Real-time optimization control method for electro-mechanical transmission system

Abstract

The present invention discloses a real-time optimization control method for an electro-mechanical transmission system, and relates to the field of electro-mechanical transmission technologies. The method includes the following steps: (S0) starting; (S1) state observation: a current operating state of each element of the electro-mechanical transmission system is obtained through state observation; (S2) dynamic prediction: a feasible operating range of each element of the electro-mechanical transmission system is obtained through dynamic prediction; (S3) optimal decision: an optimal control command of each element in the optimal decision is formulated and executed; (S4) feedback correction: feedback correction is performed on control amounts of a motor and an engine of the electro-mechanical transmission system by using state deviations; and (S5) determining whether feedback correction meets a requirement, and if feedback correction meets the requirement, ending the process, or if feedback correction does not meet the requirement, repeating (S1).

Claims

1. A real-time optimization control method for an electro-mechanical transmission system performed by a controller, the real-time optimization control method comprising: (S0) starting; (S1) state observation: a current operating state of each element of the electro-mechanical transmission system is obtained through state observation; (S2) dynamic prediction: a feasible operating range of each element of the electro-mechanical transmission system is obtained through dynamic prediction; (S3) optimal decision: an optimal control command of each element in the optimal decision is formulated and executed; (S4) feedback correction: feedback correction is performed on a motor and an engine of the electro-mechanical transmission system by using state deviations; and (S5) determining whether feedback correction meets a requirement, and if feedback correction meets the requirement, ending the process, or if feedback correction does not meet the requirement, repeating (S1)-(S5).

2. The real-time optimization control method according to claim 1, wherein S1 is specifically as follows: output torque of the electro-mechanical transmission system is calculated and observed by using a torque estimation method, and because a dynamic response time of the motor of the electro-mechanical transmission system is far less than a dynamic response time of the engine, it is considered that actual torque of the motor is equal to target torque thereof, and is represented by using the following formula: $T_{\mathrm{eact}}=J_e\frac{d_e}{\mathrm{dt}}+\frac{e_1{T}_A+e_2{T}_B}{i_q{}_q},$ wherein T.sub.eact represents the actual torque, J.sub.e is an equivalent moment of inertia of an output end of the engine, in the unit of kg.Math.m.sup.2, .sub.e is an angular velocity of the engine, in the unit of rad/s, .sub.q is transmission efficiency, i.sub.q is a transmission ratio of the engine to an input end of a power coupling mechanism, T.sub.A and T.sub.B are input torque and output torque of the coupling mechanism, and e.sub.1 and e.sub.2 are torque coefficient matrices in two modes.

3. The real-time optimization control method according to claim 2, wherein acceleration of the engine is obtained by performing Kalman filtering on a rotation speed of the engine.

4. The real-time optimization control method according to claim 2, wherein the electro-mechanical transmission system obtains a bus voltage by using a sensor, and then calculates a current and a state of charge (SOC) by using a battery pack model of the electro-mechanical transmission system, wherein formulas for calculating the current and the SOC of the battery pack are as follows: $I\left(t\right)=\frac{V_{\mathrm{oc}}-\sqrt{V_{\mathrm{oc}}^2+4P_b\left(t\right)R_b}}{7200C_b{R}_b};\mathrm{and}$ $\mathrm{SOC}\left(t\right)=-{}_0^{t}I\left(t\right)\mathrm{dt}+{\mathrm{SOC}}_0,$ wherein in the foregoing formulas, I(t) represents a current, and a discharge is positive, in the unit of A; V.sub.oc represents an open circuit voltage, in the unit of V; R.sub.b represents an internal resistance of the battery pack, in the unit of ; C.sub.b represents a capacity of the battery pack, in the unit of Ah; and SOC.sub.0 represents an initial SOC of the battery pack; and P.sub.b(t) represents a power of the battery pack.

5. The real-time optimization control method according to claim 1, wherein S2 is specifically as follows: two different motors of the electro-mechanical transmission system work within their respective upper rotation speed limits, the engine of the electro-mechanical transmission system works in a particular rotation speed range, and the following formulas are met: $n_e=\frac{1}{a_1}{n}_A-\frac{a_2}{a_1}{n}_o;\mathrm{and}$ $n_e=\frac{1}{b_1}{n}_B-\frac{b_2}{b_1}{n}_o,$ wherein in an EVT1 mode, a.sub.1>0, and b.sub.1=0; a.sub.1, a.sub.2, b.sub.1, b.sub.2 represent speed coefficients; n.sub.o represents a rotation speed of an output shaft; therefore, a rotation speed of the engine n.sub.e monotonically increases with a rotation speed of a motor A n.sub.A, and is uncorrelated with a rotation speed of a motor B n.sub.B, and the rotation speed range of the engine may be obtained based on an upper rotation speed limit n.sub.Amax and a lower rotation speed limit n.sub.Amin of the motor A, and is as follows: $\frac{1}{a_1}{n}_{\mathrm{Amin}}-\frac{a_2}{a_1}{n}_o<n_e<\frac{1}{a_1}{n}_{\mathrm{Amax}}-\frac{a_2}{a_1}{n}_o;$ in an EVT2 mode, a.sub.1<0, and b.sub.1>0; therefore, the rotation speed of the engine monotonically decreases with the rotation speed of the motor A, and monotonically increases with the rotation speed of the motor B, and the rotation speed range of the engine may be obtained based on the upper rotation speed limits and lower rotation speed limits of the two motors, and is as follows: $n_{\mathrm{emin}}=\max \left(\frac{1}{a_1}{n}_{\mathrm{Amax}}-\frac{a_2}{a_1}{n}_o,\frac{1}{b_1}{n}_{\mathrm{Bmin}}-\frac{b_2}{b_1}{n}_o\right);\mathrm{and}$ $n_{\mathrm{emax}}=\min \left(\frac{1}{a_1}{n}_{\mathrm{Amin}}-\frac{a_2}{a_1}{n}_o,\frac{1}{b_1}{n}_{\mathrm{Bmax}}-\frac{b_2}{b_1}{n}_o\right);$ n.sub.emin and n.sub.emax represent a lower rotation speed limit and an upper rotation speed limit of the engine respectively a torque range of the engine not only depends on a current rotation speed, but also is correlated with a dynamic response characteristic thereof, the engine is approximate to a first-order system herein, and the torque range thereof is as follows: $T_{\mathrm{emax}}=T_{\mathrm{eact}}+\left[f_e\left(n_{\mathrm{eact}}\right)-T_{\mathrm{eact}}\right]e^{-\frac{t}{T}};\mathrm{and}$ $T_{\mathrm{emin}}=T_{\mathrm{eact}}\left(1-e^{-\frac{t}{T}}\right),$ wherein in the formulas, T.sub.emax represents a maximum torque of the engine, T.sub.emin represents a minimum torque of the engine, n.sub.eact represents an actual rotation speed of the engine: f.sub.e represents an external characteristic interpolation function of the engine; t represents a time step of dynamic prediction; and T represents a time constant of the engine.

6. The real-time optimization control method according to claim 5, wherein the EVT1 mode is a state in which a brake of the electro-mechanical transmission system is engaged and a clutch is disengaged; and the EVT2 mode is a state in which the brake of the electro-mechanical transmission system is disengaged and the clutch is engaged.

7. The real-time optimization control method according to claim 1, wherein S3 is specifically as follows: an optimal rotation speed and target torque of the electro-mechanical transmission system are determined based on opening of an accelerator pedal of the electro-mechanical transmission system and by using an optimal working curve of the engine of the electro-mechanical transmission system; then, load torque of the electro-mechanical transmission system is determined based on a speed adjustment time requirement of the engine of the electro-mechanical transmission system, to impose torque restriction on multi-target optimization of the electro-mechanical transmission system; finally, performance indexes of the system are classified into multiple layers based on a priority of an energy management policy of the electro-mechanical transmission system, and an analytic method is used at each layer to obtain optimal torque of the two motors, wherein speed adjustment needs to be performed on the engine of the electro-mechanical transmission system before mode switching of the electro-mechanical transmission system, to ensure that a speed difference of the clutch or the brake of the electro-mechanical transmission system is less than a threshold; in this case, a target rotation speed of the engine of the electro-mechanical transmission system is no longer determined by the opening of the accelerator pedal, but depends on a current vehicle speed of the electro-mechanical transmission system instead, and a mathematical expression of the target rotation speed of the engine is: $n_{\mathrm{ecom}}=\frac{\left(1+k_2+k_3\right)i_q{i}_h}{0.377\left(1+k_2\right)r_z}v,$ wherein in the formula, n.sub.ecom represents the target rotation speed of the engine before mode switching of the electro-mechanical transmission system; k.sub.2 and k.sub.3 respectively represent characteristic parameters of a second and third planetary gear mechanisms; i.sub.q represents a front transmission ratio, i.sub.h represents a rear transmission ratio; r.sub.z represents a radius of a driving wheel; and v represents the current vehicle speed.

8. The real-time optimization control method according to claim 1, wherein S4 is specifically as follows: if a speed difference between a target rotation speed and an actual rotation speed of the engine of the electro-mechanical transmission system exceeds a threshold, a torque value of the electro-mechanical transmission system is corrected; when the speed difference of the engine of the electro-mechanical transmission system is within a range of 50 rpm, the torque does not need to be corrected; and when the speed difference is greater than zero, driving torque is increased and load torque is decreased; or when the speed difference is less than zero, driving torque is decreased and load torque is increased.

9. The real-time optimization control method for an electro-mechanical transmission system according to claim 8, wherein when feedback correction is performed on the driving torque and the load torque of the engine of the electro-mechanical transmission system, the following formulas are used:
T.sub.ecom=k.sub.TT.sub.ecom; and
T.sub.ef=k.sub.TfT.sub.ef, where in the formulas, k.sub.T represents a correction coefficient of the driving torque of the engine of the electro-mechanical transmission system, and k.sub.Tf represents a correction coefficient of the load torque of the engine of the electro-mechanical transmission system; T.sub.ecom represents a target torque value of the engine; T.sub.ecom represents a corrected target torque value of the engine; T.sub.ef represents a load torque value of the engine; and T.sub.ef represents a corrected load torque value of the engine.

Description

BRIEF DESCRIPTION OF DRAWINGS

(1) FIG. 1 is a schematic flowchart of a real-time optimization control method for an electro-mechanical transmission system according to the present invention;

(2) FIG. 2 is another schematic flowchart of a real-time optimization control method for an electro-mechanical transmission system according to the present invention;

(3) FIG. 3 is a schematic diagram of a torque correction coefficient in a real-time optimization control method for an electro-mechanical transmission system according to the present invention; and

(4) FIG. 4 is a schematic structural diagram of simulation in a real-time optimization control method for an electro-mechanical transmission system according to the present invention.

DETAILED DESCRIPTION

(5) The following clearly and completely describes the technical solutions in the examples of the present invention with reference to the accompanying drawings in the examples of the present invention. Apparently, the described examples are merely a part rather than all of the examples of the present invention. All other examples obtained by a person of ordinary skill in the art based on the examples of the present invention without creative efforts shall fall within the protection scope of the present invention.

(6) As shown in FIG. 1, a real-time optimization control method for an electro-mechanical transmission system is provided, and includes the following steps:

(7) (S0) Start.

(8) (S1) Perform state observation: a current operating state of each element of the electro-mechanical transmission system is obtained through state observation.

(9) In this step, output torque of the electro-mechanical transmission system is calculated and observed by using a torque estimation method. Because a dynamic response time of a motor of the electro-mechanical transmission system is far less than a dynamic response time of an engine, it is considered that actual torque of the motor is equal to target torque thereof, and is represented by using the following formula:

(10) $T_{\mathrm{eact}}=J_e\frac{d_e}{\mathrm{dt}}+\frac{e_1{T}_A+e_2{T}_B}{i_q{}_q},$
where

(11) T.sub.eact represents actual torque, J.sub.e is an equivalent moment of inertia of an output end of the engine, in the unit of kg.Math.m.sup.2, .sub.e is an angular velocity of the engine, in the unit of rad/s, .sub.q is transmission efficiency, i.sub.q is a transmission ratio of the engine to an input end of a power coupling mechanism, T.sub.A and T.sub.B are input torque and output torque of the coupling mechanism, and e.sub.1 and e.sub.2 are torque coefficient matrices in two modes.

(12) In a specific embodiment, acceleration of the engine is obtained by performing Kalman filtering on a rotation speed of the engine.

(13) In a specific embodiment, the electro-mechanical transmission system obtains a bus voltage by using a sensor, and then calculates a current and an SOC by using a battery pack model of the electro-mechanical transmission system, where formulas for calculating the current and the SOC of the battery pack are as follows:

(14) $I\left(t\right)=\frac{V_{\mathrm{oc}}-\sqrt{V_{\mathrm{oc}}^2+4P_b\left(t\right)R_b}}{7200C_b{R}_b};\mathrm{and}$$\mathrm{SOC}\left(t\right)=-{}_0^{t}I\left(t\right)\mathrm{dt}+{\mathrm{SOC}}_0,$
where

(15) in the foregoing formulas, I(t) represents a current, and a discharge is positive, in the unit of A; V.sub.oc represents an open circuit voltage, in the unit of V; R.sub.b represents an internal resistance, in the unit of ; C.sub.b represents a capacity, in the unit of Ah; and SOC.sub.0 represents an initial SOC of the battery pack.

(16) (S2) Perform dynamic prediction: a feasible operating range of each element of the electro-mechanical transmission system is obtained through dynamic prediction.

(17) In this step, a method for performing dynamic prediction is as follows:

(18) Two different motors of the electro-mechanical transmission system work within their respective upper rotation speed limit, the engine of the electro-mechanical transmission system works in a particular rotation speed range, and the following formulas are met:

(19) 0$n_e=\frac{1}{a_1}{n}_A-\frac{a_2}{a_1}{n}_o;\mathrm{and}$$n_e=\frac{1}{b_1}{n}_B-\frac{b_2}{b_1}{n}_o.$

(20) In an EVT1 mode, a.sub.1>0, and b.sub.1=0; therefore, the rotation speed of the engine monotonically increases with a rotation speed of a motor A, and is uncorrelated with a rotation speed of a motor B, and the rotation speed range of the engine may be obtained based on an upper rotation speed limit and a lower rotation speed limit of the motor A, and is as follows:

(21) $\frac{1}{a_1}{n}_{\mathrm{Amin}}-\frac{a_2}{a_1}{n}_o<n_e<\frac{1}{a_1}{n}_{\mathrm{Amax}}-\frac{a_2}{a_1}{n}_o.$

(22) In an EVT2 mode, a.sub.1<0, and b.sub.1>0; therefore, the rotation speed of the engine monotonically decreases with the rotation speed of the motor A, and monotonically increases with the rotation speed of the motor B, and the rotation speed range of the engine may be obtained based on the upper rotation speed limits and lower rotation speed limits of the two motors and is as follows:

(23) $n_{\mathrm{emin}}=\max \left(\frac{1}{a_1}{n}_{\mathrm{Amax}}-\frac{a_2}{a_1}{n}_o,\frac{1}{b_1}{n}_{\mathrm{Bmin}}-\frac{b_2}{b_1}{n}_o\right);\mathrm{and}$$n_{\mathrm{emax}}=\min \left(\frac{1}{a_1}{n}_{\mathrm{Amin}}-\frac{a_2}{a_1}{n}_o,\frac{1}{b_1}{n}_{\mathrm{Bmax}}-\frac{b_2}{b_1}{n}_o\right).$

(24) A torque range of the engine not only depends on a current rotation speed, but also is correlated with a dynamic response characteristic thereof, the engine is approximate to a first-order system herein, and the torque range of the engine is as follows:

(25) $T_{\mathrm{emax}}=T_{\mathrm{eact}}+\left[f_e\left(n_{\mathrm{eact}}\right)-T_{\mathrm{eact}}\right]e^{-\frac{t}{T}};\mathrm{and}$$T_{\mathrm{emin}}=T_{\mathrm{eact}}\left(1-e^{-\frac{t}{T}}\right),$
where

(26) in the formulas, f.sub.e represents an external characteristic interpolation function of the engine; t represents a time step of dynamic prediction; and T represents a time constant of the engine.

(27) In the present invention, the EVT1 mode is a state in which a brake of the electro-mechanical transmission system is engaged and a clutch is disengaged; and the EVT2 mode is a state in which the brake of the electro-mechanical transmission system is disengaged and the clutch is engaged. EVT1 and EVT2 represent that the power coupling mechanism have two operating modes.

(28) A speed relationship between elements may be obtained based on a structural form of the power coupling mechanism:

(29) $\left[\begin{array}{c}{}_A\\ {}_B\end{array}\right]=\left[\begin{array}{cc}{a}_1& a_2\\ b_1& b_2\end{array}\right]\left[\begin{array}{c}{}_e\\ {}_o\end{array}\right],$

(30) in the formula: .sub.A, .sub.B, .sub.e and .sub.o respectively represent speeds of the motor A, the motor B, an engine, and an output shaft, and are in the unit of rad/s; and a.sub.1, a.sub.2, b.sub.1, and b.sub.2 are speed coefficients.

(31) (S3) Formulate an optimal decision: an optimal control command of each element in the optimal decision is formulated and executed.

(32) (S4) Perform feedback correction: feedback correction is performed on control amounts of the motor and the engine of the electro-mechanical transmission system by using state deviations.

(33) (S5) Determine whether feedback correction meets a requirement, and if feedback correction meets the requirement, end the process, or if feedback correction does not meet the requirement, repeat steps (1)-(5).

(34) In the present invention, S3 is specifically as follows:

(35) An optimal rotation speed and target torque of the electro-mechanical transmission system are determined based on opening of an accelerator pedal of the electro-mechanical transmission system and by using an optimal working curve of the engine of the electro-mechanical transmission system; then, load torque of the electro-mechanical transmission system is determined based on a speed adjustment time requirement of the engine of the electro-mechanical transmission system, to impose torque restriction on multi-target optimization of the electro-mechanical transmission system; finally, performance indexes of the system are classified into multiple layers based on a priority of an energy management policy of the electro-mechanical transmission system, and an analytic method is used at each layer to obtain optimal torque of the two motors, where speed adjustment needs to be performed on the engine of the electro-mechanical transmission system before mode switching of the electro-mechanical transmission system, to ensure that a speed difference of the clutch or the brake of the electro-mechanical transmission system is less than a threshold; in this case, a target rotation speed of the engine of the electro-mechanical transmission system is no longer determined by the opening of the accelerator pedal, but depends on a current vehicle speed of the electro-mechanical transmission system instead, and a mathematical expression of the target rotation speed of the engine is:

(36) $n_{\mathrm{ecom}}=\frac{\left(1+k_2+k_3\right)i_q{i}_h}{0.377\left(1+k_2\right)r_z}v,$

(37) in the formula, n.sub.ecom represents a target rotation speed of the engine before mode switching of the electro-mechanical transmission system.

(38) In the present invention, in feedback correction in step (S4):

(39) if a speed difference between a target rotation speed and an actual rotation speed of the engine of the electro-mechanical transmission system exceeds a threshold, a torque value of the electro-mechanical transmission system is corrected; when the speed difference of the engine of the electro-mechanical transmission system is within a range of 50 rpm, the torque does not need to be corrected; and when the speed difference is greater than zero, driving torque is increased and load torque is decreased; or when the speed difference is less than zero, driving torque is decreased and load torque is increased.

(40) In the present invention, when feedback correction is performed on the driving torque and the load torque of the engine of the electro-mechanical transmission system, the following formulas are used:
T.sub.ecom=k.sub.TT.sub.ecom; and
T.sub.ef=k.sub.TfT.sub.ef, where

(41) in the formulas, k.sub.T represents a correction coefficient of the driving torque of the engine of the electro-mechanical transmission system, and k.sub.Tf represents a correction coefficient of the load torque of the engine of the electro-mechanical transmission system.

(42) In the present invention, the real-time optimization control may be implemented based on an MATLAB2011b simulation platform. As shown in FIG. 4, a simulation model of the electro-mechanical transmission system is set up based on the MATLAB2011b simulation platform, and then the electro-mechanical transmission system is controlled by using the method, to control the electro-mechanical transmission system.

(43) It apparent for those skilled in the art that the present invention is not limited to the details of the above exemplary examples, and that the present invention may be implemented in other specific forms without departing from the spirit or basic features of the present invention. The examples should be regarded as exemplary and non-limiting in every respect, and the scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of equivalent elements of the claims should be included in the present invention. The reference numeral in the claims should not be considered as limiting the involved claims.

(44) It should be understood that although this specification is described in accordance with the examples, not every example includes only an independent technical solution. Such a description is merely for the sake of clarity, and those skilled in the art should take the specification as a whole. The technical solutions in the examples can also be appropriately combined to form other implementations which are comprehensible for those skilled in the art.