智能网联混合动力车辆速度规划的多目标协同控制研究  

Research on Multiple Objective Coordinated Control of Speed Planning for Intelligent Connected Hybrid Electric Vehicles

作　　者：解少博[1] 罗慧冉 张乾坤 张康康 Xie Shaobo;Luo Huiran;Zhang Qiankun;Zhang Kangkang(School of Automotive Engineering,Chang’an University,Xi’an 710064)

机构地区：[1]长安大学汽车学院,西安710064

出　　处：《汽车工程》2021年第7期953-961,共9页Automotive Engineering

基　　金：国家自然科学基金(52072047);陕西省自然科学基金(2019JQ-439);长安大学中央高校基本科研业务费专项资金(300102221202)资助。

摘　　要：考虑车辆的行驶安全性、机动性、能耗经济性、舒适性和电池老化等多重目标,以弯道场景为例对智能网联混合动力客车的速度进行实时规划。首先,以车辆速度和动力电池SOC作为状态变量,加速度和发动机-发电机组输出功率作为控制变量,以混合动力客车的能量消耗成本、电池老化成本、机动性成本和舒适性成本的加权和最小化为目标函数。其次,以弯道行驶安全性、动力系统和电池系统的物理特性等为约束,实施基于模型预测的多目标协同控制,并应用动态规划算法求解滚动空间域内的多目标优化问题,从而实现实时的速度规划和能量分配。同时,分析机动性和舒适性赋予不同权重对性能的影响。结果表明:(1)考虑电池老化的控制策略可以在不影响车辆动力性和机动性的情况下,使电池老化成本降低25.8%,综合成本降低2.3%;(2)提高机动性成本的权重因子能够缩短行驶时间,但会引起综合成本的增加;(3)提高舒适性权重因子可以减少速度波动,同时降低综合成本。Considering the multiple objectives of vehicle safety,mobility,energy consumption economy,comfortability as well as battery aging,this paper conducts real⁃time speed planning for intelligent connected hybrid electric buses in the curve road scenario.Firstly,the objective function aims for minimizing the total weighted cost associated with energy consumption,battery aging,mobility and comfortability where the speed and battery state⁃of⁃charge are chosen as state variables,and the acceleration and engine⁃generator⁃unit output power are chosen as con⁃trol variables.Then,the multi⁃objective coordinated control based on model prediction is implemented while satisfy⁃ing the constraints of curve driving safety and the physical characteristics of powertrain and battery system.More⁃over,the dynamic programming algorithm is applied to solve the multiple optimization problem over the preview horizon to realize real⁃time speed planning and energy allocation.At the same time,different weights of mobility and comfortability on performance are discussed.The results show that(1)the control strategy considering the bat⁃tery aging can lower the aging cost and total cost by 25.8%and 2.3%respectively without affecting the vehicle power and mobility;(2)Improving the weight of mobility cost shortens the driving time,but raises the total cost;(3)Im⁃proving the weight of comfortability can constrain the speed fluctuation,and reduce the total cost.

关 键 词：智能网联混合动力汽车 速度规划 多目标优化 能量管理 电池老化 模型预测控制 

分 类 号：U469.7[机械工程—车辆工程]