CN110126812B - Energy management strategy for power system of heavy hybrid special vehicle - Google Patents

Energy management strategy for power system of heavy hybrid special vehicle Download PDF

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CN110126812B
CN110126812B CN201910292179.5A CN201910292179A CN110126812B CN 110126812 B CN110126812 B CN 110126812B CN 201910292179 A CN201910292179 A CN 201910292179A CN 110126812 B CN110126812 B CN 110126812B
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power
battery pack
energy management
loss
management strategy
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CN110126812A (en
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夏欢
骆志伟
赵志刚
何刚
鞠兴龙
杨金波
李均锋
谭文华
刘相新
薛美芳
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China Academy of Launch Vehicle Technology CALT
Beijing Institute of Space Launch Technology
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Beijing Institute of Space Launch Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/24—Energy storage means
    • B60W2510/242—Energy storage means for electrical energy
    • B60W2510/244—Charge state
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/24—Energy storage means
    • B60W2510/242—Energy storage means for electrical energy
    • B60W2510/246—Temperature
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention provides an energy management strategy for a power system of a heavy hybrid special vehicle, wherein the hybrid power system comprises an energy management controller, a power unit and a battery pack, wherein the power unit and the battery pack are controlled by the energy management controller; the method comprises the steps that an energy management strategy collects current, temperature and SOC physical quantities of a battery pack to carry out closed-loop regulation on power loss of the battery pack, given loss of the battery pack is determined by utilizing the temperature and the SOC physical quantities of the battery pack, actual loss of the battery pack is determined by utilizing the current of the battery pack, the difference value of the given loss and the actual loss is input into a closed-loop controller, the given power of a power unit is output after the closed-loop controller regulates the power loss, and output power output by the power unit and output power output by the battery pack are superposed and then are applied to a load. The energy management strategy of the invention realizes the integrated power supply of the electric drive system and the upper system; the power response speed of the hybrid power system is improved; the loss of the power battery pack is reduced, and the service life of the power battery pack is prolonged.

Description

Energy management strategy for power system of heavy hybrid special vehicle
Technical Field
The invention relates to the field of energy management strategies, in particular to an energy management strategy for a power system of a heavy hybrid special vehicle.
Background
At present, a heavy hybrid special vehicle takes a diesel generating set and an energy storage battery pack as energy sources to provide power for an electric drive system and a top-mounted system. The energy management strategy is used to control the energy output of the hybrid powertrain system and the distribution of energy among the genset and the energy storage battery banks. The energy management strategy may affect the dynamic performance, efficiency, etc. of the powertrain.
As shown in fig. 1, an electric drive controller of an existing energy management strategy collects information of a pedal opening degree and a vehicle speed of a driver, calculates a required torque and a required power of an electric drive system, and transmits the required power to the energy management controller in real time, and the energy management controller filters a high-frequency component by passing the required power through a low-pass filter, and uses the low-frequency component as a power set value of a power unit. The power unit respectively adjusts the rotating speed of the engine and the torque of the generator, outputs actual power, and acts on the electric drive system after the power is superposed with the output power of the battery pack.
The drawbacks of the conventional control strategy are: the deviation exists between the required power estimated by the motor controller and the required power of the actual electric drive system; the required power is transmitted through the bus and the hysteresis effect caused by the filter slows down the response speed of the hybrid power system; the power loss of the system and the power consumption of the upper-mounted system are not considered, and the part of power is borne by the battery pack, so that the loss of the battery pack is increased.
Disclosure of Invention
The invention aims to provide an energy management strategy for a power system of a heavy hybrid special vehicle, which is used for solving the problems that in the prior art, deviation exists between required power estimated by a motor controller and required power of an actual electric drive system, the response speed of a hybrid power system is reduced, and loss of a battery pack is increased.
In order to achieve the purpose, the invention provides the following technical scheme:
a power system energy management strategy of a heavy hybrid special vehicle comprises an energy management controller, a power unit and a battery pack, wherein the power unit and the battery pack are controlled by the energy management controller;
the method comprises the steps that an energy management strategy collects current, temperature and SOC physical quantities of a battery pack to carry out closed-loop regulation on power loss of the battery pack, given loss of the battery pack is determined by utilizing the temperature and the SOC physical quantities of the battery pack, actual loss of the battery pack is determined by utilizing the current of the battery pack, the difference value of the given loss and the actual loss is input into a closed-loop controller, the given power of a power unit is output after the closed-loop controller regulates the power loss, and output power output by the power unit and output power output by the battery pack are superposed and then are applied to a load.
Wherein a PD regulator is employed as a closed-loop regulator for a given power of the power unit.
Wherein the load includes a motor load and other loads on the vehicle.
Wherein, temperature sensor and current sensor are embedded to the group battery.
Wherein a given loss is obtained after the temperature of the battery pack and the SOC physical quantity are input to a given loss function;
the temperature and the SOC physical quantity are given to a given loss function by means of off-line optimization.
Wherein the loss of the battery pack is:
Figure BDA0002025271750000021
wherein p isBatIs the loss of the battery, iBatIs the current.
The hardware carrier of the energy management strategy is a single chip microcomputer, and the closed-loop control of the power system is realized by adopting an embedded programming method.
Wherein the expression of the PD regulator is:
Figure BDA0002025271750000022
wherein p isRefFor power supply of the power unit, KpFor the regulator scaling factor, Δ p is the error power, KdIs a differential coefficient.
Wherein p isRefAfter output, the power unit is subjected to amplitude limiting, the maximum amplitude limiting value is the maximum value of the output power of the power unit, and the minimum amplitude limiting value is 0.
Wherein the battery pack comprises a battery manager and a battery module;
the power unit comprises a generator controller, an engine, a generator controller and a power unit controller, wherein the generator controller controls the engine to work in a rotating speed mode and controls the generator to work in a torque mode, the generator is connected with the engine, and the power unit controller controls the engine and the generator to work.
The technical scheme of the invention has the following beneficial effects:
in the scheme, the energy management strategy of the power system of the heavy hybrid special vehicle comprehensively considers all physical quantities of the battery pack, so that the power loss of the battery pack can be minimized, the battery pack can always work in an optimal working area, the loss of the power battery pack is reduced, and the service life of the power battery pack is prolonged; the energy management strategy of the power system of the heavy hybrid special vehicle does not need to input power required by the motor controller, thereby saving bus bandwidth, eliminating lag caused by a required power transmission link, improving the response speed of system power output and realizing the self-adaptive adjustment of output power. The energy management strategy of the power system of the heavy hybrid special vehicle realizes the integrated power supply of the electric drive system and the upper mounting system of the vehicle.
Drawings
FIG. 1 is a diagram of a conventional hybrid powertrain control strategy;
FIG. 2 is a diagram of the power system of the heavy hybrid special vehicle of the invention;
FIG. 3 is a schematic diagram of the power system energy management of a heavy duty hybrid vehicle of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The invention provides an energy management strategy for a power system of a heavy hybrid special vehicle, aiming at the problems that the deviation exists between the required power estimated by the existing motor controller and the required power of an actual electric drive system, the response speed of a hybrid power system is reduced, and the loss of a battery pack is increased.
As shown in fig. 2-3, the embodiment of the invention provides an energy management strategy for a power system of a heavy hybrid special vehicle, wherein the hybrid power system comprises an energy management controller, and a power unit and a battery pack which are controlled by the energy management controller;
the method comprises the steps that an energy management strategy collects current, temperature and SOC physical quantities of a battery pack to carry out closed-loop regulation on power loss of the battery pack, given loss of the battery pack is determined by utilizing the temperature and the SOC physical quantities of the battery pack, actual loss of the battery pack is determined by utilizing the current of the battery pack, the difference value of the given loss and the actual loss is input into a closed-loop controller, the given power of a power unit is output after the closed-loop controller regulates the power loss, and output power output by the power unit and output power output by the battery pack are superposed and then are applied to a load.
According to the energy management strategy of the power system of the heavy hybrid special vehicle, the loss power of the battery pack is subjected to closed-loop regulation by collecting the current, the temperature and the SOC physical quantity of the battery pack, so that the power generation power of the power unit is dynamically controlled, and the integrated power supply of an electric drive system and a top-mounted system of the vehicle is realized. In addition, the strategy does not need an electric drive system to provide required power, does not have signal transmission delay, and improves the rapidity of power output response of the hybrid power system. The control strategy of the invention comprehensively considers each physical quantity of the battery pack, can minimize the power loss of the battery pack, enables the battery pack to always work in the optimal working area, reduces the loss of the power battery pack and prolongs the service life of the power battery pack. The control strategy of the invention does not need to input the required power of the motor controller, thereby saving the bus bandwidth, eliminating the lag caused by the required power transmission link, improving the response speed of the system power output and realizing the self-adaptive adjustment of the output power.
Wherein the battery pack comprises a battery manager and a battery module;
the power unit comprises a generator controller, an engine, a generator controller and a power unit controller, wherein the generator controller controls the engine to work in a rotating speed mode and controls the generator to work in a torque mode, the generator is connected with the engine, and the power unit controller controls the engine and the generator to work.
The invention discloses a battery pack of a power system energy management strategy of a heavy hybrid special vehicle. The power unit consists of an engine controller, an engine, a generator controller and a power unit controller. The engine controller controls the engine to work in a rotating speed mode, the generator controller controls the generator to work in a torque mode, and the engine and the generator are mechanically connected. The power unit controller is used as an upper controller to control the work of the engine and the generator respectively. The energy management controller is used as an upper controller of the battery pack and the power unit and is used for controlling the power output of the power unit and the lithium battery pack
Wherein the load includes a motor load and other loads on the vehicle.
Wherein, temperature sensor and current sensor are embedded to the group battery.
The load of the power system consists of the motor and other loads on the vehicle. A temperature sensor and a current sensor are embedded in the battery pack. Physical quantities from a battery pack to a hybrid controller of the hybrid system and commands from the hybrid controller to a power unit are transmitted through a CAN bus. The hybrid power controller is a digital controller and embedded with embedded control software.
Wherein a PD regulator is employed as a closed-loop regulator for a given power of the power unit.
Wherein a given loss is obtained after the temperature of the battery pack and the SOC physical quantity are input to a given loss function;
the temperature and the SOC physical quantity are given to a given loss function by means of off-line optimization.
Wherein the expression of the PD regulator is:
Figure BDA0002025271750000051
wherein p isRefFor power supply of the power unit, KpFor the regulator scaling factor, Δ p is the error power, KdIs a differential coefficient.
Wherein p isRefAfter output, the power unit is subjected to amplitude limiting, the maximum amplitude limiting value is the maximum value of the output power of the power unit, and the minimum amplitude limiting value is 0.
The SOC and temperature of the battery pack to the given loss function are obtained in an off-line optimization mode. And performing closed-loop control on the loss power of the battery pack, wherein the control mode is PD control, and the closed-loop control parameters are determined by an online parameter adjusting method. And the difference value of the given loss and the actual loss is input into a closed-loop controller, the closed-loop controller outputs the given power value of the power unit after regulation, and in order to increase the response speed of the system, a PD regulator is used as a closed-loop regulator for the given power of the power unit.
Wherein the loss of the battery pack is:
Figure BDA0002025271750000052
wherein p isBatIs the loss of the battery, iBatIs the current.
The hardware carrier of the energy management strategy is a single chip microcomputer, and the closed-loop control of the power system is realized by adopting an embedded programming method.
Hair brushThe physical quantities required to be collected by the power battery pack in the Mingzhong province are as follows: SOC and temperature theta of battery packBatCurrent iBatAnd so on. Considering the internal resistance R of the batteryBatIs a constant. Given loss of the battery pack by the SOC of the battery pack and the temperature θ of the battery packBatDetermining that when the SOC of the battery pack is higher or the temperature of the battery pack is lower, outputting higher given loss power, and reducing the SOC of the battery pack to a reasonable range or increasing the working temperature of the battery pack as soon as possible; when the SOC of the battery pack is low or the temperature of the battery pack is high, a low given value of loss power is output, and the stability of the SOC and the temperature of the battery pack is kept as much as possible.
In the scheme, the energy management strategy of the power system of the heavy hybrid special vehicle comprehensively considers all physical quantities of the battery pack, so that the power loss of the battery pack can be minimized, the battery pack can always work in an optimal working area, the loss of the power battery pack is reduced, and the service life of the power battery pack is prolonged; the energy management strategy of the power system of the heavy hybrid special vehicle does not need to input power required by the motor controller, thereby saving bus bandwidth, eliminating lag caused by a required power transmission link, improving the response speed of system power output and realizing the self-adaptive adjustment of output power. The energy management strategy of the power system of the heavy hybrid special vehicle realizes the integrated power supply of the electric drive system and the upper mounting system of the vehicle.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
In the description of the present invention, it is to be understood that the terms "upper", "one end", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it is to be noted that the terms "provided with" and "connected" are to be interpreted broadly, unless explicitly stated or limited otherwise. For example, the connection can be fixed, detachable or integrated; may be directly connected or indirectly connected through an intermediate. The fixed connection can be common technical schemes such as welding, threaded connection and clamping. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (9)

1. The energy management strategy of the power system of the heavy hybrid special vehicle is characterized in that the hybrid power system comprises an energy management controller, a power unit and a battery pack, wherein the power unit and the battery pack are controlled by the energy management controller;
acquiring current, temperature and SOC physical quantities of the battery pack by an energy management strategy to perform closed-loop regulation on the loss power of the battery pack, determining given loss of the battery pack by using the temperature and the SOC physical quantities of the battery pack, determining actual loss of the battery pack by using the current of the battery pack, inputting the difference value of the given loss and the actual loss into a closed-loop controller, outputting the given power of a power unit after the closed-loop controller regulates, and applying the superposed output power of the power unit and the output power of the battery pack to a load;
inputting the temperature and the SOC physical quantity of the battery pack into a given loss function to obtain given loss;
the temperature and the SOC physical quantity are given to a given loss function by means of off-line optimization.
2. The heavy hybrid special vehicle powertrain energy management strategy of claim 1, wherein the PD regulator is employed as a closed loop regulator for a given power of the power unit.
3. The heavy hybrid special vehicle powertrain energy management strategy of claim 1, wherein the loads comprise motor loads and other loads on the vehicle.
4. The heavy duty hybrid special vehicle powertrain energy management strategy of claim 1, wherein the battery pack has embedded therein a temperature sensor and a current sensor.
5. The heavy hybrid special vehicle powertrain energy management strategy of claim 1, wherein the battery pack losses are:
Figure 211449DEST_PATH_IMAGE001
wherein the content of the first and second substances,
Figure 559254DEST_PATH_IMAGE002
in order to be a loss of the battery pack,
Figure 765107DEST_PATH_IMAGE003
is the current.
6. The energy management strategy of the power system of the heavy hybrid special vehicle as claimed in claim 1, wherein the hardware carrier of the energy management strategy is a single chip microcomputer, and the closed-loop control of the power system is realized by adopting an embedded programming method.
7. The heavy hybrid special vehicle powertrain energy management strategy of claim 2, wherein the PD regulator is expressed as:
Figure 632700DEST_PATH_IMAGE004
wherein the content of the first and second substances,
Figure 796965DEST_PATH_IMAGE005
for a given power of the power unit,
Figure 632066DEST_PATH_IMAGE006
in order to adjust the scaling factor of the regulator,
Figure 376031DEST_PATH_IMAGE007
in order to be the error power,
Figure 868104DEST_PATH_IMAGE008
is a differential coefficient.
8. The heavy duty hybrid special vehicle powertrain energy management strategy of claim 7,
Figure 672112DEST_PATH_IMAGE005
after output, the power unit is subjected to amplitude limiting, the maximum amplitude limiting value is the maximum value of the output power of the power unit, and the minimum amplitude limiting value is 0.
9. The heavy hybrid special vehicle power system energy management strategy of any one of claims 1-8, wherein the battery pack comprises a battery manager and a battery module;
the power unit comprises a generator controller, an engine, a generator controller and a power unit controller, wherein the generator controller controls the engine to work in a rotating speed mode and controls the generator to work in a torque mode, the generator is connected with the engine, and the power unit controller controls the engine and the generator to work.
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