特种履带车辆机电复合传动装置低温启动过程建模与优化控制

doi:10.12382/bgxb.2022.0803

摘要/Abstract

摘要：

针对极低温环境下,特种履带车辆机电复合传动装置冷启动时间长的问题,提出一种新型的机电复合传动装置低温快速启动方案,通过对主要加热部件能量转换过程的分析,构建低温启动过程中液压油温升的数学模型。通过控制不同加热部件的功率和加热时机,建立多约束条件下的两种低温启动控制策略:基于规则的策略和基于动态规划的策略,设计多目标优化的指标函数,实现在动力电池能量、加热部件功率等多约束下的最优启动控制。仿真结果表明:多部件加热的低温快速启动方案具备可行性,所提出的启动策略能够实现预期的控制目标;基于动态规划的策略可缩短12.6%的启动时间,同时启动过程耗能降低11.9%,有助于提升机电复合传动装置低温启动的综合效能。

关键词: 履带车辆, 机电复合传动, 低温启动, 动态系统建模, 最优控制

Abstract:

To solve the problem of long starting time of electro-mechanical transmission (EMT) for special tracked vehicles when running at extremely low temperature, a new scheme of quick cold starting for the EMT device is proposed. And a mathematical model of the cold-starting scheme, which describes the hydraulic oil temperature rising process, is constructed by analyzing the energy conversion process of the main heating components. Then two cold-starting control strategies with multiple constraints, namely, the rule-based strategy and the dynamic programming strategy, are established to determine the heating power distribution. A performance measure is designed to optimize the cold-starting control under multiple constraints including the battery power and heating capacity. The simulation results verify the feasibility of the quick cold-starting scheme which employs multi-component heating, and the proposed starting strategies can achieve the expected control goals. The strategy based on dynamic programming uses 11.9% less battery energy than the rule-based one, and 12.6% shorter starting time, which is essential to improve the cold-starting process of the EMT device.

Key words: tracked vehicle, electro-mechanical transmission, cold start at low temperatures, dynamic system modeling, optimal control

中图分类号:

U463.23

帅志斌, 贺帅, 李国辉, 李耀恒, 李勇, 张颖, 简洪超. 特种履带车辆机电复合传动装置低温启动过程建模与优化控制[J]. 兵工学报, 2023, 44(1): 117-128.

SHUAI Zhibin, HE Shuai, LI Guohui, LI Yaoheng, LI Yong, ZHANG Ying, JIAN Hongchao. Modeling and Optimal Control of Low-Temperature Starting Process of Electro-Mechanical Transmission for Special Tracked Vehicles[J]. Acta Armamentarii, 2023, 44(1): 117-128.

图/表 15

图1 采用双侧电机耦合驱动的机电复合传动装置结构

Fig.1 Structure of double-motor coupling drive electro-mechanical transmission

图2 机电复合传动装置低温快速启动方案简图

Fig.2 Quick cold starting scheme for electro-mechanical transmission

图3 低温启动过程能量分配简图

Fig.3 Diagram of energy distribution during cold starting

图4 动力电池等效电路Rint模型

Fig.4 Equivalent circuit of Rint model for power battery

表1 基于规则的低温启动过程控制策略表

Table 1 Rule-based control strategy of cold-starting process

油温区间	θ₀≤θ₁<θ_th	θ_th≤θ₁<θ_f	θ₁≥θ_f
θ₀≤θ₂<θ_f	P_o=P_hm P_d=P_dm	P_o(T_mm,n) P_d=P_dm	P_o=0 P_d=P_dm
θ₂≥θ_f	P_o=P_hm P_d=0	P_o(T_mm,n) P_d=0	P_o=0 P_d=0

图5 低温启动过程仿真计算流程

Fig.5 Calculation flow of cold-starting simulation

表2 低温启动仿真参数设置

Table 2 Simulation parameters for cold-starting process

参数	数值
母线电压/V	900
电池容量/(A·h)	10
电池低温最大功率/kW	10
液压油比热容/(kJ·kg^-1·K^-1)	1.88
油泵电机最大功率/kW	4
初始油温/℃	-43
油箱内油体积/L	20
油底壳油体积/L	10
齿轮油泵排量/(mL·r^-1)	20
驱动电机最大产热功率/kW	10
油泵电机最大转矩/(N·m)	29.6
液压油牌号	5W

图6 传动5W液压油运动黏度与密度的温度特性曲线

Fig.6 Temperature characteristic curves for kinematic viscosity and density of 5W hydraulic oil transmission

图7 齿轮油泵驱动转矩随转速和温度变化的等值曲线

Fig.7 Contour curves of driving torque of the oil pump varying with speed and temperature

图8 油泵电机在不同油温下的工作转速曲线

Fig.8 Speed curve of pump motor at different oil temperatures

表3 4种低温启动控制策略及其参数设置

Table 3 Four cold-starting strategies and parameters settings

控制策略	主要参数设置	说明
1	T_m=29.6N·m	油泵电机工作在电动模式,驱动电机不参与低温启动
2	T_m=29.6N·m P_d=P_bm-P_o	油泵电机工作在电动模式,驱动电机在电池放电功率约束下以最大功率发热
3	P_hm=1kW θ_th=-35℃	基于规则的低温启动策略
4	P_hm=1kW; α=4.8;β=15; γ=0.06;κ=1	基于动态规划的低温启动策略

图9 不同低温启动策略的油温曲线和流量曲线

Fig.9 Curves of oil temperature and flow under different starting strategies

图10 不同低温启动控制策略的电机功率曲线

Fig.10 Curves of motor power under different starting strategies

图11 不同启动策略耗电量比较

Fig.11 Comparison of power consumption under different starting strategies

表4 4种控制策略的低温启动时间与能耗比较

Table 4 Comparison of cold-startingtimeand energy consumption of the four strategies

控制策略	启动时间/s	总能耗/kWh
1	>2000	未完成启动,忽略
2	1009	0.67
3	631	0.61
4	882	0.59

参考文献 24

[1]	袁艳艳, 司小冬, 吴诗寒, 等. 极地环境液压马达密封技术分析及仿真验证[J]. 船舶工程, 2019(增刊1):100-105.
	YUAN Y Y, SI X D, WU S H, et al. Analysis andsimulation verification of sealing technology of polar hydraulic motor[J]. Ship Engineering, 2019(S1):100-105. (in Chinese)
[2]	陈英龙, 郝新娟, 宋甫俊, 等. 低温环境下液压元件及系统研究综述[J]. 机床与液压, 2022, 50(13): 174-180.
	CHEN Y L, HAO X J, SONG F J, et al. Review of research on hydraulic component and system in low temperature environment[J]. Machine Tool &Hydraulics, 2022, 50(13): 174-180. (in Chinese)
[3]	彭立广, 焦悦, 丘铭军. 基于液压油超低温特性的加热及保温系统设计仿真和试验分析[J]. 液压气动与密封, 2020, 40(3): 64-69.
	PENG L G, JIAO Y, QIU M J. Design simulation and test analysis of heating and heat preservation system based on hydraulic oil ultra-low temperature characteristics[J]. Hydraulics Pneumatics & Seals, 2020, 40(3): 64-69. (in Chinese)
[4]	盖江涛. 履带车辆双电机耦合驱动技术研究[D]. 长沙: 湖南大学, 2015.
	GAI J T. Study on technology of double side motors coupling drive transmission for tracked vehicle[D]. Changsha: Hunan University, 2015. (in Chinese)
[5]	徐保荣, 张金豹, 姚李刚, 等. 液力机械综合传动装置低温阻力矩特性研究与验证[J/OL]. 兵工学报, 2022(2022-07-13).https://doi:org/10.12382/bgxb.2022.0182. doi: https://doi:org/10.12382/bgxb.2022.0182
	XU B R, ZHANG J B, YAO L G, et al. Research and validation on resistance torque characteristics of hydro-mechanical comprehensive transmission device at low temperature condition[J/OL]. Acta Armamentarii, 2022(2022-07-13).https://doi:org/10.12382/bgxb.2022.0182. (in Chinese) doi: https://doi:org/10.12382/bgxb.2022.0182
[6]	CYRIAC F, LUGT P M, BOSMAN R. Yield stress and low-temperature start-up torque of lubricating greases[J]. Tribology Letters, 2016, 63(1): 6. doi: 10.1007/s11249-016-0693-8 URL
[7]	WAN G, LI S, WU Q, et al. Effect of low-temperature on the tribological properties of the different material of marine hydraulic vane motor[C]//Proceedings of the 2019 5th International Conference on Transportation Information and Safety. Liverpool, UK: IEEE, 2019: 548-557.
[8]	XIE M K, SHI J, MENG Q T, et al. Aircraft hydraulic power system design for low temperature[C]//Proceedings of CSAA/IET International Conference on Aircraft Utility Systems. Online: CSAA/IET, 2020: 1016-1020.
[9]	JIANGSQ, LU H Y, HENG C Y, et al. Characteristic analysis of friction force of servo valve spool under the influence of temperature[C]// Proceedings of CSAA/IET International Conference on Aircraft Utility Systems Conference.Nanchang,China:CSAA/IET, 2022: 453-459.
[10]	徐保荣, 吴延威, 卢亚辉, 等. 综合传动装置起动扭矩测试试验研究[J]. 计算机测量与控制, 2015, 23(5):1606-1608,1612.
	XU B R, WU Y W, LU Y H, et al. Research on test method of starting torque with integrated transmission system[J]. Computer Measurement & Control, 2015, 23(5):1606-1608,1612. (in Chinese)
[11]	王勇, 张升霞. 挖掘机发动机低温预热方法的研究与应用[J]. 建筑机械, 2017(12):51-53.
	WANG Y, ZHANG S X. Research and application of low temperature preheating method for excavator engine[J]. Construction Machinery, 2017(12):51-53. (in Chinese)
[12]	管仁廷, 毕晓超. 液压系统低温环境技术应用[J]. 机械工程与自动化, 2016(3):204-205,208.
	GUAN R T, BI X C. Application technology of hydraulic system at low temperature[J]. Mechanical Engineering & Automation, 2016(3):204-205,208. (in Chinese)
[13]	高立全, 王佳. 甲板机械极地防寒的电伴热装置[J]. 机电设备, 2019, 36(5):25-27.
	GAO L Q, WANG J. Pole cold-proof electric heat tracing device for deck machine[J]. Mechanical and Electrical Equipment, 2016(3):25-27. (in Chinese)
[14]	陈新峰. 低温对液压介质的影响及解决措施[J]. 机械工程师, 2013(4):210.
	CHEN X F. Influence of low temperature on hydraulic medium and solutions[J]. Mechanical Engineer, 2013(4):210. (in Chinese)
[15]	王乐, 万鑫, 邱祥宇, 等. 某电动汽车整车热管理系统控制策略研究[C]//2018中国汽车工程学会年会论文集. 上海: 中国汽车工程学会, 2018: 427-432.
	WANG L, WAN X, QIU X Y, et al. Research on control strategy of vehicle thermal management system for an electric vehicle[C]//Proceedings of China Society of Automotive Engineers Congress. Shanghai: China Society of Automotive Engineers, 2018: 427-432. (in Chinese)
[16]	苗龙. 特种车辆分布式混合动力热管理系统研究[D]. 北京: 北京理工大学, 2015.
	MIAO L. Study on thermal management system of distributed hybrid electric special vehicle[D]. Beijing: Beijing Institute of Technology, 2015. (in Chinese)
[17]	王瑞, 王义春, 冯朝卿, 等. 混合动力履带车辆电机加热低温预热系统设计[J]. 兵工学报, 2015, 36(3): 398-404. doi: 10.3969/j.issn.1000-1093.2015.03.003
	WANG R, WANG Y C, FENG C Q, et al. Design of low temperature preheating system of hybrid electric tracked vehicle based on motor heating[J]. Acta Armamentarii, 2015, 36(3): 398-404. (in Chinese) doi: 10.3969/j.issn.1000-1093.2015.03.003
[18]	王斌, 宁斌, 陈辛波, 等. 齿轮传动搅油功率损失的研究进展[J]. 机械工程学报, 2020, 56(23):1-20. doi: 10.3901/JME.2020.23.001
	WANG B, NING B, CHEN X B, et al. Researchprogress in churning losses of gear transmission[J]. Journal of Mechanical Engineering, 2020, 56(23):1-20. (in Chinese) doi: 10.3901/JME.2020.23.001
[19]	胡开埂. 基于DSP的永磁同步电机四象限驱动控制系统的研究[D]. 哈尔滨: 哈尔滨工业大学, 2007.
	HU K G. Study on the four-quadrant control system of PMSM based on DSP[D]. Harbin: Harbin Institute of Technology, 2007. (in Chinese)
[20]	袁双玲. 牵引电机转子铁心感应加热技术研究[J]. 微电机, 2022, 55(3): 75-78.
	YUAN S L. Research on induction heating technology of traction motor rotor core[J]. Micromotors, 2022, 55(3): 75-78. (in Chinese)
[21]	符涛, 徐爱祥, 寇广孝, 等. 4种导热油比热容随温度变化规律[J]. 湖南科技大学学报(自然科学版), 2021, 36(2):119-124.
	FU T, XU A X, KOU G X, et al. The variation of specific heat of four heat transfer oils related with temperature[J]. Journal of Hunan University of Science and Technology (Natural Science Edition), 2021, 36(2): 119-124. (in Chinese)
[22]	LI T, GIORGIO R, SIMONA O. Energy management strategy for HEVs including battery life optimization[J]. IEEE Transactions on Transportation Electrification, 2015, 1(3): 211-222. doi: 10.1109/TTE.2015.2471180 URL
[23]	LIU S H, DU C Q, YAN F W, et al. A rule-based energy management strategy for a new BSG hybrid electric vehicle[C]//Proceedings of the 2012 Third Global Congress on Intelligent Systems. Wuhan, China: IEEE, 2012: 209-212.
[24]	尹安东, 赵韩. 基于混合系统理论的混合动力城市客车控制策略研究[J]. 汽车工程, 2010, 32(2):98-102.
	YIN A D, ZHAO H. A study on the energy control strategy for hybrid electric bus based on hybrid system theory[J]. Automotive Engineering, 2010, 32(2):98-102. (in Chinese)