并联式弱混履带车辆动态过程“油电竞争”协调控制方法

doi:10.12382/bgxb.2025.0395

摘要/Abstract

摘要：

针对并联式弱混履带车辆起步、加速过程存在的油电竞争及柴油机动力不足问题，通过理论分析与实车试验明确了问题原因。依据试验结果提出利用需求油量与限制油量描述驾驶员动力需求及柴油机响应动力需求的能力，并由此确定动态过程所需电机输出的驱动转矩，建立基于柴油机油量需求差的电机转矩算法，突出了并联式弱混履带车辆中柴油机的主动力源特征，提出并联式弱混履带车辆动态过程油电竞争协调控制方法。在建立对象车辆动力系统仿真模型后，对所提方法进行验证，仿真结果表明：所提方法在提升车辆动态过程动力性能的同时有效避免了油电竞争问题，与现有协调控制方法相比柴油机动力输出提升19.37%，电池电能消耗减少63.75%，车辆加速时间缩短6.52%。

关键词: 并联式弱混履带车辆, 油电竞争, 动态协调控制, 增压滞后, 转速差电机转矩算法, 油量需求差电机转矩算法

Abstract:

Focusing on the issue of diesel-electric competition and diesel engine’s insufficient power for parallel mild hybrid tracked vehicle in launch and acceleration process，the theoretical analysis and vehicle tests are conducted to find the corresponding reasons.Based on the test results，the variables of fuel mass demand and fuel mass constraint are used to describe the driver’s power demand and diesel engine’s output capability，furthermore the desired motor output in dynamic process is determined.Finally，a fuel demand differential-based motor torque algorithm is proposed，which emphasizes the dominant role of diesel engine as the power source in parallel mild hybrid tracked vehicle.A coordinated control method is proposed for the diesel-electric competition in the dynamic process of parallel mild hybrid tracked vehicle.An object powertrain model is established to validate the proposed method through simulation.The simulated results show that the proposed method succeeds in improving the dynamic performance of vehicle and avoiding the underlying diesel-electric competition problem.Compared with the existing method，the proposed method is used to improve the diesel engine dynamic output by 19.37%，reduce the battery power consumption by 63.75% and shorten the 0-32km/h acceleration time by 6.52%.

Key words: parallel mild hybrid tracked vehicle, diesel-electric competition, dynamic coordinated control, turbo lag, speed differential-based motor torque algorithm, fuel demand differential-based motor torque algorithm

王尚炎, 崔涛, 王天翔, 王兵兵, 张付军. 并联式弱混履带车辆动态过程“油电竞争”协调控制方法[J]. 兵工学报, 2025, 46(S1): 250395-.

WANG Shangyan, CUI Tao, WANG Tianxiang, WANG Bingbing, ZHANG Fujun. Dynamic Coordinated Diesel-electric Competition Control Method for Parallel Mild Hybrid Tracked Vehicle[J]. Acta Armamentarii, 2025, 46(S1): 250395-.

图/表 23

图1 并联式弱混履带车辆动力系统结构

Fig.1 Schematic diagram of parallel mild hybrid powertrain for tracked vehicle

图2 并联式弱混履带车辆动力系统简化结构

Fig.2 Simplified structural diagram of parallel mild hybrid powertrain for tracked vehicle

图3 转速差电机转矩算法

Fig.3 Schematic diagram of speed differential-based motor torque algorithm

表1 并联式弱混履带车辆主要参数

Table 1 Key parameters of parallel mild hybrid tracked vehicle

主要参数	数值
整车质量/t	23
柴油机额定功率/kW	480
柴油机额定转速/（r·min^-1）	2500
ISG电机额定功率/kW	100
动力电池容量/（kW·h）	8
液力变矩器循环圆直径/mm	375
传动箱挡位数	6

图4 车辆起步、加速过程试验结果

Fig.4 Experimental results of vehicle launch and acceleration process

图5 柴油机转速-油量调节功能及相关参数

Fig.5 Speed-fuel regulation mechanism and corresponding parameters of diesel engine

图6 车辆起步、加速过程转速与油量参数试验结果

Fig.6 Experimental results of speed and fuel parameters in vehicle launch and acceleration process

图7 并联式弱混履带车辆动态协调控制方法设计

Fig.7 Design of dynamic coordinated control method for parallel mild hybrid tracked vehicle

图8 基于“油量需求差”的电机转矩算法框图

Fig.8 Block diagram of fuel demand differential-based motor torque algorithm

图9 需求差方法与转速差方法对比

Fig.9 Comparison between fuel demand differential-based motor torque algorithm and speed differential-based motor torque algorithm

图10 增压柴油机GT-Suite模型

Fig.10 GT-Suite model of turbocharged diesel engine

图11 柴油机外特性性能仿真与试验结果对比

Fig.11 Comparison of simulated and experimental results of diesel engine’s external characteristics

表2 外特性主要参数RMSE百分数统计

Table 2 RMSE% statistics for key parameters of engine external characteristics

外特性参数	RMSE/%
功率	1.11
循环喷油量	1.37
进气压力	1.68

图12 全程调速特性

Fig.12 Full-range speed regulation characteristic

图13 ISG电机驱动测试仿真与试验结果对比

Fig.13 Comparison of simulated and experimental results of ISG motor driving test

表3 电池与电机主要参数RMSE百分数统计

Table 3 RMSE% statistics for key parameters of motor and battery

主要参数	RMSE/%
电机转矩	6.09
电池SOC	0.37

图14 车辆起步、加速过程仿真与试验结果对比

Fig.14 Comparison of simulated and experimental results of vehicle launch and acceleration process

表4 起步、加速过程参数RMSE百分数统计

Table 4 RMSE% statistics of parameters in vehicle launch and acceleration process

主要参数	RMSE/%
车速	5.08
发动机转速	2.93
循环喷油量	5.84
进气压力	4.53

图15 车辆起步、加速过程主要参数仿真结果对比

Fig.15 Comparison of primary parameters of vehicle launch and acceleration process in simulation

图16 车辆起步、加速过程油量参数仿真结果对比

Fig.16 Comparison of fuel parameters simulation results in vehicle launch and acceleration process

图17 车辆起步、加速过程SOC仿真结果对比

Fig.17 Comparison of SOC simulation results in vehicle launch and acceleration process

表5 车辆起步、加速过程燃油及电能消耗量仿真结果统计

Table 5 Statistics of simulated fuel and electricity consumption results in vehicle launch and acceleration process

控制方法	柴油机燃油消耗量/kg	电能消耗量/ （kW·h）	等效燃油消耗量/kg	综合燃油消耗量/kg
需求差方法	0.185	0.087	0.028	0.213
转速差方法	0.140	0.24	0.077	0.217

表6 车辆起步、加速过程主要性能指标仿真结果统计

Table 6 Simulated results of main performance index in vehicle launch and acceleration process

项目	柴油机相对负荷率/%	电能消耗量/ （kW·h）	综合燃油消耗量/kg	0~32km/h 加速时间/s
需求差方法	76.30	0.087	0.213	8.6
转速差方法	63.92	0.24	0.217	9.2
改进效果	升高 19.37%	减少 63.75%	减少 1.84%	减少 6.52%

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