-
摘要: 针对矿用汽车发动机工作点分布于燃油低效区的问题, 提出了基于功率匹配的交流传动控制策略, 使得传动系统能够根据车辆工况的变化相应改变发动机输出功率。确定了电传动系统功率区, 引入了车辆负荷度评价车辆所处工况的负荷程度, 设计了3层结构的控制策略, 上层算法中使用滑动平均滤波算法对轮边电机转速进行预处理, 计算车辆负荷度; 中层算法利用三维模糊控制器, 根据车辆负荷度及发动机转速计算了参考功率; 下层算法中驱动系统追踪给定的参考功率, 实现了矿用汽车的功率匹配。为验证功率匹配控制策略的控制效果, 搭建了电传动试验平台进行验证。验证结果表明: 控制策略能够快速识别矿用汽车启动、爬坡、突遇负载、下坡等常用工况的负载变化, 并计算适合当前负载的驱动功率, 保障了矿用汽车在恶劣工况下的动力性; 稳态试验考察了控制策略下矿用汽车的节油效果, 发动机工作点分布在最佳燃油经济性曲线附近, 负载为40kW时, 功率匹配控制策略的燃油消耗量比满足最大功率需要策略减少10.8%, 负载为80kW时, 功率匹配控制策略的燃油消耗量比满足最大功率需要策略减少4.8%, 验证了功率匹配策略的有效性与可行性。Abstract: Considering that the working points of mine truck engine were distributed in low efficiency area, the AC(alternating current)drive control strategy based on power matching was designed, and the output power was adjusted by transmission system according to different driving cycles.The power region of electric drive system was determined.Vehicle load degree was introduced to evaluate load degrees of different driving cycles.A three-layer hierarchical control strategy was proposed.The rotational speeds of in-wheel motor were pretreated by using moving average filter algorithm, and vehicle load degrees were calculated in the upper algorithm.In the middle algorithm, the reference power was calculated with vehicle load degree and engine speed, and a three-dimensional fuzzy controller was used in the middle algorithm.In the lower algorithm, the reference power was tracked by driving system to realize power matching of mine truck.The electric drive test bench was built, and the effect of power matching control strategy was verified.Verification result indicates that by using power matching control strategy, the change of load degrees can be quickly identified for common driving cycles of starting, climbing, sudden loading and downhill.The driving power of current load is calculated, which can guarantee the dynamic performance of mine truck in complicated working conditions.The oil saving effect of control strategy for mine truck is examined by steady test, and the working points of engine locate nearby the optimum fuel economy curve.Compared with the maximum power satisfied strategy, the fuel consumption of power matching control strategy reduces by 10.8%for load of 40 kW, and 4.8% for load of 80 kW, so the effectiveness and feasibility of control strategy are validated.
-
Key words:
- mine truck /
- power source optimization /
- power matching /
- AC drive /
- hierarchical control /
- vehicle loading /
- fuel economy
-
表 1 不同油门开度下的加速度
Table 1. Accelerations under different throttle openings
-
[1] 李晓英, 于秀敏, 李君, 等. 串联混合动力汽车控制策略[J]. 吉林大学学报: 工学版, 2005, 35(2): 122-126. https://www.cnki.com.cn/Article/CJFDTOTAL-JLGY200502002.htmLI Xiao-ying, YU Xiu-min, LI Jun, et al. Control strategy for series hybrid-power vehicle[J]. Journal of Jilin University: Engineering and Technology Edition, 2005, 35(2): 122-126. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JLGY200502002.htm [2] 彭武, 张俊智, 卢青春. 混合动力电动公共汽车控制策略的仿真[J]. 公路交通科技, 2003, 20(1): 148-150, 154. doi: 10.3969/j.issn.1002-0268.2003.01.038PENG Wu, ZHANG Jun-zhi, LU Qing-chun. Simulation on the control strategy of hybrid electric bus[J]. Journal of Highway and Transportation Research and Development, 2003, 20(1): 148-150, 154. (in Chinese) doi: 10.3969/j.issn.1002-0268.2003.01.038 [3] CHAN C C. An overview of electric vehicle technology[J]. Proceedings of the IEEE, 1993, 81(9): 1202-1213. doi: 10.1109/5.237530 [4] CHAN C C. The state of the art of electric and hybrid vehicles[J]. Proceedings of the IEEE, 2002, 90(2): 247-275. doi: 10.1109/5.989873 [5] 王磊, 张勇, 舒杰, 等. 基于模糊自适应滑模方法的混联式混合动力客车模式切换协调控制[J]. 机械工程学报, 2012, 48(14): 119-127. https://www.cnki.com.cn/Article/CJFDTOTAL-JXXB201214019.htmWANG Lei, ZHANG Yong, SHU Jie, et al. Mode transition control for series-parallel hybrid electric bus using fuzzy adaptive sliding mode approach[J]. Journal of Mechanical Engineering, 2012, 48(14): 119-127. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JXXB201214019.htm [6] MURPHEY Y L, PARK J, CHEN Z, et al. Intelligent hybrid vehicle power control―Part Ⅰ: machine learning of optimal vehicle power[J]. IEEE Transactions on Vehicular Technology, 2012, 61(8): 3519-3530. doi: 10.1109/TVT.2012.2206064 [7] MURPHEY Y L, PARK J, KILIARIS L, et al. Intelligent hybrid vehicle power control―Part Ⅱ: online intelligent energy management[J]. IEEE Transactions on Vehicular Technology, 2013, 62(1): 69-79. doi: 10.1109/TVT.2012.2217362 [8] JOHANNESSON L, PETTERSSON S, EGARDT B, et al. Predictive energy management of a 4QT series-parallel hybrid electric bus[J]. Control Engineering Practice, 2009, 17(7): 1440-1453. [9] 林巨广, 顾杰, 朱茂飞. 基于驾驶意图模糊识别的PHEV输出转矩控制的研究[J]. 汽车工程, 2012, 34(11): 984-989. doi: 10.3969/j.issn.1000-680X.2012.11.005LIN Ju-guang, GU Jie, ZHU Mao-fei. A study on PHEV output torque control based on fuzzy recognition of driver's intention[J]. Automotive Engineering, 2012, 34(11): 984-989. (in Chinese) doi: 10.3969/j.issn.1000-680X.2012.11.005 [10] 孙以泽, 王其明. 车辆AMT中道路条件及驾驶意图的模糊识别[J]. 汽车工程, 2001, 23(6): 419-422. doi: 10.3321/j.issn:1000-680X.2001.06.015SUN Yi-ze, WANG Qi-ming. Fuzzy discernment of the driving environment and the driving intention in AMT[J]. Automotive Engineering, 2001, 23(6): 419-422. (in Chinese) doi: 10.3321/j.issn:1000-680X.2001.06.015 [11] 邱铁, 徐子川, 江贺. 基于模糊控制的智能车路况识别[J]. 计算机工程与应用, 2009, 45(14): 213-216. doi: 10.3778/j.issn.1002-8331.2009.14.066QIU Tie, XU Zi-chuan, JIANG He. Smartcar road status recognition based on fuzzy control[J]. Computer Engineering and Applications, 2009, 45(14): 213-216. (in Chinese) doi: 10.3778/j.issn.1002-8331.2009.14.066 [12] 邹渊, 陈锐, 侯仕杰, 等. 基于随机动态规划的混合动力履带车辆能量管理策略[J]. 机械工程学报, 2012, 48(14): 91-96. https://www.cnki.com.cn/Article/CJFDTOTAL-JXXB201214015.htmZOU Yuan, CHEN Rui, HOU Shi-jie, et al. Energy management strategy for hybrid electric tracked vehicle based on stochastic dynamic programming[J]. Journal of Mechanical Engineering, 2012, 48(14): 91-96. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JXXB201214015.htm [13] 林歆悠, 孙东野, 尹燕莉, 等. 基于随机动态规划的混联式混合动力客车能量管理策略[J]. 汽车工程, 2012, 34(9): 830-836, 858. doi: 10.3969/j.issn.1000-680X.2012.09.013LIN Xin-you, SUN Dong-ye, YIN Yan-li, et al. The energy management strategy for a series-parallel hybrid electric bus based on stochastic dynamic programming[J]. Automotive Engineering, 2012, 34(9): 830-836, 858. (in Chinese) doi: 10.3969/j.issn.1000-680X.2012.09.013 [14] TATE E D, GRIZZLE J W, PENG H. Shortest path sto-chastic control for hybrid electric vehicles[J]. International Journal of Robust and Nonlinear Control, 2008, 14(18): 1409-1429. [15] 刘洪波, 雷雨龙, 傅尧, 等. 基于转矩的车辆负载识别方法[J]. 吉林大学学报: 工学版, 2012, 42(5): 1107-1112. https://www.cnki.com.cn/Article/CJFDTOTAL-JLGY201205007.htmLIU Hong-bo, LEI Yu-long, FU Yao, et al. Torque-based vehicle load recognition method[J]. Journal of Jilin University: Engineering and Technology Edition, 2012, 42(5): 1107-1112. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JLGY201205007.htm [16] 张泰, 葛安林, 唐春学, 等. 越野汽车机械自动变速器换挡规律的自适应控制[J]. 农业机械学报, 2006, 37(4): 5-8. https://www.cnki.com.cn/Article/CJFDTOTAL-NYJX200604002.htmZHANG Tai, GE An-lin, TANG Chun-xue, et al. Shift schedule self-adaptive control of off-road vehicle automated mechanical transmission[J]. Transactions of the Chinese Society for Agricultural Machinery, 2006, 37(4): 5-8. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-NYJX200604002.htm [17] 张泰, 葛安林, 郭立书, 等. 基于车辆负荷度的换挡规律研究[J]. 农业机械学报, 2004, 35(3): 9-12. https://www.cnki.com.cn/Article/CJFDTOTAL-NYJX200403002.htmZHANG Tai, GE An-lin, GUO Li-shu, et al. Shift schedule based on vehicle loading[J]. Transactions of the Chinese Society for Agricultural Machinery, 2004, 35(3): 9-12. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-NYJX200403002.htm [18] 金辉, 李磊, 李斌虎, 等. 基于加速度区间判断的坡道识别方法[J]. 中国公路学报, 2010, 23(1): 122-126. https://www.cnki.com.cn/Article/CJFDTOTAL-ZGGL201001023.htmJIN Hui, LI Lei, LI Bin-hu, et al. Slope recognition method based on acceleration interval judgment[J]. China Journal of Highway and Transport, 2010, 23(1): 122-126. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-ZGGL201001023.htm [19] 雷雨龙, 付尧, 刘科, 等. 基于扩展卡尔曼滤波的车辆质量与道路坡度估计[J]. 农业机械学报, 2014, 45(11): 9-13, 8. https://www.cnki.com.cn/Article/CJFDTOTAL-NYJX201411002.htmLEI Yu-long, FU Yao, LIU Ke, et al. Vehicle mass and road grade estimation based on extended Kalman filter[J]. Transactions of the Chinese Society for Agricultural Machinery, 2014, 45(11): 9-13, 8. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-NYJX201411002.htm [20] 王玉海, 董瑞先, 王松, 等. 基于SAE J1939协议的重型车辆坡道识别实时算法[J]. 汽车工程, 2010, 32(7): 640-642, 647. https://www.cnki.com.cn/Article/CJFDTOTAL-QCGC201007021.htmWANG Yu-hai, DONG Rui-xian, WANG Song, et al. Real-time road slope recognition algorithm for heavy truck based SAE J1939 protocol[J]. Automotive Engineering, 2010, 32(7): 640-642, 647. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-QCGC201007021.htm [21] 金辉, 葛安林, 秦贵和, 等. 基于纵向动力学的坡道识别方法研究[J]. 机械工程学报, 2002, 38(1): 79-86. https://www.cnki.com.cn/Article/CJFDTOTAL-JXXB200201018.htmJIN Hui, GE An-lin, QIN Gui-he, et al. Study on slope recognition method based on vehicle's longitudinal dynamics[J]. Journal of Mechanical Engineering, 2002, 38(1): 79-86. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JXXB200201018.htm [22] 尚涛, 赵丁选, 肖英奎, 等. 液压挖掘机功率匹配节能控制系统[J]. 吉林大学学报: 工学版, 2004, 34(4): 592-596. https://www.cnki.com.cn/Article/CJFDTOTAL-JLGY200404015.htmSHANG Tao, ZHAO Ding-xuan, XIAO Ying-kui, et al. Power matching for energy-saving control system of hydraulic excavators[J]. Journal of Jilin University: Engineering and Technology Edition, 2004, 34(4): 592-596. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JLGY200404015.htm [23] 王东云, 管成, 潘双夏, 等. 液压挖掘机功率匹配与动力源优化综合控制策略[J]. 农业机械学报, 2009, 40(4): 91-95. https://www.cnki.com.cn/Article/CJFDTOTAL-NYJX200904020.htmWANG Dong-yun, GUAN Cheng, PAN Shuang-xia, et al. Control strategy of power matching and power sources optimization for hydraulic excavators[J]. Transactions of the Chinese Society for Agricultural Machinery, 2009, 40(4): 91-95. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-NYJX200904020.htm [24] PARK J, CHEN Zhi-hang, KILIARIS L, et al. Intelligent vehicle power control based on machine learning of optimal control parameters and prediction of road type and traffic congestion[J]. IEEE Transactions on Vehicular Technology, 2009, 58(9): 4741-4756. [25] YUAN Xi-bo, WANG Jia-bin. Torque distribution strategy for a front-and rear-wheel-driven electric vehicle[J]. IEEE Transactions on Vehicular Technology, 2012, 61(8): 3365-3374. -
下载:
点击查看大图
图(14) / 表(1)
计量
- 文章访问数: 639
- HTML全文浏览量: 174
- PDF下载量: 13010
- 被引次数: 0
