Electrothermal collaborative control method and system for electric vehicle, and energy router

Abstract

The present invention relates to the technical field of electric vehicle energy integrated management. Disclosed are an electrothermal collaborative control method and system for an electric vehicle, and an energy router. The method comprises the following steps: acquiring operating state parameters of an electrical system device and a thermal system device of an electric vehicle; and according to the acquired operating state parameters, using a leader-follower Stackelberg game strategy to obtain operating parameters at the next moment of the electrical system device and the thermal system device, so as to realize electrothermal collaborative control of the electric vehicle. According to the technical solution provided by the present invention, a game theory is used to optimize energy management, so that electrothermal collaborative energy management can be carried out on the electric vehicle; the electrothermal collaborative management takes into account overall optimization and local optimization of vehicle energy configuration, thereby improving the vehicle performance.

Description

Electric-thermal coordinated control method, system and energy router for electric vehicles Technical Field

[0001] The present invention belongs to the technical field of integrated energy management of electric vehicles, and in particular relates to an electric-thermal coordinated control method, system and energy router for electric vehicles. Background Art

[0002] New energy vehicles such as electric vehicles are cleaner and more environmentally friendly than traditional fuel vehicles, and their number has been increasing in recent years.

[0003] At present, electric vehicles still have the technical problem of unclear energy distribution methods. Each component often operates at its maximum capacity, and there is a lack of control algorithms that can adapt to different vehicle usage conditions, resulting in a short cruising range, which hinders the promotion and development of electric vehicles.

[0004] Under the guidance of "carbon neutrality and carbon peak", all walks of life urgently need more environmentally friendly and energy-saving energy supply methods; therefore, electric vehicles need to optimize internal energy management and adopt more precise and intelligent energy management methods to reduce energy waste, improve energy utilization, and alleviate mileage anxiety.

[0005] Thermal management of electric vehicles primarily encompasses the thermal management of the power battery, motor and electronic control, and passenger compartment. Electrical management primarily encompasses the electrical management of the power battery, motor and electronic control, and other electrical devices. Thermal management ensures that functional components are at optimal operating temperatures, meets the cooling and heating requirements of the passenger compartment, and also prevents safety risks associated with thermal runaway of the battery and motor. Electrical management ensures normal vehicle starting and driving, battery charging and discharging, and provides power to the air conditioner. Both thermal and electrical management are essential. Existing technologies mostly focus on a single approach to thermal management or electrical management. While single thermal or electrical management can achieve local optimal performance for equipment and improve thermal or electrical energy efficiency, it is not necessarily optimal for overall vehicle performance.

[0006] Summary of the Invention

[0007] The present invention aims to provide a method, system, and energy router for coordinated electric-thermal control of electric vehicles to address one or more of the aforementioned technical issues. The technical solution provided by this invention utilizes game theory to optimize energy management, enabling coordinated thermal-electric energy management in electric vehicles. This coordinated management of electricity and heat balances both overall and local optimization of the vehicle's energy configuration, improving overall vehicle performance.

[0008] In order to achieve the above object, the present invention adopts the following technical solutions:

[0009] A first aspect of the present invention provides an electric-thermal coordinated control method for an electric vehicle, comprising the following steps:

[0010] Obtaining operating status parameters of the electric system equipment and thermal system equipment of the electric vehicle;

[0011] Based on the acquired operating status parameters, a master-slave Stackelberg game strategy is adopted to obtain the next-moment operating parameters of the electrical and thermal system equipment, thus realizing the coordinated control of electric and thermal systems in electric vehicles.

[0012] Among them, when adopting the master-slave Stackelberg game strategy, the leader of the master-slave Stackelberg game strategy is the vehicle energy management system, and the followers are the passenger compartment, battery, and air-conditioning heat pump; the vehicle energy management system sends the optimization strategy to the followers according to its own objective function; the followers make decisions based on the optimization strategy sent by the leader, use the optimization strategy sent by the leader as a constraint condition and calculate the optimal strategy according to the follower's own objective function, and then feed back the calculated optimal strategy to the leader; repeated iterations, the game reaches Stackelberg equilibrium, the leader and followers obtain the optimal strategy, and obtain the operating parameters of the electrical system equipment and thermal system equipment at the next moment.

[0013] A further improvement of the method of the present invention is that in the step of obtaining the operating status parameters of the electric system equipment and the thermal system equipment of the electric vehicle,

[0014] Electrical system equipment includes batteries, motors, and electronic controls;

[0015] Thermal system equipment includes air conditioning heat pumps, PTC electric heaters, electronic fans, blowers, water pumps, and motor electric heating waste heat recovery equipment.

[0016] A further improvement of the method of the present invention is that, in the step of obtaining the next moment operating parameters of the electrical system equipment and the thermal system equipment by adopting the master-slave Stackelberg game strategy based on the obtained operating status parameters,

[0017] Using the master-slave Stackelberg game strategy, the operating parameters obtained at the next moment include battery charging and discharging power, motor power consumption, air conditioning system power consumption, electric heating PTC power consumption, blower power consumption, electronic fan power consumption, water pump power consumption, as well as battery temperature and passenger compartment temperature curve.

[0018] A further improvement of the method of the present invention is that the steps of obtaining the next moment operating parameters of the electrical system equipment and the thermal system equipment by adopting a master-slave Stackelberg game strategy based on the acquired operating status parameters to realize the electric and thermal coordinated control of the electric vehicle include:

[0019] The initial value of the objective function of the vehicle energy management system is calculated and the NSGAⅡ algorithm is used to initialize the power and temperature populations.

[0020] The leader selects each power and temperature population and sends the optimized strategy to the follower; the follower calculates the optimal strategy set according to the objective function, selects the optimal solution from the optimal strategy set using the TOPSIS method, and then feeds the optimized strategy back to the leader; after reaching the Stackelberg equilibrium of the game, the objective function I of the vehicle energy management system is calculated. er (i) Perform binary crossover and mutation operations on the current population, and select the population according to the elite strategy to obtain the new generation population;

[0021] The master-slave game is optimized again to obtain the new vehicle energy management system objective function I er (i+1), if I er (i+1)>I er (i) Update the optimized population, otherwise the population remains unchanged; determine whether the Stackelberg equilibrium is reached, if so, output the result, otherwise repeat the iterative calculation;

[0022] Among them, the expression of the objective function of the vehicle energy management system is:

[0023] Where, I er Indicates the range index of electric vehicles, S is the range, is the battery output power, is the battery temperature, v is the vehicle speed, η ba t is the battery working efficiency, Δt is the preset time interval, and T is a scheduling cycle.

[0024] A further improvement of the method of the present invention is that the passenger compartment objective function I in the follower's own objective function cabin Expressed as,

[0025] Where, T cabin is the real-time cabin temperature, t represents time; T cabin,set For optimal thermal comfort temperature; φ cabin They are temperature deviation coefficient and temperature fluctuation coefficient respectively;

[0026] Among them, the closer the thermal comfort PMV is to 0, the better the comfort. When the passenger cabin is at the optimal thermal comfort temperature, the PMV is 0, which is expressed as,

[0027] T cabin,set =t a | PMV =0;

[0028] Where, ta is the air temperature around the human body, M is the energy metabolism rate of the human body, W is the mechanical work done by the human body, t cl is the outer surface temperature of the clothes, is the average radiation temperature of the room, P a Water vapor partial pressure around the human body, h c is the convective heat transfer coefficient, f cl is the area coefficient of clothing, I cl is the thermal resistance of clothing.

[0029] A further improvement of the method of the present invention is that the battery objective function I in the follower's own objective function bat Expressed as,

[0030] Where, f η is the battery efficiency function, It represents the electric power output by the battery, and a1 and a2 are weight coefficients;

[0031] Among them, the battery is subject to the conditional constraints of its own equipment as follows:

[0032] Where, T bat,min 、T bat,max Respectively represent the minimum temperature and maximum temperature of the battery operating range, Indicates the actual state of charge of the battery, SOC bat,min , SOC bat,max Respectively represent the upper and lower limits of battery capacity, Indicates the maximum power output of the battery.

[0033] A further improvement of the method of the present invention is that the objective function of the air conditioning heat pump in the follower's own objective function is,

[0034] Where, They represent the power consumption of the air conditioning heat pump equipment when cooling and heating respectively. Indicates the power consumption of the blower. Respectively represent the cooling and heating power of the air conditioning heat pump, They respectively represent the thermal power of the air conditioning heat pump for cooling the passenger compartment, cooling the battery, heating the passenger compartment, and heating the battery.

[0035] A further improvement of the method of the present invention is that the condition for the game to reach Stackelberg equilibrium is:

[0036] Where, I er , I cabin , I bat , Iachp These are the objective functions of the vehicle energy management system, passenger compartment, battery, and air conditioning heat pump; They are the optimal strategy sets for the vehicle energy management system, passenger compartment, battery, and air conditioning heat pump respectively.

[0037] A second aspect of the present invention provides an electric-thermal coordinated control system for an electric vehicle, comprising:

[0038] A data acquisition module is used to obtain operating status parameters of the electric system equipment and thermal system equipment of the electric vehicle;

[0039] The collaborative control module is used to obtain the next-moment operating parameters of the electrical and thermal system equipment based on the acquired operating status parameters and adopt a master-slave Stackelberg game strategy to achieve electric and thermal collaborative control of the electric vehicle;

[0040] Among them, when adopting the master-slave Stackelberg game strategy, the leader of the master-slave Stackelberg game strategy is the vehicle energy management system, and the followers are the passenger compartment, battery, and air-conditioning heat pump; the vehicle energy management system sends the optimization strategy to the followers according to its own objective function; the followers make decisions based on the optimization strategy sent by the leader, use the optimization strategy sent by the leader as a constraint condition and calculate the optimal strategy according to the follower's own objective function, and then feed back the calculated optimal strategy to the leader; repeated iterations, the game reaches Stackelberg equilibrium, the leader and followers obtain the optimal strategy, and obtain the operating parameters of the electrical system equipment and thermal system equipment at the next moment.

[0041] The third aspect of the present invention provides an energy router for electric vehicles, comprising: a device interface unit, a communication center module and a control center module; the control center module is provided with the electric-thermal coordinated control system for electric vehicles described in the second aspect of the present invention.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] The collaborative control method provided by this invention utilizes a master-slave game approach to optimize operating parameters, enabling comprehensive electrical and thermal management of electric vehicle equipment, achieving integrated electrical and thermal management. This approach also allows for both overall and local optimization of the vehicle's energy configuration, improving overall vehicle performance. Specifically, game theory is used to optimize energy management. The vehicle's energy management system acts as a leader, ensuring the vehicle maintains optimal range. Followers calculate the optimal strategy based on the energy router's strategy and then feed it back to the energy router. Once a Stackelberg equilibrium is reached, the current round of the game ends, and the followers also achieve the optimal strategy. Game theory optimizes the energy interaction process, improving energy utilization efficiency.

[0044] In the present invention, an intelligent optimization algorithm is used to solve the equations established in the game process, which has fast convergence and strong robustness, so that the game strategy can be output faster and better, thereby achieving the purpose of real-time optimization; ensuring the normal operation of the equipment and saving energy consumption, and finding the operating state with the lowest energy consumption of the whole vehicle under the premise of ensuring that all functions of the whole vehicle meet the requirements.

[0045] In this invention, the objective function of the vehicle energy management system comprehensively considers the electric vehicle's range, enabling optimized control of vehicle energy management and improving the vehicle's performance and usability. The objective function of the passenger compartment determines the temperature control strategy by calculating the deviation between the real-time passenger compartment temperature and the optimal human thermal comfort temperature. This ensures both the accuracy and stability of the passenger compartment temperature and the thermal comfort requirements of the human body. The objective function of the battery considers battery operating efficiency and the power output of the battery. Furthermore, the battery is subject to its own device constraints, such as temperature and upper and lower capacity limits. By considering these constraints, the battery's safety and stability can be guaranteed. Furthermore, when implementing electric-thermal coordinated control, the battery's charge and discharge power can be optimized, achieving better dynamic energy management. The objective function of the air conditioning heat pump calculates the power consumption of the air conditioning heat pump during cooling and heating operations, thereby optimizing the energy utilization efficiency of the air conditioning heat pump. In summary, the objective functions disclosed in the present invention play a key role in both electric and thermal coordinated control and performance improvement. By comprehensively considering factors such as the energy demand, temperature control requirements, and human thermal comfort of various components and equipment of electric vehicles, they achieve dynamic energy management and thermoelectric coordinated optimization, thereby improving the energy utilization efficiency and performance of the entire vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art; obviously, the drawings described below are some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0047] FIG1 is a schematic flow chart of an electric-thermal coordinated control method for an electric vehicle provided by an embodiment of the present invention;

[0048] FIG2 is a schematic diagram of energy interaction of an electric vehicle energy router according to an embodiment of the present invention;

[0049] FIG3 is a schematic diagram of an optimization solution process for an electric vehicle energy router according to an embodiment of the present invention;

[0050] FIG4 is a schematic diagram of an electric-thermal coordinated control system for an electric vehicle provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0052] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0053] The present invention is described in further detail below with reference to the accompanying drawings:

[0054] Referring to FIG1 , an embodiment of the present invention provides an electric-thermal coordinated control method for an electric vehicle, comprising the following steps:

[0055] Step 1: Obtain operating status parameters of the electric system equipment and thermal system equipment of the electric vehicle;

[0056] Step 2: Based on the operating status parameters obtained in step 1, a master-slave Stackelberg game strategy is used to obtain the next-moment operating parameters of the electrical system equipment and the thermal system equipment to achieve electric and thermal coordinated control of the electric vehicle;

[0057] Among them, when adopting the master-slave Stackelberg game strategy, the leader of the master-slave Stackelberg game strategy is the vehicle energy management system, and the followers are the passenger compartment, battery, and air-conditioning heat pump; the vehicle energy management system sends the optimization strategy to the followers according to its own objective function; the followers make decisions based on the optimization strategy sent by the leader, use the optimization strategy sent by the leader as a constraint condition and calculate the optimal strategy according to the follower's own objective function, and then feed back the calculated optimal strategy to the leader; repeated iterations, the game reaches Stackelberg equilibrium, the leader and followers obtain the optimal strategy, and obtain the operating parameters of the electrical system equipment and thermal system equipment at the next moment.

[0058] The technical solution provided by the embodiment of the present invention uses game theory to optimize energy management and can perform thermal and electrical coordinated energy management for electric vehicles; by coordinating the management of electricity and heat, and taking into account both the overall optimization and local optimization of the vehicle's energy configuration, the performance of the entire vehicle can be improved.

[0059] An electric vehicle energy router provided by an embodiment of the present invention mainly comprises: a device interface unit, a communication center module and a control center module; wherein,

[0060] The device interface unit is used to access the preset electric vehicle equipment; the communication center module is used to collect information about the preset electric vehicle equipment, obtain the current operating status parameters of the equipment, and identify the load type; the control center module is used to optimize the electrical system and thermal system based on the obtained operating status parameters, and output a strategy to regulate the operating parameters of the equipment at the next moment.

[0061] Please refer to Figure 2, which shows a schematic diagram of energy interaction within an electric vehicle energy router in a further specific embodiment of the present invention. Regarding electricity consumption, the motor and electronic control, air conditioning heat pump, PTC electric heater, blower, electric fan, and water pump all draw power from the battery. Regarding heating and cooling, the air conditioning heat pump can be used to heat the passenger compartment and batteries, while waste heat from the motor and electronic control can be used to heat the passenger compartment. Cooling from the air conditioning heat pump is used to cool the passenger compartment and batteries. The energy router calculates the optimal solution, flexibly managing dynamic energy, while meeting electrical, thermal, and cooling load requirements. To further explain in detail, in an embodiment of the present invention, for controllable electrical loads, the motor and electronic control, air conditioning heat pump, PTC electric heating, blower, electronic fan, and water pump switch and transform their working modes according to the instructions of the control center; for controllable hot and cold loads, the passenger compartment and battery have heating and cooling requirements, and the motor and electronic control have heat dissipation requirements. When the air conditioning heat pump operates in the cooling working mode, it is used for cooling the passenger compartment and cooling the battery. When the air conditioning heat pump operates in the heating working mode, it can be used for heating the passenger compartment and heating the battery. PTC electric heating can be used for heating the passenger compartment and battery, and waste heat recovery from the motor and electronic control can be used for heating the passenger compartment; the temperature of the passenger compartment, battery, and motor and electronic control is controlled according to the instructions of the control center; on the premise that the requirements of the motor and electronic control and the battery temperature are within a safe range, the energy router can calculate the optimal strategy and flexibly manage dynamic energy.

[0062] Please refer to Figure 3. In a further specific scheme of an embodiment of the present invention, the electrical system and the thermal system are optimized and calculated according to the obtained operating state parameters, and the output strategy is used to control the operating parameters of the equipment at the next moment. The control strategy is that the electric vehicle energy router, each device and the passenger compartment adopt a master-slave game strategy; the leader of the master-slave game is the energy router, and the followers are the passenger compartment, battery, and air conditioning heat pump; the strategy obtained by the game includes battery charging and discharging power, motor power consumption, air conditioning system power consumption, PTC power consumption, blower power consumption, electronic fan power consumption, water pump power consumption, battery temperature, passenger compartment temperature curve, etc.; participants establish their own objective functions, and the objective function includes the vehicle's cruising range index, temperature index of the temperature control component, and optimal performance index of the main components. When the game reaches the Stackelberg equilibrium, the leader and follower obtain the optimal strategy. The condition for the Stackelberg equilibrium is,

[0063] Where, I er ,I cabin ,I bat ,I achp are the objective functions of the energy router, passenger compartment, battery, and air conditioning heat pump, respectively; They are the optimal strategy sets for the energy router, passenger compartment, battery, and air conditioning heat pump, respectively.

[0064] In the embodiment of the present invention, the optimization solution process of the master-slave game includes inputting initial data and constraints, inputting initial weather, intersection parameters, and operating parameters of each device; calculating the initial value of the energy router objective function I based on the established component models of the energy router, battery, passenger compartment, air conditioning heat pump, etc. er (0), the NSGAⅡ algorithm is used to initialize the power and temperature populations; the game leader energy router selects the power and temperature populations and sends the optimized strategy to the followers; the followers calculate the optimal strategy set according to the objective function, select the optimal solution from the optimal strategy set using the TOPSIS method, and then feed the optimized strategy back to the leader; after reaching the Stackelberg equilibrium of the game, the energy router objective function I is calculated. er (i); perform binary crossover and mutation operations on the current population, select the population according to the elite strategy to obtain the new generation population; again perform optimization on the master-slave game; then calculate the energy router objective function again; if I er (i+1)>I er (i) If the number of iterations reaches the maximum, the population is updated; otherwise, the population remains unchanged. Then, the maximum number of iterations is determined. If so, the result is output; otherwise, the iterative calculation continues.

[0065] Where, I erIndicates the range of electric vehicles. The range S is affected by the battery output power. Battery temperature Vehicle speed v, battery efficiency ηb a t influence, Δt and T represent a small time interval and a scheduling cycle respectively.

[0066] In the embodiment of the present invention, the passenger cabin aims to minimize the deviation and fluctuation between the actual passenger cabin temperature and the optimal thermal comfort set temperature within a scheduling cycle. The objective function I cabin for,

[0067] Where, T cabin,set For optimal thermal comfort temperature, φ cabin are the temperature deviation coefficient and the temperature fluctuation coefficient respectively.

[0068] In the embodiment of the present invention, when the passenger cabin is at the optimal thermal comfort temperature, the PMV (thermal comfort) is 0, which is expressed as:

[0069] T cabin,set =t a | PMV＝0 ;

[0070] Where, t a is the air temperature around the human body, M is the energy metabolism rate of the human body, W is the mechanical work done by the human body, t cl is the outer surface temperature of the clothes, is the average radiation temperature of the room, P a Water vapor partial pressure around the human body, h c is the convective heat transfer coefficient, f cl is the area coefficient of clothing, I cl is the thermal resistance of clothing.

[0071] In the embodiment of the present invention, the objective function of the battery is bat Including battery efficiency η bat The highest energy consumption is the lowest for the power-consuming components that require batteries to provide power. The objective function is,

[0072] Where, f η Represents the battery efficiency function, which is related to the battery temperature related, It represents the electric power output by the battery, and a1 and a2 are weight coefficients;

[0073] In addition, the battery is also subject to the conditions of its own equipment, which can be expressed as,

[0074] Where, T bat,min With T bat,max Respectively represent the minimum and maximum temperatures of the battery operating range, Indicates the actual state of charge of the battery, SOC bat,min With SOC bat,max Respectively represent the upper and lower limits of battery capacity, Indicates the maximum power output of the battery.

[0075] In the embodiment of the present invention, the objective function of the air conditioning heat pump is:

[0076] Where, Respectively represent the power consumption of the air conditioning heat pump equipment when the air conditioning heat pump is cooling and heating. Indicates the power consumption of the blower. Respectively represent the cooling and heating power of the air conditioning heat pump, They represent the thermal power of the air-conditioning heat pump for cooling the passenger compartment, cooling the battery, heating the passenger compartment, and heating the battery respectively; the objective function of the air-conditioning heat pump takes into account the minimum energy consumption of the air-conditioning heat pump equipment and the blower under unit cooling capacity and heating capacity.

[0077] In the embodiment of the present invention, the power balance constraint conditions must be met when solving the above-mentioned objective functions:

[0078] The electric power balance is

[0079] The thermal power balance is

[0080] The cooling power balance is

[0081] Where, Respectively represents the power consumption of motor, electronic control, electronic fan, blower and water pump, COP h With COP c Respectively represent the energy efficiency ratio of heating and cooling of air conditioning heat pump, η ptc Indicates the efficiency of PTC electric heating, Indicates the power consumption of PTC electric heating, and The electric motor waste heat is recovered for heating the passenger compartment.

[0082] In the technical solution provided by the embodiment of the present invention, the electric vehicle energy router can coordinate the management of the electrical system and thermal system of the electric vehicle, integrate the electrical management module and the thermal management module, and realize integrated electrical and thermal management; among them, game theory is used to optimize energy management. The energy router acts as a leader to ensure that the entire vehicle is always in the optimal state of endurance, and the follower passenger compartment, battery, and air conditioning heat pump also obtain the optimal strategy. Game theory optimizes the energy interaction process and improves energy utilization efficiency; an intelligent optimization algorithm is used to solve the established equations, which has a simple structure, fast convergence, and strong robustness, so that the game strategy can be output faster and better, thereby achieving the purpose of real-time optimization.

[0083] Referring to FIG4 , an embodiment of the present invention provides an electric-thermal coordinated control system for an electric vehicle, including:

[0084] A data acquisition module is used to obtain operating status parameters of the electric system equipment and thermal system equipment of the electric vehicle;

[0085] The collaborative control module is used to obtain the next-moment operating parameters of the electrical and thermal system equipment based on the acquired operating status parameters and adopt a master-slave Stackelberg game strategy to achieve electric and thermal collaborative control of the electric vehicle;

[0086] Among them, when adopting the master-slave Stackelberg game strategy, the leader of the master-slave Stackelberg game strategy is the vehicle energy management system, and the followers are the passenger compartment, battery, and air-conditioning heat pump; the vehicle energy management system sends the optimization strategy to the followers according to its own objective function; the followers make decisions based on the optimization strategy sent by the leader, use the optimization strategy sent by the leader as a constraint condition and calculate the optimal strategy according to the follower's own objective function, and then feed back the calculated optimal strategy to the leader; repeated iterations, the game reaches Stackelberg equilibrium, the leader and followers obtain the optimal strategy, and obtain the operating parameters of the electrical system equipment and thermal system equipment at the next moment.

[0087] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0088] The present application is described with reference to the flow chart and / or block diagram of the method, device (system), and computer program product according to the embodiment of the present application. It should be understood that each flow process and / or box in the flow chart and / or block diagram and the combination of the flow process and / or box in the flow chart and / or block diagram can be realized by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processing machine or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for realizing the function specified in one flow chart flow or multiple flows and / or one box or multiple boxes of the block diagram.

[0089] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0090] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. An electric-thermal coordinated control method for an electric vehicle, characterized in that: The following steps are involved: Obtaining operating status parameters of the electric system equipment and thermal system equipment of the electric vehicle; According to the acquired operating status parameters, the master-slave Stackelberg game strategy is adopted to obtain the next moment operating parameters of the electrical system equipment and the thermal system equipment to realize the electric and thermal coordinated control of the electric vehicle; Among them, when the master-slave Stackelberg game strategy is adopted, the leader of the master-slave Stackelberg game strategy is the vehicle energy management system, and the followers are the passenger compartment, battery, and air-conditioning heat pump; the vehicle energy management system sends the optimization strategy to the followers according to its own objective function; the followers make decisions according to the optimization strategy sent by the leader, use the optimization strategy sent by the leader as a constraint condition and calculate the optimal strategy according to the follower's own objective function, and then feedback the calculated optimal strategy to the leader; repeated iterations, the game reaches Stackelberg equilibrium, the leader and the follower obtain the optimal strategy, and obtain the operating parameters of the electrical system equipment and thermal system equipment at the next moment.

2. The electric-thermal coordinated control method for electric vehicles according to claim 1, characterized in that: In the step of obtaining the operating status parameters of the electric system equipment and the thermal system equipment of the electric vehicle, Electrical system equipment includes batteries, motors, and electronic controls; Thermal system equipment includes air conditioning heat pumps, PTC electric heating, electronic fans, blowers, water pumps, and motor electric heating waste heat recovery equipment.

3. The electric-thermal coordinated control method for electric vehicles according to claim 1, characterized in that: In the step of obtaining the next moment operation parameters of the electrical system equipment and the thermal system equipment by adopting the master-slave Stackelberg game strategy according to the obtained operation status parameters, Using the master-slave Stackelberg game strategy, the operating parameters obtained at the next moment include battery charging and discharging power, motor power consumption, air conditioning system power consumption, electric heating PTC power consumption, blower power consumption, electronic fan power consumption, water pump power consumption, as well as battery temperature and passenger compartment temperature curve.

4. The electric-thermal coordinated control method for electric vehicles according to claim 1, characterized in that: The steps of obtaining the next moment operation parameters of the electric system equipment and the thermal system equipment by adopting the master-slave Stackelberg game strategy according to the acquired operation status parameters and realizing the electric-thermal coordinated control of the electric vehicle include: The initial value of the objective function of the vehicle energy management system is calculated, and the NSGAⅡ algorithm is used to initialize the power and temperature populations; The leader selects each power and temperature population and sends the optimized strategy to the follower; the follower calculates the optimal strategy set according to the objective function, selects the optimal solution from the optimal strategy set using the TOPSIS method, and then feeds the optimized strategy back to the leader; after reaching the Stackelberg equilibrium of the game, the objective function I of the vehicle energy management system is calculated er (i) Perform binary crossover and mutation operations on the current population, and select the population according to the elite strategy to obtain a new generation of population; The master-slave game is optimized again to obtain the new vehicle energy management system objective function I er (i+1), if I er (i+1)>I er (i) Update the optimized population, otherwise the population remains unchanged; determine whether the Stackelberg equilibrium is reached, if so, output the result, otherwise repeat the iterative calculation; Among them, the expression of the objective function of the vehicle energy management system is: In the formula, I er It indicates the range of electric vehicles, S is the range, is the battery output power, is the battery temperature, v is the vehicle speed, η bat is the battery working efficiency, Δt is the preset time interval, and T is a scheduling cycle.

5. The electric-thermal coordinated control method for electric vehicles according to claim 4, characterized in that: The objective function of the follower itself in the passenger compartment objective function I cabin It is expressed as, Where, T cabin is the real-time cabin temperature, and t represents time; T cabin,set The optimal thermal comfort temperature; φ cabin They are temperature deviation coefficient and temperature fluctuation coefficient respectively; Among them, the closer the thermal comfort PMV is to 0, the better the comfort. When the passenger cabin is at the best thermal comfort temperature, the PMV is 0, which is expressed as, T cabin,set =t a | PMV＝0 ; Where, t a is the air temperature around the human body, M is the energy metabolism rate of the human body, W is the mechanical work done by the human body, t cl is the outer surface temperature of the clothes, is the average radiation temperature of the room, P a Water vapor partial pressure around the human body, h c is the convective heat transfer coefficient, f cl is the area coefficient of clothing, I cl is the thermal resistance of clothing.

6. The electric-thermal coordinated control method for electric vehicles according to claim 4, characterized in that: The battery objective function I in the follower's own objective function bat It is expressed as, In the formula, f η is the battery efficiency function, It represents the electric power output by the battery, and a1 and a2 are weight coefficients; Among them, the battery is subject to the conditional constraints of its own equipment as follows: Where, T bat,min , T bat,max Respectively represent the minimum temperature and maximum temperature of the battery operating range, Indicates the actual state of charge of the battery, SOC bat,min , SOC bat,max Respectively represent the upper and lower limits of battery capacity. Indicates the maximum power output of the battery.

7. The electric-thermal coordinated control method for electric vehicles according to claim 4, characterized in that: The objective function of the air conditioning heat pump in the follower's own objective function is: In the formula, They represent the power consumption of the air conditioning heat pump equipment when the air conditioning heat pump is cooling and heating. Indicates the power consumption of the blower. Respectively represent the cooling and heating power of the air conditioning heat pump, They respectively represent the thermal power of the air conditioning heat pump for cooling the passenger compartment, cooling the battery, heating the passenger compartment, and heating the battery.

8. The electric-thermal coordinated control method for electric vehicles according to claim 1, characterized in that: The condition for the game to reach Stackelberg equilibrium is: In the formula, I er ,I cabin ,I bat ,I achp They are the objective functions of the vehicle energy management system, passenger compartment, battery, and air conditioning heat pump; They are the optimal strategy sets for the vehicle energy management system, passenger compartment, battery, and air conditioning heat pump.

9. An electric-thermal coordinated control system for an electric vehicle, characterized in that: include: A data acquisition module, used to obtain operating status parameters of the electric system equipment and thermal system equipment of the electric vehicle; The collaborative control module is used to obtain the next moment operating parameters of the electrical system equipment and the thermal system equipment according to the acquired operating status parameters by adopting the master-slave Stackelberg game strategy, so as to realize the electric and thermal collaborative control of the electric vehicle; Among them, when the master-slave Stackelberg game strategy is adopted, the leader of the master-slave Stackelberg game strategy is the vehicle energy management system, and the followers are the passenger compartment, battery, and air-conditioning heat pump; the vehicle energy management system sends the optimization strategy to the followers according to its own objective function; the followers make decisions according to the optimization strategy sent by the leader, use the optimization strategy sent by the leader as a constraint condition and calculate the optimal strategy according to the follower's own objective function, and then feedback the calculated optimal strategy to the leader; repeated iterations, the game reaches Stackelberg equilibrium, the leader and the follower obtain the optimal strategy, and obtain the operating parameters of the electrical system equipment and thermal system equipment at the next moment.

10. An energy router for electric vehicles, characterized in that: include: Equipment interface unit, communication center module and control center module; The control center module is provided with the electric-thermal coordinated control system for electric vehicles as claimed in claim 9.

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