技术领域technical field
本发明涉及道路清扫车领域，是一种大型油电混合动力道路清扫车的动力驱动系统及其控制策略。The invention relates to the field of road sweeping vehicles, and relates to a power drive system and a control strategy of a large oil-electric hybrid road sweeping vehicle.
背景技术Background technique
道路清扫车作为一种环卫设备，是一种集路面清扫、垃圾回收及运输为一体的高效清扫设备。随着我国城市道路的快速发展，道路清扫车市场前景广阔。传统清扫车多在二类汽车底盘上面进行改装，配备两台发动机。转场运输时只有主发动机工作，副发动机闲置；清扫作业时，主发动机负荷率很低，燃油经济性和排放都很差，两台发动机同时工作，噪声大。在大型道路清扫车上，两台发动机功率都很大，整车使用成本高，给底盘布置也带来了一定的困难。As a kind of sanitation equipment, road sweeper is an efficient cleaning equipment integrating road cleaning, garbage recycling and transportation. With the rapid development of my country's urban roads, the road sweeper market has broad prospects. Traditional sweepers are mostly refitted on the second-class car chassis and equipped with two engines. During transport, only the main engine is working, and the auxiliary engine is idle; during cleaning operations, the load rate of the main engine is very low, the fuel economy and emissions are very poor, and the two engines work at the same time, making a lot of noise. On a large road sweeper, the power of the two engines is very large, and the cost of the whole vehicle is high, which also brings certain difficulties to the chassis layout.
纯电动清扫车作为一种新能源环卫车，在一些城市得到了应用，它在工作过程中由电池组提供能量，不消耗燃油，可实现零排放，噪声小，但由于成本高及持续工作时间短等问题，目前仅局限于小型清扫车或纯扫式清扫车上。As a new energy sanitation vehicle, a pure electric sweeper has been applied in some cities. It is powered by a battery pack during work, does not consume fuel, can achieve zero emissions, and has low noise. However, due to high cost and continuous working time Short and other issues are currently limited to small sweepers or pure sweeper sweepers.
增程式电动清扫车与纯电动清扫车相比，虽然能在一定程度上降低整车的制造成本并延长持续工作时间，能够在中小型清扫车上得到应用，但大型道路清扫车对清扫能力要求比较高，作业系统(尤其是风机)功率需求很大，若采用增程技术，实施起来成本仍然很高。针对以上情况，本文通过采用一套新型的应用于大型道路清扫车的混合动力驱动系统，在成本得到控制的情况下，有效地降低清扫车的能耗和排放。Compared with pure electric sweepers, extended-range electric sweepers can reduce the manufacturing cost of the whole vehicle and prolong the continuous working time to a certain extent, and can be applied to small and medium-sized sweepers, but large-scale road sweepers require more cleaning capacity. Relatively high, the operating system (especially the fan) requires a lot of power. If the range-extending technology is adopted, the cost of implementation is still high. In view of the above situation, this paper adopts a new type of hybrid drive system applied to large-scale road sweeping vehicles to effectively reduce the energy consumption and emissions of sweeping vehicles under the condition of cost control.
发明内容Contents of the invention
本发明提供一种大型油电混合动力道路清扫车的动力驱动系统及其控制策略，可实现发动机在转场运输和清扫时都能高效率地工作，并尽可能多地发挥电池电能，达到节能减排的目的。The present invention provides a power drive system and its control strategy for a large-scale oil-electric hybrid road sweeper, which can realize the high-efficiency operation of the engine during transportation and cleaning, and utilize the battery power as much as possible to achieve energy saving purpose of emission reduction.
结合附图，说明如下：In conjunction with the accompanying drawings, the description is as follows:
一种大型油电混合动力道路清扫车动力驱动系统，发动机1通过变速器2与动力切换装置4相连，动力切换装置4的两个输出端分别与清扫装置3及离合器5相连，离合器5另一端通过转矩耦合器6与驱动轮7相连；另一方面，动力电池组9一端与220V充电器8相连，另一端与电机10相连，电机10输出端通过转矩耦合器6与驱动轮7相连，在动力切换装置处放置一个位置传感器检测清扫车的工作模式；在车轮处安装一个行驶里程传感器，记录从车库开出后第一次清扫工况到当前时刻时间内的清扫里程Sq和从本次转场开始到当前时刻时间内的转场里程Sz；在厢体与车架接触处安装一个压力传感器检测厢体是否与车架脱离。A power drive system for a large gasoline-electric hybrid road sweeper. The engine 1 is connected to the power switching device 4 through the transmission 2. The two output ends of the power switching device 4 are respectively connected to the cleaning device 3 and the clutch 5. The other end of the clutch 5 passes through The torque coupler 6 is connected with the drive wheel 7; on the other hand, one end of the power battery pack 9 is connected with the 220V charger 8, and the other end is connected with the motor 10, and the output end of the motor 10 is connected with the drive wheel 7 through the torque coupler 6, A position sensor is placed at the power switching device to detect the working mode of the sweeper; a mileage sensor is installed at the wheel to record the cleaning mileage Sq from the first cleaning condition to the current moment after driving out of the garage and from this time The transition mileage Sz from the beginning of the transition to the current moment; a pressure sensor is installed at the contact between the box body and the frame to detect whether the box body is separated from the frame.
一种大型油电混合动力道路清扫车动力驱动系统控制策略，A control strategy for the power drive system of a large gasoline-electric hybrid road sweeper,
当在清扫模式下，发动机与电机分别驱动清扫系统和行驶系统，电池电量保证所要求的每天工作时长的耗电量需求，当在清扫模式时检测到电池SOC达到允许放电的下限时报警，强制结束当天清扫任务；When in the cleaning mode, the engine and the motor drive the cleaning system and the driving system respectively, and the battery power guarantees the power consumption demand for the required daily working hours. End the cleaning task for the day;
当在转场运输模式下，发动机与电机以并联混合动力方式驱动行驶系统：When in the transfer mode, the engine and the motor drive the driving system in parallel hybrid mode:
1)当行驶里程传感器检测到Sq大于Lq，Sz大于Lz时，1) When the mileage sensor detects that Sq is greater than Lq and Sz is greater than Lz,
Lq：为每天的最短清扫里程，Lz：为相距最远的两个清扫场地之间的距离Lq: the shortest cleaning mileage per day, Lz: the distance between the two farthest cleaning sites
认为当天清扫任务完成，若此时检测到电池电量状态SOC大于0.4，则进入“耗电模式”，控制策略保证发动机尽可能在经济工作区间的低负荷区工作，少发电多用电，尽量将多余的电量用完，充分利用电池所储存的电能，减少燃油的消耗；It is considered that the cleaning task of the day is completed. If the SOC of the battery power state is detected to be greater than 0.4 at this time, it will enter the "power consumption mode". When the excess power is used up, make full use of the electric energy stored in the battery to reduce fuel consumption;
2)若在检测到Sq大于Lq，并且Sz大于Lz时转入“耗电模式”后，位置传感器又检测到动力切换装置置于清扫档位，此时退出“耗电模式”，进入清扫模式，每次转入清扫模式后，Sz自动清零，Sq继续增加；2) If it detects that Sq is greater than Lq, and Sz is greater than Lz, it enters the "power consumption mode", and the position sensor detects that the power switching device is placed in the cleaning gear, then exit the "power consumption mode" and enter the cleaning mode , Sz is automatically cleared and Sq continues to increase after switching to cleaning mode each time;
3)若Sq大于Lq和Sz大于Lz不同时成立，则转场时的控制策略为“保电模式”，控制策略保证发动机尽可能在经济工作区间的高负荷区工作，少用电多充电，尽量给电池多保存电量，为清扫工况提供保障；3) If Sq is greater than Lq and Sz is greater than Lz at the same time, the control strategy at the time of transition is "power conservation mode". Try to save as much power as possible for the battery to provide protection for cleaning conditions;
4)若检测到SOC小于0.4，则在转场时始终处于“保电模式”；4) If it is detected that the SOC is less than 0.4, it will always be in the "power saving mode" during the transition;
5)若压力传感器检测到厢体与车架分离，说明举升机构在进行垃圾清倒，倾倒完成后准备开回车库，此时转入“耗电模式”。5) If the pressure sensor detects that the car body is separated from the frame, it means that the lifting mechanism is emptying the garbage. After the dumping is completed, it is ready to drive back to the garage. At this time, it will enter the "power consumption mode".
本发明的有益效果：Beneficial effects of the present invention:
1、减小了发动机的尺寸和质量，有利于底盘布置，发动机在两种模式下都具有较高的负荷率，改善了整车的油耗和排放；1. The size and mass of the engine are reduced, which is beneficial to the layout of the chassis. The engine has a higher load rate in both modes, which improves the fuel consumption and emissions of the vehicle;
2、转场时为并联混合驱动，可利用电池组的充放电实现发动机高效工作，进一步改善燃油经济性；2. Parallel hybrid drive is used during the transition, and the charging and discharging of the battery pack can be used to realize the efficient operation of the engine and further improve fuel economy;
3、该控制策略使得既能保证有足够的电量供清扫时行驶系统使用，又能保证完成当天清扫任务时将电池多余电量用完，充分利用电池电能，减少燃油消耗。3. This control strategy not only ensures sufficient power for the driving system during cleaning, but also ensures that the excess battery power is used up when the day's cleaning task is completed, making full use of battery power and reducing fuel consumption.
附图说明Description of drawings
图1是本发明的动力驱动系统结构示意图；Fig. 1 is a schematic structural view of a power drive system of the present invention;
图2是转场模式下控制策略图；Figure 2 is a control strategy diagram in transition mode;
图3是发动机经济工作区间图。Figure 3 is a diagram of the economical working range of the engine.
其中：1、发动机；2、变速器；3、清扫装置；4、动力切换装置；5、离合器；6、转矩耦合器；7、驱动轮；8、220V充电器；9、动力电池组；10、电机Among them: 1. Engine; 2. Transmission; 3. Cleaning device; 4. Power switching device; 5. Clutch; 6. Torque coupler; 7. Driving wheel; 8. 220V charger; 9. Power battery pack; 10 , motor
具体实施方式detailed description
以下结合附图对本发明作详细的说明。The present invention will be described in detail below in conjunction with the accompanying drawings.
本发明所述动力驱动系统的模式切换方式是通过所述动力切换装置实现扫路车转场运输和清扫两种工况之间的切换；其中：The mode switching mode of the power drive system of the present invention is to realize the switching between the two working conditions of the road sweeper, transport and cleaning, through the power switching device; wherein:
所述转场工况为：动力切换装置通过模式选择手柄将发动机动力接入行驶系统，通过转矩耦合器与电机进行动力耦合，以并联混合动力的方式驱动车辆行驶；The transition working condition is: the power switching device connects the engine power to the driving system through the mode selection handle, performs power coupling with the motor through the torque coupler, and drives the vehicle in a parallel hybrid mode;
所述清扫工况为：动力切换装置通过模式选择手柄将发动机动力接入清扫装置，离合器分离，由电机单独驱动行驶系统，发动机单独驱动清扫装置。The cleaning working conditions are: the power switching device connects the engine power to the cleaning device through the mode selection handle, the clutch is separated, the driving system is driven by the motor alone, and the cleaning device is driven by the engine alone.
在图1中，转场运输时，发动机动力经变速器传入动力切换装置，通过操作手柄将动力接入行驶系统，此时离合器接合，发动机动力传至转矩耦合器，另一方面，动力电池组给电机供电，使其与发动机传递过来的动力通过转矩耦合器耦合，共同使驱动轮行驶。在图1中，清扫作业时，发动机动力经变速器传入动力切换装置，通过操作手柄将动力接入清扫装置，由发动机驱动清扫装置，此时离合器分离，由电机单独驱动驱动轮行驶。动力切换装置将发动机经变速器传递来的动力接入清扫装置，锁止装置锁止，电机接收动力电池组的能量经行星齿轮机构单独驱动驱动轮。In Figure 1, during transfer, the engine power is transmitted to the power switching device through the transmission, and the power is connected to the driving system through the operating handle. At this time, the clutch is engaged, and the engine power is transmitted to the torque coupler. On the other hand, the power battery The group supplies power to the motor, so that it is coupled with the power transmitted by the engine through the torque coupler to jointly drive the driving wheels. In Figure 1, during the cleaning operation, the engine power is transmitted to the power switching device through the transmission, and the power is connected to the cleaning device through the operating handle, and the cleaning device is driven by the engine. At this time, the clutch is separated, and the driving wheel is driven by the motor alone. The power switching device connects the power transmitted by the engine through the transmission to the cleaning device, the locking device locks, and the motor receives the energy of the power battery pack to drive the driving wheel independently through the planetary gear mechanism.
在图1中，在清扫车不工作时，动力电池组可通过220V充电器进行充电。In Figure 1, when the sweeper is not working, the power battery pack can be charged by a 220V charger.
在图2中，在动力切换装置处放置一位置传感器检测清扫车的工作模式，在车轮处安装一个行驶里程传感器，记录从车库开出后第一次清扫工况到当前时刻时间内的清扫里程Sq和从本次转场开始到当前时刻时间内的转场里程Sz，在厢体与车架接触处安装一个压力传感器检测厢体是否与车架脱离。1)当行驶里程传感器检测到Sq大于Lq(Lq为每天的最短清扫里程)，Sz大于Lz(Lz为相距最远的两个清扫场地之间的距离)时，认为当天清扫任务完成，若此时检测到电池电量状态SOC大于0.4，则进入“耗电模式”，控制策略保证发动机尽可能在经济工作区间的低负荷区工作，少发电多用电，尽量将多余的电量用完，充分利用电池所储存的电能，减少燃油的消耗；2)若在检测到Sq大于Lq，并且Sz大于Lz时转入“耗电模式”后位置传感器又检测到动力切换装置置于清扫档位，此时退出“耗电模式”，进入清扫模式，每次转入清扫模式后，Sz自动清零，Sq继续增加；3)若Sq大于Lq和Sz大于Lz不同时成立，则转场时的控制策略为“保电模式”，控制策略保证发动机尽可能在经济工作区间的高负荷区工作，少用电多充电，尽量给电池多保存电量，为清扫工况提供保障；4)若检测到SOC小于0.4，则在转场时始终处于“保电模式”；5)若压力传感器检测到厢体与车架分离，说明举升机构在进行垃圾清倒，倾倒完成后准备开回车库，此时转入“耗电模式”。In Figure 2, a position sensor is placed at the power switching device to detect the working mode of the sweeper, and a mileage sensor is installed at the wheel to record the cleaning mileage from the first cleaning condition to the current time after driving out of the garage Sq and the transition mileage Sz from the beginning of this transition to the current moment, a pressure sensor is installed at the contact between the box body and the frame to detect whether the box body is separated from the frame. 1) When the mileage sensor detects that Sq is greater than Lq (Lq is the shortest cleaning mileage per day), and Sz is greater than Lz (Lz is the distance between the two farthest cleaning sites), it is considered that the cleaning task of the day is completed. When it is detected that the SOC of the battery power state is greater than 0.4, it will enter the "power consumption mode". The electric energy stored in the battery reduces fuel consumption; 2) If the position sensor detects that the power switching device is placed in the cleaning gear after detecting that Sq is greater than Lq and Sz is greater than Lz, and the position sensor detects that the power switching device is placed in the cleaning gear, then Exit the "power consumption mode" and enter the cleaning mode. After switching to the cleaning mode each time, Sz is automatically cleared, and Sq continues to increase; 3) If Sq is greater than Lq and Sz is greater than Lz, the control strategy at the time of transition is "Battery protection mode", the control strategy ensures that the engine works in the high-load area of the economical working area as much as possible, uses less electricity and charges more, tries to save more electricity for the battery, and provides protection for cleaning conditions; 4) If the SOC is detected to be less than 0.4 , then it is always in the "battery protection mode" during the transition; 5) If the pressure sensor detects that the car body is separated from the frame, it means that the lifting mechanism is emptying the garbage. After the dumping is completed, it is ready to drive back to the garage. "Power consumption mode".
在图3中，发动机工作在最大转矩曲线和经济工作区下限曲线之间时，燃油经济性较好。结合图3，“保电模式”下的控制策略如表1：1)电池SOC大于允许充电的上限soc_hi时，若整车需求转矩T大于发动机在该转速下所能达到的最大转矩Te_max，电机提供该转速下的所能达到的最大转矩Tm_max，发动机提供剩余需求转矩，若整车需求转矩T小于该转速下发动机经济工作区的下限Te_min，发动机提供所需转矩T，电机不工作，若整车需求转矩介于Te_min与Te_max之间，发动机提供转矩为(T-Tm_max)与Te_min中的较大值，电机提供剩余需求转矩；2)电池SOC小于允许充电上限soc_hi下一个次高值soc_cg时，若整车需求转矩T大于发动机在该转速下所能达到的最大转矩Te_max，发动机提供最大转矩Te_max，电机助力，若整车需求转矩T小于该转速下发动机经济工作区的下限Te_min，发动机提供转矩为(T+Tsoc)与Te_min中的较大值(Tsoc用于电池充电，Tchg为充电系数，soc_lo为电池允许放电下限)，若整车需求转矩T介于Te_min与Te_max之间，发动机提供转矩为(T+Tsoc)与Te_max中较小值，电池充电；3)电池SOC介于soc_hi与soc_cg之间时，若整车需求转矩T大于发动机在该转速下所能达到的最大转矩Te_max，发动机提供最大转矩Te_max，电机助力，若整车需求转矩T小于该转速下发动机经济工作区的下限Te_min，发动机转矩为Te_min，同时给电池充电，若整车需求转矩T介于Te_min与Te_max之间，发动机单独提供整车所需转矩。In Figure 3, when the engine works between the maximum torque curve and the lower limit curve of the economical working area, the fuel economy is better. Combined with Figure 3, the control strategy in the "battery retention mode" is shown in Table 1: 1) When the battery SOC is greater than the upper limit soc_hi allowed for charging, if the vehicle demand torque T is greater than the maximum torque Te_max that the engine can achieve at this speed , the motor provides the maximum torque Tm_max that can be achieved at this speed, and the engine provides the remaining required torque. If the vehicle demand torque T is less than the lower limit Te_min of the engine's economic work area at this speed, the engine provides the required torque T, If the motor does not work, if the required torque of the vehicle is between Te_min and Te_max, the engine provides torque which is the larger value between (T-Tm_max) and Te_min, and the motor provides the remaining required torque; 2) The battery SOC is less than the allowable charging When the upper limit soc_hi is the next highest value soc_cg, if the vehicle demand torque T is greater than the maximum torque Te_max that the engine can achieve at this speed, the engine provides the maximum torque Te_max, and the motor assists. If the vehicle demand torque T is less than The lower limit Te_min of the engine's economical working area at this speed, the engine provides torque is the larger value of (T+Tsoc) and Te_min (Tsoc is used for battery charging, Tchg is the charging coefficient, soc_lo is the lower limit of battery discharge), if the vehicle demand torque T is between Te_min and Te_max, the engine provides torque is the smaller value between (T+Tsoc) and Te_max, and the battery is charged; 3) When the battery SOC is between soc_hi and soc_cg, if the vehicle demand torque T is greater than the maximum torque Te_max that the engine can achieve at this speed, the engine provides the maximum torque Te_max, and the motor assists. If the vehicle demand torque T If the speed is lower than the lower limit Te_min of the engine's economical working area, the engine torque is Te_min, and the battery is charged at the same time. If the vehicle's required torque T is between Te_min and Te_max, the engine alone provides the required torque for the vehicle.
结合图3，“耗电模式”下的控制策略如表2：1)电池SOC大于soc_lo以上一个次低值soc_cd时，若整车需求转矩T大于发动机在该转速下所能达到的最大转矩Te_max，电机提供该转速下所能达到的最大转矩Tm_max，发动机提供剩余需求转矩，若整车需求转矩T小于该转速下发动机经济工作区的下限Te_min，发动机提供转矩为Te_min，同时给电池充电，若整车需求转矩T介于Te_min与Te_max之间，发动机提供转矩为Te_min与(T-Tm_max)中的较大值，电机提供剩余需求转矩；2)电池SOC小于放电下限soc_lo(设为0.25)时，若整车需求转矩T大于发动机在该转速下所能达到的最大转矩Te_max，发动机提供最大转矩Te_max，电机不工作，若整车需求转矩T小于该转速下发动机经济工作区的下限Te_min，发动机提供转矩为(T+Tsoc’)与Te_min中的较大值(Tsoc’用于电池充电，Tchg为充电系数)，若整车需求转矩T介于Te_min与Te_max之间，发动机提供转矩为(T+Tsoc’)与Te_max中的较小值，同时给电池充电；3)电池SOC介于soc_lo与soc_cd之间时，若整车需求转矩T大于发动机在该转速下所能达到的最大转矩Te_max，发动机提供最大转矩Te_max，电机助力，若整车需求转矩T小于该转速下发动机经济工作区的下限Te_min，发动机提供转矩Te_min，同时给电池充电，若整车需求转矩T介于Te_min与Te_max之间，发动机单独提供所需转矩T。Combined with Figure 3, the control strategy in "power consumption mode" is shown in Table 2: 1) When the battery SOC is greater than the next lowest value soc_cd above soc_lo, if the vehicle demand torque T is greater than the maximum engine speed at this speed Torque Te_max, the motor provides the maximum torque Tm_max that can be achieved at this speed, and the engine provides the remaining required torque. If the vehicle demand torque T is less than the lower limit Te_min of the engine's economic work area at this speed, the engine provides torque Te_min, At the same time, charge the battery. If the required torque T of the vehicle is between Te_min and Te_max, the torque provided by the engine is the larger value between Te_min and (T-Tm_max), and the motor provides the remaining required torque; 2) The battery SOC is less than When the discharge lower limit soc_lo (set to 0.25), if the vehicle demand torque T is greater than the maximum torque Te_max that the engine can achieve at this speed, the engine provides the maximum torque Te_max, the motor does not work, if the vehicle demand torque T Less than the lower limit Te_min of the engine's economical working area at this speed, the engine provides torque (T+Tsoc') and the larger value of Te_min (Tsoc' is used for battery charging, Tchg is the charging coefficient), if the required torque T of the vehicle is between Te_min and Te_max, the engine provides the smaller value of torque between (T+Tsoc') and Te_max, and charges the battery at the same time; 3) The battery SOC is between Between soc_lo and soc_cd, if the required torque T of the vehicle is greater than the maximum torque Te_max that the engine can achieve at this speed, the engine provides the maximum torque Te_max, and the motor assists, if the required torque T of the vehicle is less than the speed Lower the lower limit Te_min of the economical working area of the engine, the engine provides the torque Te_min, and charges the battery at the same time, if the required torque T of the vehicle is between Te_min and Te_max, the engine alone provides the required torque T.
表1是“保电模式”下的控制策略Table 1 is the control strategy in "power protection mode"
表2时“耗电模式”下的控制策略Control strategy in "power consumption mode" in Table 2
| Application Number | Priority Date | Filing Date | Title |
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| CN201510003702.XACN104527403B (en) | 2015-01-05 | 2015-01-05 | Power-driven system for large-scale oil-electricity hybrid power road sweeper and control strategy thereof |
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