混合动力矿用卡车节能协同优化及最优实时控制综合研究

Comprehensive Research on Energy Saving Synergy Optimization and Optimal Real-time Control of Hybrid Electric Mining Trucks

混合动力汽车的燃油经济性很大程度上取决于系统的传动系参数和能量管理策略。然而,针对传动系参数和能量管理策略对燃油经济性优化存在交互影响的问题,以及能量管理策略实时性和全局最优性难以兼顾的问题,尚缺乏一套行之有效的实现方法。为此,以混合动力矿用卡车为研究对象,建立整车数学模型,以减少燃油消耗为目标,建立了综合考虑传动系参数与能量管理策略交互作用的协同优化模型;联合粒子群优化(Particle Swarm Optimization,PSO)算法和动态规划(Dynamic Programming,DP)算法构建双层交互式优化算法进行求解,以消除传动系参数和能量管理策略之间的交互效应,实现在对传动系参数最优化的同时完成最优能量分配。在此基础上,针对DP算法难以实现在线控制的问题,对最优传动系参数对应的DP能量管理最优解进行整合,设计了一种有效提取DP最优控制规则的方法,建立了基于最优控制规则的能量管理策略,以此来实现混合动力矿用卡车的在线控制。依据建立的传动系参数和能量管理策略协同优化及最优能量管理实时控制策略的一体化实现方法,将获得的最优传动系参数和对应的最优能量管理实时控制策略一同在Stateflow-AMESim联合仿真平台上进行仿真验证。结果表明,该方法所得到的燃油消耗结果优于单独的DP优化结果,并且与PSO-DP优化得到的结果接近程度较高,表明了该优化方法是有效、可行的。

The fuel economy of hybrid electric vehicles largely depends on the transmission system parameters and energy management strategy.However,due to the interaction between the transmission system parameters and energy management strategies on the optimization of fuel economy,and the difficulty in balancing the real-time and global optimality of energy management strategies,there is still a lack of an effective implementation method.This study takes the hybrid electric mining truck as a research object,establishes the mathematical model of the whole vehicle,takes reducing fuel consumption as the goal,establishes a collaborative optimization model that comprehensively considers the interaction between transmission system parameters and energy management strategies,and combines particle swarm optimization(PSO)algorithm and dynamic programming(DP)algorithm to build a two-layer interactive optimization algorithm to eliminate the interaction between transmission system parameters and energy management strategies.The optimal energy distribution can be achieved while optimizing the transmission parameters.On this basis,in order to solve the problem that the DP algorithm is difficult to realize online control,the optimal solution of DP energy management corresponding to the optimal transmission parameters is integrated,an effective method to extract the optimal control rules of DP is designed,and an energy management strategy based on the optimal control rules is established to realize online control of hybrid electric mining trucks.Thus,the integrated realization method of the coordinated optimization of transmission system parameters and energy management strategy,as well as the optimal energy management realtime control strategy,is established.The obtained optimal transmission system parameters and corresponding optimal energy management real-time control strategy are simulated and verified on the Stateflow-AMESim joint simulation platform.The results show that the fuel consumption results obtained by this method are better than those obtained by DP optimization alone,and they are closer to the results obtained by PSO-DP optimization,indicating that the optimization method is effective and feasible.