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

Abstract

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

CLC Number:

U461.8

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.

Figures/Tables 13

Fig.1

Table 1

Vehicle parameters"

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

Table 1

Fig.2

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

Fig.10

Fig.11

Table 2

References 20

[1]	宋大凤, 杨丽丽, 曾小华, 等.基于行驶工况合成的混合动力汽车电池寿命优化[J]. 吉林大学学报: 工学版, 2021, 51(3): 781-791.
	Song Da-feng, Yang Li-li, Zeng Xiao-hua, et al. Battery life optimization of hybrid electric vehicle based on driving cycle construction[J].Journal of Jilin University(Engineering and Technology Edition), 2021, 51(3): 781-791.
[2]	Duhr P, Christodoulou G, Balerna C, et al. Time-optimal gearshift and energy management strategies for a hybrid electric race car[J]. Applied Energy, 2021, 282(6): No.115980.
[3]	Wang Y, Wu Z, Chen Y, et al. Research on energy optimization control strategy of the hybrid electric vehicle based on Pontryagin's minimum principle[J]. Computers & Electrical Engineering, 2018, 72: 203-213.
[4]	Sun C, Hu X, Sun F, et al. Velocity predictors for predictive energy management in hybrid electric vehicles[J]. IEEE Transactions on Control Systems Technology: A publication of the IEEE Control Systems Society, 2015, 23(3):1197-1204.
[5]	张风奇, 胡晓松, 许康辉, 等. 混合动力汽车模型预测能量管理研究现状与展望[J]. 机械工程学报, 2019, 55(10): 86-108.
	Zhang Feng-qi, Hu Xiao-song, Xu Kang-hui, et al. Current status and prospects for model predictive energy management in hybrid electric vehicles[J]. Journal of Mechanical Engineering, 2019, 55(10): 86-108.
[6]	赵菲, 王建, 张天雷, 等. 云控场景下车辆队列的模型预测控制方法[J]. 汽车工程, 2022, 44(2): 179-189.
	Zhao Fei, Wang Jian, Zhang Tian-lei, et al. Model predictive control method for vehicle platoon under cloud control scenes[J]. Automotive Engineering, 2022, 44(2): 179-189.
[7]	Shen D, Lim C, Shi P, et al. Energy management of fuel cell hybrid vehicle based on partially observable Markov decision process[J]. IEEE Transactions on Control Systems Technology, 2020, 28(2): 318-330.
[8]	Xie S, Hu X, Xin Z, et al. Pontryagin's minimum principle based model predictive control of energy management for a plug-in hybrid electric bus[J]. Applied Energy, 2019, 236(15): 893-905.
[9]	Razi M, Murgovski N, Mckelvey T, et al. Predictive energy management of hybrid electric vehicles via multi-layer control[J]. IEEE Transactions on Vehicular Technology, 2021, 70(7): 6485-6499.
[10]	郭露露. 面向智能节能的汽车实时优化控制及实车验证[D]. 长春:吉林大学通信工程学院, 2019.
	Guo Lu-lu. Real-time optimal automotive control for intelligent energy conservation and road test[D]. Changcun:College of Communication Engineering, Jilin University, 2019.
[11]	Guo L, Gao B, Liu Q, et al. On-line optimal control of the gearshift command for multi-speed electric vehicles[J]. IEEE/ASME Transactions on Mechatronics, 2017, 22(4): 1519-1530.
[12]	Nassar M, Shaltout M, Hegazi H. Multi-objective optimum energy management strategies for parallel hybrid electric vehicles: a comparative study[J]. Energy Conversion and Management, 2023, 277:No.116683.
[13]	Zhang F, Hu X, Liu T, et al. Computationally efficient energy management for hybrid electric vehicles using model predictive control and vehicle-to-vehicle communication[J]. IEEE Transactions on Vehicular Technology, 2020, 70(1): 237-250.
[14]	莫浩楠, 杨中平, 林飞, 等.有轨电车基于工况识别的强化学习能量管理策略[J]. 电工技术学报, 2021, 36(19): 4170-4182.
	Mo Hao-nan, Yang Zhong-ping, Lin Fei, et al. Reinforcement learning energy management strategy of tram based on condition identification[J]. Transactions of China Electrotechnical Society, 2021, 36(19): 4170-4182.
[15]	Hou J, Yao D, Wu F, et al. Online vehicle velocity prediction using an adaptive radial basis function neural network[J]. IEEE Transactions on Vehicular Technology, 2021, 70(4): 3113-3122.
[16]	解少博, 屈鹏程, 李嘉诚, 等. 跟驰场景中网联混合电动货车速度规划和能量管理协同控制的研究[J]. 汽车工程, 2022, 44(8): 1136-1143.
	Xie Shao-bo, Qu Peng-cheng, Li Jia-cheng, et al. Study on coordinated control of speed planning and energy management for connected hybrid electric truck in vehicle following scene[J]. Automotive Engineering, 2022, 44(8): 1136-1143.
[17]	李亚鹏, 唐小林, 胡晓松. 基于分层式控制的混合动力汽车生态驾驶研究[J]. 汽车工程, 2023, 45(4): 551-560.
	Li Ya-peng, Tang Xiao-lin, Hu Xiao-song. Study on eco-driving of PHEVs based on hierarchical control strategy[J]. Automotive Engineering, 2023, 45(4): 551-560.
[18]	杨业, 张幽彤, 张彪, 等. 基于等效因子优化的插电式混合动力客车自适应能量管理策略[J]. 汽车工程, 2020, 42(3): 292-298.
	Yang Ye, Zhang You-tong, Zhang Biao, et al. Adaptive energy management strategy for plug-in hybrid electric bus based on equivalent factor optimization[J]. Automotive Engineering, 2020, 42(3): 292-298.
[19]	王哲, 谢怡, 臧鹏飞, 等.基于极小值原理的燃料电池客车能量管理策略[J]. 吉林大学学报: 工学版, 2020, 50(1): 36-43.
	Wang Zhe, Xie Yi, Zang Peng-fei, et al. Energy management strategy of fuel cell bus based on Pontryagin's minimum principle[J]. Journal of Jilin University (Engineering and Technology Edition), 2020, 50(1): 36-43.
[20]	Rezaei A, Burl J B, Zhou B. Estimation of the ECMS equivalent factor bounds for hybrid electric vehicles[J]. IEEE Transactions on Control Systems Technology, 2017, 26(6): 2198-2205.

Related Articles 15

[1]	Dang LU,Yan-ru SUO,Yu-hang SUN,Hai-dong WU. Estimation of tire camber and sideslip combined mechanical characteristics based on dimensionless expression [J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(5): 1516-1524.
[2]	Xu WANG. An overview of key technologies for quadruped robot motion and stability control [J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(5): 1483-1496.
[3]	Wei-dong LI,Cao-yuan MA,Hao SHI,Heng CAO. An automatic driving decision control algorithm based on hierarchical reinforcement learning [J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(5): 1798-1805.
[4]	Zhen-hai GAO,Cheng-yuan ZHENG,Rui ZHAO. Review of active safety verification and validation for autonomous vehicles in real and virtual scenarios [J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(4): 1142-1162.
[5]	Xun GONG,Hang REN,Hua-lin ZHANG,Jie-yu WANG,Yun-feng HU,Yao SUN. Eco⁃heating control method for connected electric automotive heat pump system in winter conditions [J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(3): 820-828.
[6]	Dang LU,Xiao-fan WANG,Hai-dong WU. Analysis of uniform distribution characteristics of contact pressure of TWEEL tires [J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(3): 811-819.
[7]	Jun-long QU,Wen-ku SHI,Sheng-yi XUAN,Zhi-yong CHEN. Parameter design method of multiple dynamic vibration absorbers for suppressing multi-frequency resonance of automotive powertrain [J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(2): 444-455.
[8]	Xin CHEN,Xiang-yuan ZHANG,Zi-tao WU,Gui-shen YU,Li-fei YANG. Effect of process sequence on tensile shear properties of PFSSW joints for automotive aluminum sheets [J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(2): 468-475.
[9]	Hong-yu HU,Zheng-guang ZHANG,You QU,Mu-yu CAI,Fei GAO,Zhen-hai GAO. Driver behavior recognition method based on dual-branch and deformable convolutional neural networks [J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(1): 93-104.
[10]	Jun-nian WANG,Yu-jing CAO,Zhi-ren LUO,Kai-xuan LI,Wen-bo ZHAO,Ying-yi MENG. Online detection algorithm of road water depth based on binocular vision [J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(1): 175-184.
[11]	Cao TAN,Hao-xin REN,Wen-qing GE,Ya-dong SONG,Jia-yu LU. Improved active disturbance rejection control for hydraulic vibration stages based on the direct-drive valve [J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(1): 84-92.
[12]	Shou-tao LI,Lu YANG,Ru-yi QU,Peng-peng SUN,Ding-li YU. Slip rate control method based on model predictive control [J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(9): 2687-2696.
[13]	Liang WU,Yi-fan GU,Biao XING,Fang-wu MA,Li-wei NI,Wei-wei JIA. Steering four-wheel distributed integrated control method based on LQR [J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(9): 2414-2422.
[14]	Yu-hai WANG,Xiao-zhi LI,Xing-kun LI. Predictive energy saving algorithm for hybrid electric truck under high-speed condition [J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(8): 2121-2129.
[15]	Sheng CHANG,Hong-fei LIU,Nai-wei ZOU. H_∞ loop shaping robust control of vehicle tracking on variable curvature curve [J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(8): 2141-2148.

Metrics

Viewed

Full text

Abstract

Cited

Shared

Discussed

Comments

Recommended 10

[1]	LI Shoutao, LI Yuanchun. Autonomous Mobile Robot Control Algorithm Based on Hierarchical Fuzzy Behaviors in Unknown Environments[J]. 吉林大学学报(工学版), 2005, 35(04): 391 -397 .
[2]	Liu Qing-min，Wang Long-shan，Chen Xiang-wei，Li Guo-fa. Ball nut detection by machine vision[J]. 吉林大学学报(工学版), 2006, 36(04): 534 -538 .
[3]	Li Hong-ying; Shi Wei-guang;Gan Shu-cai. Electromagnetic properties and microwave absorbing property of Z type hexaferrite Ba_3-xLa_xCo₂Fe₂₄O₄₁[J]. 吉林大学学报(工学版), 2006, 36(06): 856 -0860 .
[4]	Zhang Quan-fa，Li Ming-zhe，Sun Gang，Ge Xin . Comparison between flexible and rigid blank-holding in multi-point forming[J]. 吉林大学学报(工学版), 2007, 37(01): 25 -30 .
[5]	. [J]. 吉林大学学报(工学版), 2007, 37(04): 0 .
[6]	Li Yue-ying，Liu Yong-bing，Chen Hua . Surface hardening and tribological properties of a cam materials[J]. 吉林大学学报(工学版), 2007, 37(05): 1064 -1068 .
[7]	Feng Hao，Xi Jian-feng，Jiao Cheng-wu . Placement of roadside traffic signs based on visibility distance[J]. 吉林大学学报(工学版), 2007, 37(04): 782 -785 .
[8]	Zhang He-sheng, Zhang Yi, Wen Hui-min, Hu Dong-cheng . Estimation approaches of average link travel time using GPS data[J]. 吉林大学学报(工学版), 2007, 37(03): 533 -0537 .
[9]	Qu Zhao-wei，Chen Hong-yan，Li Zhi-hui，Hu Hong-yu，Wei Wei . 2D view reconstruction method based on single calibration pattern [J]. 吉林大学学报(工学版), 2007, 37(05): 1159 -1163 .
[10]	Nie Jian-jun，Du Fa-rong，Gao Feng . Finite time thermodynamics of real combined power cycle operating between internal combustion engine and Stirling engine with heat leak[J]. 吉林大学学报(工学版), 2007, 37(03): 518 -0523 .

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

Real-time rolling optimization control method for gearshift of hybrid electric vehicles

RICH HTML

PDF (PC)