Power Coordinated Predictive Control of Hybrid Amphibious Vehicle with Model Mismatch

doi:10.12382/bgxb.2023.0919

Abstract

Abstract:

To achieve the optimal comprehensive efficiency of hybrid amphibious vehicle, a power coordinated predictive control strategy is proposed. This strategy deals with the coupling relationship between energy management strategy and longitudinal control strategy through collaborative optimization. Aiming at the mismatch of prediction model, an extreme learning machine (ELM) is used for real-time error prediction, and the prediction model is corrected through the predicted value. A model predictive controller (MPC) is designed for the real-time optimal control of energy management and longitudinal control, and it is verified by simulation. The results show that, compared with the traditional energy management strategy based on MPC, the proposed strategy can be used to reduce the equivalent fuel consumption, state-of-charge (SOC) standard deviation, bus voltage standard deviation and battery capacity fading by 9.35%, 59.63%, 15.79% and 45.33%, respectively. By comparing the power coordinated predictive control with and without model correction, it shows that the equivalent fuel consumption, SOC standard deviation, bus voltage standard deviation and battery capacity fading can be reduced by 6.95%, 25.91%, 13.46% and 24.07%, respectively, through model correction, which reflects the superiority of the power coordinated predictive control based on ELM model correction in improving the fuel economy, maintaining the stability of electrical system and reducing the battery consumption.

Key words: hybrid amphibious vehicle, power coordinated predictive control, model mismatch, model predictive control, extreme learning machine

WANG Xu, GAO Xiaoyu, HUANG Ying, CUI Tao, LUO Chengliang. Power Coordinated Predictive Control of Hybrid Amphibious Vehicle with Model Mismatch[J]. Acta Armamentarii, 2024, 45(12): 4578-4588.

Figures/Tables 17

References 29

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参数	数值
整备质量/kg	25000
长×宽×高/m	8×3×2.1
主动轮半径/m	0.62
滚动阻力系数	0.1
旋转质量换算系数	1.2
空气阻力系数	1
方形系数	0.8
变速器1挡速比	28.8
湿表面积/m²	46
吃水深度/m	1.5
排水体积/m³	31.2
发动机额定功率/kW	656
发动机最高转速/(r·min^-1)	2500
电池额定电压/V	900
电池额定容量/(A·h)	100
变速器2挡速比	12.0

参数	数值
整备质量/kg	25000
长×宽×高/m	8×3×2.1
主动轮半径/m	0.62
滚动阻力系数	0.1
旋转质量换算系数	1.2
空气阻力系数	1
方形系数	0.8
变速器1挡速比	28.8
湿表面积/m²	46
吃水深度/m	1.5
排水体积/m³	31.2
发动机额定功率/kW	656
发动机最高转速/(r·min^-1)	2500
电池额定电压/V	900
电池额定容量/(A·h)	100
变速器2挡速比	12.0

策略	等效燃油消耗/L	SOC 标准差	母线电压标准差	ΔSOH/ %	仿真时长/min
ELM-MPC-PCPC	10.475	0.306	18.863	0.041	35
MPC-PCPC	11.258	0.413	21.797	0.054	34
MPC-EMS	11.555	0.758	22.401	0.075	29

策略	等效燃油消耗/L	SOC 标准差	母线电压标准差	ΔSOH/ %	仿真时长/min
ELM-MPC-PCPC	10.475	0.306	18.863	0.041	35
MPC-PCPC	11.258	0.413	21.797	0.054	34
MPC-EMS	11.555	0.758	22.401	0.075	29

策略	等效燃油消耗/L	SOC 标准差	母线电压标准差	ΔSOH/ %	仿真时长/min
ELM-MPC-PCPC	11.250	0.388	22.383	0.043	36
MPC-PCPC	12.078	0.503	24.483	0.057	34
MPC-EMS	12.455	0.881	24.941	0.074	29