基于液压变压器的液驱混合动力车辆系统研究
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摘要
随着世界汽车化进程的快速发展，汽车保有量的不断增加，全球能源短缺和环境污染等问题日益恶化，导致世界各国迫切需求研发节能环保型汽车。液压驱动混合动力技术作为混合动力技术的重要分支之一，由于其优越的节能潜力，已经引起了国内外学者的重视。尤其液压变压器(Hydraulic Transformer HT)作为一种新兴二次调节元件的出现，大大提高了液压系统的柔性和效率。同时，由于该元件在理论上可以高效无节流损失的实现压力转换，也可使各个负载间互不相关的从恒压网络系统中获取能量，有效的避免了在整车系统中压力、流量耦联现象的产生，所以通过液压变压器构建液驱混合动力车辆系统，不仅可以实现车辆制动能的回收和二次利用，而且避免了传型统液驱混合动力系统中液压阀调节控制过程时导致的节流损失，大大提高了液压系统效率。因此，本文结合国家“863”计划项目“-混合动力系统与节能型工程机械技术的应用研究”，开展对基于液压变压器的液驱混合动力车辆系统的研究工作。
论文主要研究内容如下：
1.在广泛阅读国内外研究文献的基础上，综述了国内外液驱混合动力车辆系统的构成形式、研究现状以及液压变压器的发展历程、节能原理和工程应用概况，并提出了本文的主要研究内容；
2.提出了基于极限环理论对液驱混合动力车辆调控系统动态特性进行定性分析的方法，通过系统奇点、无穷远奇点的性态以及其闭轨线的固有属性，绘制了调控系统的全局拓扑结构相图。同时，证明了该系统平衡点的分布情况以及该系统有且仅有唯一的平衡点、无论液压油粘度系数B如何变化该系统均不存在极限环和当B≥0时，系统关于平衡点渐进稳定，当B=0时，平衡点是系统中心点等固有属性；
3.通过对液混车辆系统的节能效果进行分析，得出了液压变压器配流盘控制角与蓄能器间的节能特性参数、液压变压器瞬时压力比分别与HT柱塞角位移、配流盘控制角和T腰形槽口压力等影响参数的关系曲线以及液压变压器瞬时压力比分别与串、并联式蓄能器的节能特性参数等，为选取优化参数提高蓄能器的各项节能指标提供理论依据。经与传统型液混车辆系统的节能效果对比，当车辆处于在不同制动转矩情况下，本文提出的液混车辆节能效果明显。
4.根据蓄能器的优化节能条件，提出了液混车辆在不同制动工况中的节能优化控制算法（即初始负载调节阶段和液压变压器调节阶段控制算法），并采用PID，FLC(Fuzzy Logic Controller)和Fuzzy-PID控制策略分别对该系统调控装置的基本控制性能、鲁棒性能以及优化节能控制算法的响应特性进行了仿真分析，结果表明PID和Fuzzy-PID控制器能够满足优化节能控制算法中对液压变压器的控制要求。
5.提出了一种管路基本元素的近似算法，并引入算例与著名的Hullender和Zhao T.管路分布参数近似计算模型进行对比，结果表明该算法在中低频时十分接近精确解。对液驱混合动力车辆系统的脉动特性，以及在考虑管路效应情况下的脉动特性进行分析，得出了分别采用Hullender、Zhao T.以及本文管路近似模型时，串、并联式蓄能器与液压变压器柱塞角位移的脉动关系曲线，结果表明，串联式蓄能器在吸收脉动性能方面优于并联式蓄能器。
6.搭建了基于液压变压器的液驱混合动力系统试验平台，对液压变压器的基本特性、液混车辆系统的脉动特性以及分别采用PID、Fuzzy-PID控制策略对液混车辆系统调控装置的控制性能进行了实验测试，实验结果表明与理论分析结果一致。
7.总结了本文的研究工作和成果，归纳了本文的创新点，并对尚未研究的工作进行展望。
论文创新性成果如下：
1.根据液压混合动力车辆系统的工作原理及其构成，采用极限环理论对车辆系统调整装置的动态特性进行分析。通过奇点、无穷远奇点性态以及闭轨迹的固有属性，得出了液混车辆系统调控装置的全局拓扑结构相图。
2.通过蓄能器和液压变压器的数学模型，得出了液压变压器配流盘控制角与蓄能器的节能特性参数，以及液压变压器瞬时压力比与蓄能器瞬态节能参数的关系。经对比表明论文提出的液压混合动力车辆系统在不同制动工况下节能效果明显。
3.当液混车辆处于不同制动工况时，根据蓄能器优化节能条件，提出了液压混合动力车辆的优化节能控制算法，并得出三种控制器对液压变压器调控装置的基本控制性能和鲁棒性能，以及优化节能控制算法在三种控制器响应下的各种性能参数。
4.提出了一种管路近似算法并结合液压混合动力车辆系统数学模型，得出液混车辆系统的脉动特性，以及在考虑管路效应情况下的脉动特性。经对比结果表明，本文提出的管路近似算法在中低频时合理有效；串联式蓄能器在脉动衰减方面优于并联式蓄能器。
With the rapid development of auto industrialization process all over the world,the rising vehicle population led to the increasingly serious problem of energyshortage and environmental pollution and then the automobile manufacturers at homeand abroad urgently needs to research and development of energy-efficient andenvironment-friendly automobile. Hydraulic transformer (HT) is a new kind ofsecondary regulation component, when it used to be in the common pressure rail(CPR) system, it is not only no throttling loss to adjust the pressure ratio by adjustingthe control angular displacement of valve plate of HT in higher efficiency but also tomutually independent between the two loads. It is no doubt that the pressure and flowcoupling phenomenon can be avoided and flexibility and efficiency of the hydraulicsystem can be improved by using of HT in the hydraulic hybrid vehicle (HHV).Obviously, the hydraulic hybrid vehicle system based on hydraulic transformer isbuild to realize the braking energy recovery and secondary utilization at braking anddeceleration of vehicle. Using this hydraulic hybrid vehicle composition not onlythrottling losses caused by the throttle valve have be decreased compared with theconventional hybrid system but also the control performance, reliability and cost haveimproved. Therefore, the study of hydraulic hybrid vehicle based on the hydraulictransformer has been carried out by combining the national key projects of “863”:“Application study of hybrid drive system and energy-efficient constructionmachinery technology”.
The main works of the thesis are as follows:
1. The composition form and current research status of HHV are introducedbased on a lot of publications and conference papers. Moreover, the history andcurrent research status of HT are presented and the key technologies, energy-savingprinciple and engineering applications are described. Finally, the main research aimand content are proposed.
2. The conception of hydraulic hybrid vehicle system based on the HT waspresented and the the theory of limit cycles was applied to the HHV, which analysesdynamic characteristics of the HHV system. The phase diagrams of global topologicalstructure of HHV system were entirely described according to qualitative analysis ofthe singular points, the singular points at infinity and the inherent properties of closedtrajectory. At the same time, the analysis of equilibrium points showed that if theYoung's modulus of fluid is neglected, the equilibrium points of the system will bedistributed on both sides of the initial function Alx+Vt=0, and there is a uniqueequilibrium point according to the practical signification of the system parameters.The nonexistence analysis showed that there is no limit cycle for the system, nomatter how the viscosity coefficient B changes. The stability analysis of equilibriumpoints showed that the system is asymptotically stable about the equilibrium point atB≥0and the equilibrium point is the center point of the system at B=0.
3. The relations curves between the control angle of HT port plate and thecharacteristic parameters of accumulator (i.e. valid volume, specific energy andefficiency) was done to selected the optimization parameters to improve theenergy-saving indicators of bladder accumulator. Moreover, the instantaneouspressure ratio function of HT was built to obtain the rational curve of HTinstantaneous pressure ratio and characteristic parameters to study the pulsationcharacteristic of HHV, which includes angular displacement of HT piston, controlangle of HT port valve and pressure of T kidney. Then, the mathematical model ofseries and parallel bladder accumulator was established by the lumped parametermethod, respectively. The analysis of dynamic characteristics of accumulator (i.e.instantaneous valid volume, instantaneous specific energy and instantaneousefficiency) was done after simulation was carried out. Finally, the braking energyregenerative efficiency of this HHV compared to traditional hybrid vehicle system inthe case of invariable braking torque was get, and the results show that theenergy-saving effect is obvious with pressure ratio effective regulation of HT.
4. When the vehicle is braking and decelerating, the optimization energy-savingcontrol algorithm of HT based on the HHV working principle was presented, which istime to meet the energy-saving optimization conditions of accumulator in differentworking conditions of vehicle, which is control algorithm at the state of load as a major influencing factor and HT as major regulator factor. The relational curves ofoptimization energy-saving control algorithm and the various influencing parameterswere got after simulation was carried out. Moreover, simulation analysis to controlperformance of optimization energy-saving algorithm was carried out using PID,Fuzzy logic controller (FLC) and Fuzzy-PID control strategy based on mathematicalmodel of valve controlling cylinder driving the valve plate of HT. The results showthat Fuzzy-PID controller is more suitable to the HHV in terms of basic controlperformance and robust performance. Finally, the PID, FLC and Fuzzy-PID controllerwas applied to the above mentioned energy-saving algorithm under two differentstates at vehicle braking and decelerating, respectively. The control performanceparameters of3rd kind of controller were got through comparative analysis.
5. The general form of the friction item of the basic elements of hydraulictransmission line distribution parameters was obtained by the roots of hyperbolicfunction approximate equation, which is to substitute the distributed parameter basedelements by the finite sum approximations of partial fraction functions about the zeropoles. By this method, the approximate computation of distributed parameter basiselements for hydraulic transmission line was presents by the method of undeterminedcoefficients. The numerical examples results show that the effectiveness andaccurateness of this method in the low frequency region by comparing with modalapproximation of Zhao T. and Hullender, respectively. Moreover, the relevantmathematical models of instantaneous flow of HT were built and the theoreticanalysis of series and parallel accumulator were made with frequency method. Theflow pulsation characteristic simulation curve of HT and accumulator was done, andthe result shows that the effect of the damping of pulsation of HT by seriesaccumulator was much superior to that by the parallel accumulator, whether controlangle of HT port plate is zero. Finally, the pulsation characteristics of HHV system isanalyzed in considering the hydraulic transmission pipeline effect which was adoptedthe hydraulic transmission pipeline approximate model of Hullender, Zhao T. and thismethod in this paper, respectively.
6. The test-rig of hydraulic hybrid vehicle system based on HT was built atHarbin Institute of Technology University. The test experiments were carried outunder the different conditions, which are mainly composed of the basic characteristic of the HT, the pulsation characteristics of HHV and control performances of HT servovalves applied to PID and Fuzzy-PID controller. The experiment results show that theexpatiated theoretical study is correct and the HHV system is successful via benchtest.
7. The some conclusions are given and some opinions for research works are tutforward in the future, then the some innovations of this paper were summarized.
The innovative achievements of the thesis are as follows:
1. According to the working principle of the HHV system and its components,the theory of limit cycles was applied to the HHV, which analyses dynamiccharacteristics of the HHV system. And the phase diagrams of global topologicalstructure of the HHV system were entirely described via qualitative analysis of thesingular points, the singular points at infinity and the inherent properties of closedtrajectory.
2. The relations curves between the control angle of HT port plate and thecharacteristic parameters of accumulator, and the HT instantaneous pressure ratio anddynamic characteristics parameters of the series and parallel bladder accumulatorwere done to selected the optimization parameters to improve the energy-savingindicators of bladder accumulator, respectively. The braking energy regenerativeefficiency of this HHV compared to traditional hybrid vehicle system in the case ofinvariable braking torque was get, and the results show that the energy-saving effectis obvious.
3. When the vehicle is braking and decelerating, the optimization energy-savingcontrol algorithm of HHV system based on the optimized energy-saving condition ofaccumulator was presented. The basic control performance and robust performanceparameters of HT control device and various performance parameters of optimizationenergy-saving algorithm were got under the control response of the PID, Fuzzy logiccontroller (FLC) and Fuzzy-PID control strategy, respectively.
4. A kind of the pipeline approximation algorithm by the roots of hyperbolicfunction approximate equation was presented. The pulsation characteristics of HHVsystem and the pulse characteristic of system in considering the hydraulictransmission pipeline effect were analyzed according to the mathematical model ofthe HHV system. The results show that the proposed pipeline approximation algorithm is reasonable and effective at the middle and low frequency, and the seriesaccumulator was much superior to that by the parallel accumulator in terms of theeffect of pulsation damping.
论文主要研究内容如下：
1.在广泛阅读国内外研究文献的基础上，综述了国内外液驱混合动力车辆系统的构成形式、研究现状以及液压变压器的发展历程、节能原理和工程应用概况，并提出了本文的主要研究内容；
2.提出了基于极限环理论对液驱混合动力车辆调控系统动态特性进行定性分析的方法，通过系统奇点、无穷远奇点的性态以及其闭轨线的固有属性，绘制了调控系统的全局拓扑结构相图。同时，证明了该系统平衡点的分布情况以及该系统有且仅有唯一的平衡点、无论液压油粘度系数B如何变化该系统均不存在极限环和当B≥0时，系统关于平衡点渐进稳定，当B=0时，平衡点是系统中心点等固有属性；
3.通过对液混车辆系统的节能效果进行分析，得出了液压变压器配流盘控制角与蓄能器间的节能特性参数、液压变压器瞬时压力比分别与HT柱塞角位移、配流盘控制角和T腰形槽口压力等影响参数的关系曲线以及液压变压器瞬时压力比分别与串、并联式蓄能器的节能特性参数等，为选取优化参数提高蓄能器的各项节能指标提供理论依据。经与传统型液混车辆系统的节能效果对比，当车辆处于在不同制动转矩情况下，本文提出的液混车辆节能效果明显。
4.根据蓄能器的优化节能条件，提出了液混车辆在不同制动工况中的节能优化控制算法（即初始负载调节阶段和液压变压器调节阶段控制算法），并采用PID，FLC(Fuzzy Logic Controller)和Fuzzy-PID控制策略分别对该系统调控装置的基本控制性能、鲁棒性能以及优化节能控制算法的响应特性进行了仿真分析，结果表明PID和Fuzzy-PID控制器能够满足优化节能控制算法中对液压变压器的控制要求。
5.提出了一种管路基本元素的近似算法，并引入算例与著名的Hullender和Zhao T.管路分布参数近似计算模型进行对比，结果表明该算法在中低频时十分接近精确解。对液驱混合动力车辆系统的脉动特性，以及在考虑管路效应情况下的脉动特性进行分析，得出了分别采用Hullender、Zhao T.以及本文管路近似模型时，串、并联式蓄能器与液压变压器柱塞角位移的脉动关系曲线，结果表明，串联式蓄能器在吸收脉动性能方面优于并联式蓄能器。
6.搭建了基于液压变压器的液驱混合动力系统试验平台，对液压变压器的基本特性、液混车辆系统的脉动特性以及分别采用PID、Fuzzy-PID控制策略对液混车辆系统调控装置的控制性能进行了实验测试，实验结果表明与理论分析结果一致。
7.总结了本文的研究工作和成果，归纳了本文的创新点，并对尚未研究的工作进行展望。
论文创新性成果如下：
1.根据液压混合动力车辆系统的工作原理及其构成，采用极限环理论对车辆系统调整装置的动态特性进行分析。通过奇点、无穷远奇点性态以及闭轨迹的固有属性，得出了液混车辆系统调控装置的全局拓扑结构相图。
2.通过蓄能器和液压变压器的数学模型，得出了液压变压器配流盘控制角与蓄能器的节能特性参数，以及液压变压器瞬时压力比与蓄能器瞬态节能参数的关系。经对比表明论文提出的液压混合动力车辆系统在不同制动工况下节能效果明显。
3.当液混车辆处于不同制动工况时，根据蓄能器优化节能条件，提出了液压混合动力车辆的优化节能控制算法，并得出三种控制器对液压变压器调控装置的基本控制性能和鲁棒性能，以及优化节能控制算法在三种控制器响应下的各种性能参数。
4.提出了一种管路近似算法并结合液压混合动力车辆系统数学模型，得出液混车辆系统的脉动特性，以及在考虑管路效应情况下的脉动特性。经对比结果表明，本文提出的管路近似算法在中低频时合理有效；串联式蓄能器在脉动衰减方面优于并联式蓄能器。
With the rapid development of auto industrialization process all over the world,the rising vehicle population led to the increasingly serious problem of energyshortage and environmental pollution and then the automobile manufacturers at homeand abroad urgently needs to research and development of energy-efficient andenvironment-friendly automobile. Hydraulic transformer (HT) is a new kind ofsecondary regulation component, when it used to be in the common pressure rail(CPR) system, it is not only no throttling loss to adjust the pressure ratio by adjustingthe control angular displacement of valve plate of HT in higher efficiency but also tomutually independent between the two loads. It is no doubt that the pressure and flowcoupling phenomenon can be avoided and flexibility and efficiency of the hydraulicsystem can be improved by using of HT in the hydraulic hybrid vehicle (HHV).Obviously, the hydraulic hybrid vehicle system based on hydraulic transformer isbuild to realize the braking energy recovery and secondary utilization at braking anddeceleration of vehicle. Using this hydraulic hybrid vehicle composition not onlythrottling losses caused by the throttle valve have be decreased compared with theconventional hybrid system but also the control performance, reliability and cost haveimproved. Therefore, the study of hydraulic hybrid vehicle based on the hydraulictransformer has been carried out by combining the national key projects of “863”:“Application study of hybrid drive system and energy-efficient constructionmachinery technology”.
The main works of the thesis are as follows:
1. The composition form and current research status of HHV are introducedbased on a lot of publications and conference papers. Moreover, the history andcurrent research status of HT are presented and the key technologies, energy-savingprinciple and engineering applications are described. Finally, the main research aimand content are proposed.
2. The conception of hydraulic hybrid vehicle system based on the HT waspresented and the the theory of limit cycles was applied to the HHV, which analysesdynamic characteristics of the HHV system. The phase diagrams of global topologicalstructure of HHV system were entirely described according to qualitative analysis ofthe singular points, the singular points at infinity and the inherent properties of closedtrajectory. At the same time, the analysis of equilibrium points showed that if theYoung's modulus of fluid is neglected, the equilibrium points of the system will bedistributed on both sides of the initial function Alx+Vt=0, and there is a uniqueequilibrium point according to the practical signification of the system parameters.The nonexistence analysis showed that there is no limit cycle for the system, nomatter how the viscosity coefficient B changes. The stability analysis of equilibriumpoints showed that the system is asymptotically stable about the equilibrium point atB≥0and the equilibrium point is the center point of the system at B=0.
3. The relations curves between the control angle of HT port plate and thecharacteristic parameters of accumulator (i.e. valid volume, specific energy andefficiency) was done to selected the optimization parameters to improve theenergy-saving indicators of bladder accumulator. Moreover, the instantaneouspressure ratio function of HT was built to obtain the rational curve of HTinstantaneous pressure ratio and characteristic parameters to study the pulsationcharacteristic of HHV, which includes angular displacement of HT piston, controlangle of HT port valve and pressure of T kidney. Then, the mathematical model ofseries and parallel bladder accumulator was established by the lumped parametermethod, respectively. The analysis of dynamic characteristics of accumulator (i.e.instantaneous valid volume, instantaneous specific energy and instantaneousefficiency) was done after simulation was carried out. Finally, the braking energyregenerative efficiency of this HHV compared to traditional hybrid vehicle system inthe case of invariable braking torque was get, and the results show that theenergy-saving effect is obvious with pressure ratio effective regulation of HT.
4. When the vehicle is braking and decelerating, the optimization energy-savingcontrol algorithm of HT based on the HHV working principle was presented, which istime to meet the energy-saving optimization conditions of accumulator in differentworking conditions of vehicle, which is control algorithm at the state of load as a major influencing factor and HT as major regulator factor. The relational curves ofoptimization energy-saving control algorithm and the various influencing parameterswere got after simulation was carried out. Moreover, simulation analysis to controlperformance of optimization energy-saving algorithm was carried out using PID,Fuzzy logic controller (FLC) and Fuzzy-PID control strategy based on mathematicalmodel of valve controlling cylinder driving the valve plate of HT. The results showthat Fuzzy-PID controller is more suitable to the HHV in terms of basic controlperformance and robust performance. Finally, the PID, FLC and Fuzzy-PID controllerwas applied to the above mentioned energy-saving algorithm under two differentstates at vehicle braking and decelerating, respectively. The control performanceparameters of3rd kind of controller were got through comparative analysis.
5. The general form of the friction item of the basic elements of hydraulictransmission line distribution parameters was obtained by the roots of hyperbolicfunction approximate equation, which is to substitute the distributed parameter basedelements by the finite sum approximations of partial fraction functions about the zeropoles. By this method, the approximate computation of distributed parameter basiselements for hydraulic transmission line was presents by the method of undeterminedcoefficients. The numerical examples results show that the effectiveness andaccurateness of this method in the low frequency region by comparing with modalapproximation of Zhao T. and Hullender, respectively. Moreover, the relevantmathematical models of instantaneous flow of HT were built and the theoreticanalysis of series and parallel accumulator were made with frequency method. Theflow pulsation characteristic simulation curve of HT and accumulator was done, andthe result shows that the effect of the damping of pulsation of HT by seriesaccumulator was much superior to that by the parallel accumulator, whether controlangle of HT port plate is zero. Finally, the pulsation characteristics of HHV system isanalyzed in considering the hydraulic transmission pipeline effect which was adoptedthe hydraulic transmission pipeline approximate model of Hullender, Zhao T. and thismethod in this paper, respectively.
6. The test-rig of hydraulic hybrid vehicle system based on HT was built atHarbin Institute of Technology University. The test experiments were carried outunder the different conditions, which are mainly composed of the basic characteristic of the HT, the pulsation characteristics of HHV and control performances of HT servovalves applied to PID and Fuzzy-PID controller. The experiment results show that theexpatiated theoretical study is correct and the HHV system is successful via benchtest.
7. The some conclusions are given and some opinions for research works are tutforward in the future, then the some innovations of this paper were summarized.
The innovative achievements of the thesis are as follows:
1. According to the working principle of the HHV system and its components,the theory of limit cycles was applied to the HHV, which analyses dynamiccharacteristics of the HHV system. And the phase diagrams of global topologicalstructure of the HHV system were entirely described via qualitative analysis of thesingular points, the singular points at infinity and the inherent properties of closedtrajectory.
2. The relations curves between the control angle of HT port plate and thecharacteristic parameters of accumulator, and the HT instantaneous pressure ratio anddynamic characteristics parameters of the series and parallel bladder accumulatorwere done to selected the optimization parameters to improve the energy-savingindicators of bladder accumulator, respectively. The braking energy regenerativeefficiency of this HHV compared to traditional hybrid vehicle system in the case ofinvariable braking torque was get, and the results show that the energy-saving effectis obvious.
3. When the vehicle is braking and decelerating, the optimization energy-savingcontrol algorithm of HHV system based on the optimized energy-saving condition ofaccumulator was presented. The basic control performance and robust performanceparameters of HT control device and various performance parameters of optimizationenergy-saving algorithm were got under the control response of the PID, Fuzzy logiccontroller (FLC) and Fuzzy-PID control strategy, respectively.
4. A kind of the pipeline approximation algorithm by the roots of hyperbolicfunction approximate equation was presented. The pulsation characteristics of HHVsystem and the pulse characteristic of system in considering the hydraulictransmission pipeline effect were analyzed according to the mathematical model ofthe HHV system. The results show that the proposed pipeline approximation algorithm is reasonable and effective at the middle and low frequency, and the seriesaccumulator was much superior to that by the parallel accumulator in terms of theeffect of pulsation damping.
引文
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