混合动力车辆换挡的实时滚动优化控制方法

doi:10.13229/j.cnki.jdxbgxb.20230760

摘要/Abstract

摘要：

针对混合动力车辆挡位优化所形成的混合整数非线性最优控制难以求解的问题，本文提出了一种实时滚动优化控制方法。首先，以车辆动力性能、等效燃油消耗最小和驾驶性能为目标函数，并结合模型预测控制滚动优化的思想构建实时控制方法。其次，基于车辆动力系统的二次拟合，利用极小值原理得到能量分配的解析解，并在每一时刻采用枚举法优化挡位。最后，滚动向前优化。标准工况下的仿真结果表明：①本文方法可以提高计算效率，计算时间在50 ms以内，具有在线应用的潜力；②与动态规划方法相比，可以实现接近全局最优的燃油经济性。

关键词: 车辆工程, 混合动力车辆, 燃油经济性, 挡位控制, 模型预测控制, 解析解

Abstract:

The online optimization method was proposed to solve the problem of hybrid integer nonlinear optimal control in hybrid electric vehicle gearing optimization. Firstly， the real-time control method was constructed based on the rolling optimization idea of model predictive control. The objective function was the total weighted cost associated with vehicle dynamic performance， minimum equivalent fuel consumption， and drivability. Secondly， based on the model fitting of the vehicle power system， the analytical solution of energy distribution was obtained by using the minimum principle， and the gear was optimized by the enumeration method at every moment. The simulation results under standard working conditions show that：①the proposed method can improve the calculation efficiency， and the calculation time is less than 50 ms， which has the potential of online application；②Compared with the dynamic programming method， the proposed method can achieve close to the global optimal fuel economy.

Key words: vehicle engineering, hybrid electric vehicles, fuel economy, gear control, model predictive control, analytical solution

中图分类号:

U461.8

张涛,林黄达,余中军. 混合动力车辆换挡的实时滚动优化控制方法[J]. 吉林大学学报(工学版), 2025, 55(4): 1215-1224.

Tao ZHANG,Huang-da LIN,Zhong-jun YU. Real-time rolling optimization control method for gearshift of hybrid electric vehicles[J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(4): 1215-1224.

图/表 13

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表1

车辆参数表"

部件	参数	数值
车辆	质量m/kg	1 623
	滚动阻力系数 $f$	0.014
	空气阻力系数 $C D$	0.25
	迎风面积A/m²	2.46
	半径r /m	0.336
发动机	最大功率/kW	90
发动机	最大转矩/（N·m）	175
电机/发电机	最大转矩/（N·m）	200
电机/发电机	最大功率/kW	30
变速箱	传动比	4.212/2.637/1.8/ 1.386/1/0.772
变速箱	主减速	3.32
电池	配置	1P 72S
	电池容量/（A·h）	5.3
	开路电压/V	262

表1

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工况	方法	SoC终端值	燃油消耗/g	燃油经济性/%
UDDS	本文	0.495 9	245.5	93.5
UDDS	DP	0.499 2	230	100
NEDC	本文	0.499 6	258.1	93
NEDC	DP	0.498 9	241.2	100