多轮混合动力驱动无人驾驶框架车整车控制器开发

doi:10.13229/j.cnki.jdxbgxb20190912

吉林大学学报(工学版) ›› 2021, Vol. 51 ›› Issue (1): 63-71.doi: 10.13229/j.cnki.jdxbgxb20190912

多轮混合动力驱动无人驾驶框架车整车控制器开发

曾小华¹(),李晓建¹,杜劭峰²(),马涛²,王振伟¹,宋大凤¹

^1.吉林大学汽车仿真与控制国家重点实验室，长春 130022
^2.内蒙古第一机械集团有限公司特种车辆及其传动系统智能制造国家重点实验室，内蒙古包头 014030

收稿日期:2019-09-23 出版日期:2021-01-01 发布日期:2021-01-20
通讯作者: 杜劭峰 E-mail:zeng.xiaohua@126.com;dushaofeng8611@126.com
作者简介:曾小华（1977-），男，教授，博士生导师. 研究方向：新能源汽车关键技术.E-mail:zeng.xiaohua@126.com
基金资助:
国家重点研发计划项目(2018YFB0105900)

Development of vehicle controller for multi-wheel hybrid-driven unmanned frame vehicle

Xiao-hua ZENG¹(),Xiao-jian LI¹,Shao-feng DU²(),Tao MA²,Zhen-wei WANG¹,Da-feng SONG¹

^1.State Key Laboratory of Automotive Simulation and Control，Jilin University，Changchun 130022，China
^2.State Key Laboratory of Smart Manufacturing for Special Vehicles and Transmission System，Inner Mongolia First Machinery Group Corporation，Baotou 014030，China

Received:2019-09-23 Online:2021-01-01 Published:2021-01-20
Contact: Shao-feng DU E-mail:zeng.xiaohua@126.com;dushaofeng8611@126.com

摘要/Abstract

摘要：

针对多轮分布式混合动力驱动无人驾驶框架车（MHUFV）的功能特点，开发整车控制系统，包括基于双动力源协调的高压上下电管理，考虑多控制节点复杂系统的故障诊断与容错控制，以及双输入模式驾驶员指令判定、防滑控制、模式切换和能量分配控制算法的设计。在此基础上，构建MHUFV软件架构，利用快速控制原型（RCP）技术平台，开发整车控制器，并对整车基本性能进行实车测试。结果表明，开发的整车控制器能够满足实车设计需求，在满载极限车速15 km/h时各关键状态量测试结果合理，且在同一运行工况下相比于传统柴油车节油效果达到38%，可以满足当前框架车行业的开发需求。

关键词: 整车控制器, 多轮分布式, 无人驾驶, 框架运输车

Abstract:

According to the functional characteristics of Multi-wheel distributed hybrid-driven unmanned frame vehicle （MHUFV）， the vehicle control system is developed. This system includes high-voltage power-on and power-off management based on the coordination of two power sources， fault diagnosis and fault-tolerant control of complex systems with multiple control nodes， and the algorithm design like driver input command determination with dual input mode， anti-skid control， mode switching and energy distribution control. On this basis， the MHUFV software architecture is constructed， and the vehicle controller is developed by using the Rapid Control Prototype （RCP） technology platform. The basic performance of the vehicle is studied by real road test. The results show that the developed vehicle controller can meet the design requirements of the real vehicle， the test results of each key state quantity are reasonable when the full load limit speed is 15 km/h， and the fuel saving effect is 38% compared with the traditional diesel vehicle under the same operating condition， which can meet the development requirements of the current frame car industry.

Key words: vehicle controller, multi-wheel distributed, driverless, frame transport vehicle

中图分类号:

U469.79

曾小华,李晓建,杜劭峰,马涛,王振伟,宋大凤. 多轮混合动力驱动无人驾驶框架车整车控制器开发[J]. 吉林大学学报(工学版), 2021, 51(1): 63-71.

Xiao-hua ZENG,Xiao-jian LI,Shao-feng DU,Tao MA,Zhen-wei WANG,Da-feng SONG. Development of vehicle controller for multi-wheel hybrid-driven unmanned frame vehicle[J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(1): 63-71.

图/表 20

图1

图2

图3

图4

图5

表1

图6

表2

七个典型路面相关参数"

路面	$C 1$	$C 2$	$C 3$	$S o p t$	$μ m a x$
干沥青	1.281	23.993	0.520	0.170	1.171
干水泥	1.196	25.166	0.539	0.160	1.092
湿沥青大	1.027	29.494	0.442	0.143	0.950
湿沥青中	0.856	33.821	0.345	0.131	0.800
湿沥青小	0.628	33.765	0.200	0.110	0.600
积雪	0.195	94.129	0.065	0.065	0.190
冰路	0.050	306.390	0.001	0.030	0.050

表2

图7

表3

典型模式下的能量分配"

工作模式	发动机输出功率	驱动电机输出转矩
停车发电	$P e = P c h g$	0
纯电动	0	$T M o t = T c m d / 8$
发动机启动	0	$T M o t = T c m d / 8$
发动机工作	$P e = P c m d + P c h g$	$T M o t = T c m d / 8$
跛行	$P e = P c m d · n d o w n + P c h g$	$T M o t = T c m d / (8 - n e r r)$
紧急制动	0	0

表3

图8

图9

图10

图11

图12

图13

图14

图15

图16

表4

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系统故障等级	故障等级描述	容错控制概述
0	系统正常	/
1	报警	故障报警并记录，车辆维持运行，本次任务结束后，通知维修，重新启动检查。
2	降功率	车辆限功率运行，减速停车，卸载框架，然后降功率行驶至维修地点，停车检查。
3	停车	停车故障，高压电可维持；清空走行电机转矩，保持液压电机运行，使车辆具备转向和制动能力。
4	停车	停车故障，高压电不可维持，此时液压电机无法保持运行，车辆紧急停止，所有电机动力清除。

参数	数值
仿真初始(终止)SOC/%	0.772(0.772)
百公里综合油耗/[（L·(100 km）^-1]	168
发动机效率/%	40.3
驱动电机平均效率/%	52
液压电机平均效率/%	65

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多轮混合动力驱动无人驾驶框架车整车控制器开发

Development of vehicle controller for multi-wheel hybrid-driven unmanned frame vehicle

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