinputs,andtheEMtorqueastheoutput.ItworksasthekernelofafuzzytorquedistributioncontrollertodeterminetheoptimaldistributionofthedrivertorquerequestbetweentheengineandtheEM.Simulationresultsrevealthat,comparedwiththeLTCSusingprecisethresholdparameters,theproposedFTCSimprovesfueleconomyaswellasmaintainsthebatterySOCwithinitsoperationrangemoreeffectively.Theaboveworkhaslaidthefoundationfortheapplicationoffuzzy−IV−logiccontrolintherealHEV.TheHEVfuelconsumption(andemission)minimizationproblemoverafixeddrivingcycleisformulatedasafinitehorizondeterministicdynamicsystemoptimizationproblem.Dynamicprogrammingisutilizedtocomputethebestperformance(fueleconomyandemissions)anditscorrespondingoptimalcontroltrack.Theseresultsprovideareferenceforevaluationandoptimizationofthecontrolstrategytheoretically.Thelastpartofthisdissertationpresentstheresultsofthepowertrainbenchtestandthevehiclefieldtest.ImportantdatanecessaryforthemodelingoftheHEVandthedesignofthecontrolstrategyareacqu