阅读说明：本技术 一种机电复合驱动系统能量分配控制方法及装置 (Energy distribution control method and device for electromechanical composite driving system ) 是由 吴学雷 李将彬 李洪彪 杨波 于 2019-08-29 设计创作，主要内容包括：本发明提供了一种机电复合驱动系统能量分配控制方法及装置,根据驱动需求功率,动态调整参与驱动的电驱动桥数量,优化机械驱动系统变速器挡位和电驱系统电驱动桥挡位,决定发动机、动力电池和动力单元的输出功率,最终实现平衡车辆的动力性和经济性。(The invention provides an energy distribution control method and device for an electromechanical composite driving system, which dynamically adjust the number of electric drive axles participating in driving according to driving required power, optimize a transmission gear of a mechanical driving system and an electric drive axle gear of the electric driving system, determine output power of an engine, a power battery and a power unit, and finally realize the dynamic property and the economical property of a balance vehicle.)

1. An electromechanical compound drive system energy distribution control method, comprising:

s1, receiving a driver operation instruction, analyzing the operation instruction, and calculating the driving required power according to the analysis result;

s2, circulating the target gear of the mechanical drive system transmission and the target gear of the electric drive system electric drive axle between the current gear and the adjacent gear, and abandoning the gear sites meeting the preset conditions;

s3, calculating backup power under a mechanical drive system transmission target gear and backup power under an electric drive system electric drive axle target gear, circularly distributing engine power and drive motor power according to the drive required power in an engine power circulation interval and a drive motor power circulation interval, calculating drive motor working efficiency under different electric drive axle working quantities, and obtaining the electric drive axle working quantity corresponding to optimal efficiency;

s4, according to the total power of the power battery and the power unit, circularly distributing the power of the power battery and the power unit in a power circulation interval of the power unit, calculating the total equivalent fuel consumption, and weighting and normalizing the total equivalent fuel consumption and the backup power to obtain a target function value; the total power of the power battery and the power unit is equal to the driving required power divided by the working efficiency of the driving motor, and the total equivalent fuel consumption is equal to the sum of the oil consumption of an engine, the oil consumption of the power unit and the equivalent oil consumption of the power battery;

s5, judging whether the objective function value is the minimum value of all the results at present, if so, recording the corresponding gear, the working number of the electric drive axle, the output power of the engine, the output power of the power battery and the output power of the power unit, and then executing S6; if not, go directly to S6;

s6, judging whether the power battery power and the power unit power distribution cycle are completed, if yes, executing S7; if not, go to S4;

s7, judging whether the engine power and the driving motor power distribution cycle are completed, if yes, executing S8; if not, go to S3;

s8, judging whether the gear circulation of the mechanical drive system transmission and the electric drive system electric drive axle is finished, if so, executing S9; if not, returning to S2;

and S9, acquiring optimal solutions of the gears, the working number of the electric drive axle, the output power of the engine, the output power of the power battery and the output power of the power unit corresponding to the minimum objective function value at the current moment, and controlling the electromechanical compound driving system according to the optimal solution at the current moment.

2. The method of claim 1, wherein S2, the mechanical drive system transmission target gear and the electric drive system electric transaxle target gear are cycled between the current gear and the adjacent gear, and discarding the gear point meeting the preset condition comprises:

determining the target gears of the mechanical drive system transmission as a current gear and an adjacent gear, and determining the target gears of the electric drive system electric drive axle as a current gear and an adjacent gear;

judging whether the rotating speed of the driving motor exceeds the maximum rotating speed or not, if so, abandoning the gear point at which the rotating speed of the driving motor exceeds the maximum rotating speed, and returning to re-determine the target gear of the electric drive bridge of the electric drive system; and if the rotating speed of the driving motor does not exceed the maximum rotating speed, judging whether the rotating speed of the engine exceeds a rotating speed range, if so, abandoning the rotating speed of the engine exceeding the rotating speed range to obtain a gear point, returning to confirm the target gear of the mechanical driving system transmission again, and if not, executing S3.

3. The method of claim 2, wherein rejecting gear points meeting a predetermined condition comprises:

and a gear point with the maximum output power smaller than the driving demand power is abandoned.

4. The method of claim 1,

the maximum value of the engine power cycle interval is the smaller value of the maximum output power of the engine and the driving demand power divided by the efficiency of the mechanical driving system; the minimum value of the engine power cycle interval is 0 and the larger value of (the driving required power-the maximum output power of the driving motor x the efficiency of the electric driving system) ÷ the efficiency of the mechanical driving system;

the maximum value of the power cycle interval of the driving motor is the smaller value of the maximum output power of the driving motor and the driving demand power divided by the efficiency of the electric driving system; the minimum value of the drive motor power cycle interval is 0 and the greater of (the drive demand power-engine maximum output power x mechanical drive system efficiency) ÷ electric drive system efficiency).

5. The method of claim 1,

the maximum value of the power unit power cycle interval is the smaller value of (total power of the driving motor divided by the efficiency of the driving motor) and the maximum output power of the power unit; the minimum value of the power unit power cycle interval is the larger of 0 and (total drive motor power ÷ drive motor efficiency-maximum output power allowed by the power battery).

6. An electromechanical hybrid drive system energy distribution control apparatus, comprising:

the analysis module is used for receiving the operation instruction of the driver, analyzing the operation instruction and calculating the driving required power according to the analysis result;

the gear screening module is used for enabling a target gear of a transmission of the mechanical driving system and a target gear of an electric driving axle of the electric driving system to circulate between a current gear and an adjacent gear, and discarding a gear site meeting a preset condition;

the first calculation module is used for calculating backup power under a target gear of a transmission of the mechanical drive system and backup power under a target gear of an electric drive axle of the electric drive system, circularly distributing engine power and drive motor power according to the drive required power in an engine power circulation interval and a drive motor power circulation interval, calculating the working efficiency of the drive motor under different working quantities of the electric drive axle, and acquiring the working quantity of the electric drive axle corresponding to the optimal efficiency;

the second calculation module is used for circularly distributing the power of the power battery and the power unit in a power unit power circulation interval according to the total power of the power battery and the power unit, calculating the total equivalent fuel consumption, and weighting and normalizing the total equivalent fuel consumption and the backup power to obtain a target function value; the total power of the power battery and the power unit is equal to the driving required power divided by the working efficiency of the driving motor, and the total equivalent fuel consumption is equal to the sum of the oil consumption of an engine, the oil consumption of the power unit and the equivalent oil consumption of the power battery;

the first judgment module is used for judging whether the objective function value is the minimum value of all the results at present, if so, the corresponding gear, the working number of the electric drive axle, the output power of the engine, the output power of the power battery and the output power of the power unit are recorded and then are informed to the second judgment module; if not, directly notifying the second judgment module;

the second judging module is used for judging whether the power of the power battery and the power distribution cycle of the power unit are completed or not, and if so, informing a third judging module; if not, notifying the second computing module;

the third judging module is used for judging whether the power distribution cycle of the engine and the power of the driving motor is completed or not, and if so, the fourth judging module is informed; if not, notifying the first computing module;

the fourth judging module is used for judging whether the gear circulation of the mechanical drive system transmission and the electric drive system electric drive axle is finished or not, and if yes, informing the control module; if not, the gear screening module is informed;

and the control module is used for acquiring the optimal solution of the current moment of gears, the working number of the electric drive axle, the output power of the engine, the output power of the power battery and the output power of the power unit corresponding to the minimum objective function value, and controlling the electromechanical compound drive system according to the optimal solution of the current moment.

7. The device of claim 6, wherein the gear screening module cycles the mechanical drive system transmission target gear and the electric drive system electric transaxle target gear between the current gear and the adjacent gear by rejecting gear points that meet predetermined conditions:

the gear screening module is specifically used for determining that the target gears of the mechanical drive system transmission are a current gear and an adjacent gear, and the target gears of the electric drive system electric drive axle are a current gear and an adjacent gear; judging whether the rotating speed of the driving motor exceeds the maximum rotating speed or not, if so, abandoning the gear point at which the rotating speed of the driving motor exceeds the maximum rotating speed, and returning to re-determine the target gear of the electric drive bridge of the electric drive system; if the rotating speed of the driving motor does not exceed the maximum rotating speed, whether the rotating speed of an engine exceeds a rotating speed range is judged, if the rotating speed of the engine exceeds the rotating speed range, the rotating speed of the engine is abandoned to exceed the rotating speed range, a gear point is obtained, the target gear of the mechanical driving system transmission is determined again, and if the rotating speed of the engine does not exceed the rotating speed range, the first calculation module is informed.

8. The apparatus of claim 7, wherein the gear screening module rejects gear points meeting a predetermined condition by:

the gear screening module is specifically used for discarding a gear point with the maximum output power smaller than the driving required power.

9. The apparatus of claim 6,

the maximum value of the engine power cycle interval is the smaller value of the maximum output power of the engine and the driving demand power divided by the efficiency of the mechanical driving system; the minimum value of the engine power cycle interval is 0 and the larger value of (the driving required power-the maximum output power of the driving motor x the efficiency of the electric driving system) ÷ the efficiency of the mechanical driving system;

the maximum value of the power cycle interval of the driving motor is the smaller value of the maximum output power of the driving motor and the driving demand power divided by the efficiency of the electric driving system; the minimum value of the drive motor power cycle interval is 0 and the greater of (the drive demand power-engine maximum output power x mechanical drive system efficiency) ÷ electric drive system efficiency).

10. The apparatus of claim 6,

the maximum value of the power unit power cycle interval is the smaller value of (total power of the driving motor divided by the efficiency of the driving motor) and the maximum output power of the power unit; the minimum value of the power unit power cycle interval is the larger of 0 and (total drive motor power ÷ drive motor efficiency-maximum output power allowed by the power battery).

Technical Field

The invention relates to the technical field of multi-axis special vehicle control, in particular to an energy distribution control method and device for an electromechanical composite driving system.

Background

The electromechanical compound drive is one of hybrid power drive configurations, and the power source of the electromechanical compound drive comprises an engine, a power battery and a power unit. The engine, the power battery and the power unit respectively provide power for the mechanical drive axle and the electric drive axle, the mechanical drive axle and the electric drive axle are relatively independent, and the driving coupling is realized through tires. The two sets of driving systems can ensure that the vehicle continues to run under the condition that one set of system fails, and the multi-axle special vehicle is an important measure for solving the problems of high dynamic property and high reliability.

The primary purpose of the energy distribution control strategy is to determine the distribution of the demanded power among the various power sources, which affects the operating efficiency of the components and, in turn, the economy of the vehicle. Special vehicles, especially military special vehicles, first consider the dynamic property of the vehicle and also consider the economical efficiency of the vehicle, which puts new demands on the energy distribution control strategy. The existing energy distribution control technology mainly aims at improving the economy of hybrid cars, passenger cars and trucks, and does not comprehensively research the dynamic property and the economy of electromechanical compound drive multi-shaft special vehicles. How to consider the dynamic property and the economical property of the vehicle by a multi-axis special vehicle energy distribution control strategy is a technical problem and research difficulty which needs to be solved by a person skilled in the art.

Disclosure of Invention

The present invention aims to provide an electromechanical compound drive system energy allocation control method and apparatus that overcomes, or at least partially addresses, the above-mentioned problems.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

one aspect of the invention provides an electromechanical composite driving system energy distribution control method, which comprises the following steps: s1, receiving a driver operation instruction, analyzing the operation instruction, and calculating the driving required power according to the analysis result; s2, circulating the target gear of the mechanical drive system transmission and the target gear of the electric drive system electric drive axle between the current gear and the adjacent gear, and abandoning the gear sites meeting the preset conditions; s3, calculating backup power under a mechanical drive system transmission target gear and backup power under an electric drive system electric drive axle target gear, circularly distributing engine power and drive motor power according to drive required power in an engine power circulation interval and a drive motor power circulation interval, calculating drive motor working efficiency under different electric drive axle working quantities, and obtaining electric drive axle working quantities corresponding to optimal efficiency; s4, according to the total power of the power battery and the power unit, circularly distributing the power of the power battery and the power unit in a power circulation interval of the power unit, calculating the total equivalent fuel consumption, and weighting and normalizing the total equivalent fuel consumption and the backup power to obtain a target function value; the total power of the power battery and the power unit is equal to the driving demand power divided by the working efficiency of the driving motor, and the total equivalent fuel consumption is equal to the sum of the oil consumption of the engine, the oil consumption of the power unit and the equivalent oil consumption of the power battery; s5, judging whether the objective function value is the minimum value of all the results at present, if so, recording the corresponding gear, the working number of the electric drive axle, the output power of the engine, the output power of the power battery and the output power of the power unit, and then executing S6; if not, go directly to S6; s6, judging whether the power distribution cycle of the power battery and the power unit is completed, if yes, executing S7; if not, go to S4; s7, judging whether the power distribution cycle of the engine and the power of the driving motor is finished, if so, executing S8; if not, go to S3; s8, judging whether the gear circulation of the mechanical drive system transmission and the electric drive system electric drive axle is finished, if so, executing S9; if not, returning to S2; and S9, acquiring optimal solutions of the gears, the working number of the electric drive axle, the output power of the engine, the output power of the power battery and the output power of the power unit corresponding to the minimum objective function value at the current moment, and controlling the electromechanical compound driving system according to the optimal solution at the current moment.

Wherein, S2, make mechanical drive system derailleur target gear position and electric drive system electric transaxle target gear position circulate between present fender position and adjacent fender position, abandon the fender position point that accords with the preset condition and include: determining a target gear of a mechanical drive system transmission as a current gear and an adjacent gear, and determining a target gear of an electric drive system electric drive axle as a current gear and an adjacent gear; judging whether the rotating speed of the driving motor exceeds the maximum rotating speed or not, if so, abandoning a gear point at which the rotating speed of the driving motor exceeds the maximum rotating speed and returning to re-determine the target gear of the electric drive bridge of the electric drive system; and if the rotating speed of the driving motor does not exceed the maximum rotating speed, judging whether the rotating speed of the engine exceeds a rotating speed range, if so, abandoning the rotating speed of the engine to exceed the rotating speed range to obtain a gear point, returning to confirm the target gear of the mechanical driving system transmission again, and if not, executing S3.

Wherein, abandoning the fender position that accords with preset condition and put including: and a gear point with the maximum output power smaller than the driving demand power is abandoned.

The maximum value of the power cycle interval of the engine is a smaller value of the maximum output power of the engine and the driving demand power divided by the efficiency of the mechanical driving system; the minimum value of the engine power cycle interval is 0 and the larger value of (driving demand power-driving motor maximum output power x electric driving system efficiency) ÷ mechanical driving system efficiency; the maximum value of the power cycle interval of the driving motor is the smaller value of the maximum output power and the driving demand power of the driving motor divided by the efficiency of the electric driving system; the minimum value of the drive motor power cycle interval is 0 and the larger of (drive demand power-maximum engine output power x mechanical drive system efficiency) ÷ electrical drive system efficiency.

The maximum value of the power unit power cycle interval is the smaller value of (total power of the driving motor divided by the efficiency of the driving motor) and the maximum output power of the power unit; the minimum value of the power unit power cycle interval is the larger of 0 and (total drive motor power ÷ drive motor efficiency-maximum power output allowed by the power battery).

In another aspect, the present invention provides an energy distribution control apparatus for an electromechanical hybrid driving system, including: the analysis module is used for receiving the operation instruction of the driver, analyzing the operation instruction and calculating the driving required power according to the analysis result; the gear screening module is used for enabling a target gear of a transmission of the mechanical driving system and a target gear of an electric driving axle of the electric driving system to circulate between a current gear and an adjacent gear, and discarding a gear site meeting a preset condition; the first calculation module is used for calculating backup power under a mechanical drive system transmission target gear and backup power under an electric drive system electric drive axle target gear, circularly distributing engine power and drive motor power according to drive required power in an engine power circulation interval and a drive motor power circulation interval, calculating drive motor working efficiency under different electric drive axle working quantities, and acquiring electric drive axle working quantities corresponding to optimal efficiency; the second calculation module is used for circularly distributing the power of the power battery and the power unit in a power unit power circulation interval according to the total power of the power battery and the power unit, calculating the total equivalent fuel consumption, and weighting and normalizing the total equivalent fuel consumption and the backup power to obtain a target function value; the total power of the power battery and the power unit is equal to the driving demand power divided by the working efficiency of the driving motor, and the total equivalent fuel consumption is equal to the sum of the oil consumption of the engine, the oil consumption of the power unit and the equivalent oil consumption of the power battery; the first judgment module is used for judging whether the objective function value is the minimum value of all the results at present, if so, the corresponding gear, the working number of the electric drive axle, the output power of the engine, the output power of the power battery and the output power of the power unit are recorded and then notified to the second judgment module; if not, directly informing the second judgment module; the second judgment module is used for judging whether the power distribution cycle of the power battery and the power unit is completed or not, and if so, the third judgment module is informed; if not, notifying the second computing module; the third judgment module is used for judging whether the power distribution cycle of the engine and the power of the driving motor is completed or not, and if so, the fourth judgment module is informed; if not, notifying the first computing module; the fourth judgment module is used for judging whether the gear circulation of the electric drive axle of the mechanical drive system transmission and the electric drive system is finished or not, and if yes, the control module is informed; if not, the gear screening module is informed; and the control module is used for acquiring optimal solutions of the gears, the working number of the electric drive axle, the output power of the engine, the output power of the power battery and the output power of the power unit corresponding to the minimum objective function value at the current moment, and controlling the electromechanical compound driving system according to the optimal solution at the current moment.

Wherein, keep off the position screening module and make mechanical drive system derailleur target position and the target position of electric drive system electric transaxle circulate between current position and adjacent fender position through following mode, abandon the position point that keeps off that accords with the preset condition: the gear screening module is specifically used for determining that a target gear of a transmission of the mechanical driving system is a current gear and an adjacent gear, and a target gear of an electric driving bridge of the electric driving system is the current gear and the adjacent gear; judging whether the rotating speed of the driving motor exceeds the maximum rotating speed or not, if so, abandoning a gear point at which the rotating speed of the driving motor exceeds the maximum rotating speed and returning to re-determine the target gear of the electric drive bridge of the electric drive system; if the rotating speed of the driving motor does not exceed the maximum rotating speed, whether the rotating speed of the engine exceeds a rotating speed range is judged, if the rotating speed of the engine exceeds the rotating speed range, the rotating speed of the engine is abandoned and exceeds the rotating speed range, a gear point is obtained, the target gear of the mechanical driving system transmission is determined again, and if the rotating speed of the engine does not exceed the rotating speed range, the first calculating module is informed.

Wherein, keep off the position screening module and abandon the fender position point that accords with preset condition through following mode: and the gear screening module is specifically used for discarding a gear point with the maximum output power smaller than the driving required power.

The maximum value of the power cycle interval of the engine is a smaller value of the maximum output power of the engine and the driving demand power divided by the efficiency of the mechanical driving system; the minimum value of the engine power cycle interval is 0 and the larger value of (driving demand power-driving motor maximum output power x electric driving system efficiency) ÷ mechanical driving system efficiency; the maximum value of the power cycle interval of the driving motor is the smaller value of the maximum output power and the driving demand power of the driving motor divided by the efficiency of the electric driving system; the minimum value of the drive motor power cycle interval is 0 and the larger of (drive demand power-maximum engine output power x mechanical drive system efficiency) ÷ electrical drive system efficiency.

The maximum value of the power unit power cycle interval is the smaller value of (total power of the driving motor divided by the efficiency of the driving motor) and the maximum output power of the power unit; the minimum value of the power unit power cycle interval is the larger of 0 and (total drive motor power ÷ drive motor efficiency-maximum power output allowed by the power battery).

Therefore, according to the energy distribution control method and device of the electromechanical compound driving system, the number of the electric drive axles participating in driving is dynamically adjusted according to the driving power demand, the gear of the mechanical driving system transmission and the gear of the electric drive system electric drive axle are optimized, the output power of the engine, the power battery and the power unit is determined, and finally the dynamic property and the economical property of the vehicle are balanced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an electromechanical compound drive system according to an embodiment of the present invention;

FIG. 2 is a basic configuration diagram of an electromechanical compound drive multi-axle vehicle according to an embodiment of the present invention;

FIG. 3 is a flowchart of an energy distribution control method for an electromechanical hybrid drive system according to an embodiment of the present invention;

FIG. 4 is a flowchart illustrating an exemplary embodiment of a method for controlling energy distribution of an electromechanical hybrid propulsion system;

fig. 5 is a schematic structural diagram of an energy distribution control device of an electromechanical compound drive system according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

Fig. 1 shows a schematic structural diagram of an electromechanical hybrid drive system adopted in an energy distribution control method of an electromechanical hybrid drive system provided in an embodiment of the present invention, and referring to fig. 1, the electromechanical hybrid drive system adopted in the energy distribution control method of the electromechanical hybrid drive system provided in the embodiment of the present invention is controlled by a vehicle control unit:

the electromechanical compound driving system is connected with the vehicle control unit and is controlled by the vehicle control unit; the electromechanical compound drive system includes: a mechanical drive system and an electrical drive system;

the mechanical driving system comprises an engine, a controller, an automatic transmission, a controller and a transfer case, wherein the transfer case is connected with n mechanical driving axles, wherein n is more than or equal to 1 and is a natural number;

the electric drive system is connected with a power BATTERY and BMS (Battery management System, BMS MANAGEMENT SYSTEM), a power unit and controller and n electric drive bridges, wherein n is more than or equal to 1 and is a natural number; each electric drive axle comprises a drive motor and a controller, a multi-gear reduction box and a gear shifting controller, a wheel-side transmission shaft and a wheel-side speed reducer respectively.

The mechanical drive axle is powered by a high-power engine, and the electric drive axle is powered by a power battery and a power unit.