Electric heating cooperative control method and system for electric vehicle and energy router

Abstract

The application belongs to the technical field of electric vehicle energy comprehensive management, and discloses an electric-thermal collaborative control method and system for electric vehicles and an energy router; the method comprises the following steps: obtaining the running state parameters of electric system equipment and thermal system equipment of the electric vehicle; according to the obtained running state parameters, the next time running parameters of the electric system equipment and the thermal system equipment are obtained by using a master-slave Stackelberg game strategy, so that the electric-thermal collaborative control of the electric vehicle is realized. The technical scheme provided by the application optimizes energy management by using game theory, can perform electric-thermal collaborative energy management on the electric vehicle, collaboratively manages electricity and heat, takes into account the overall optimization and local optimization of vehicle energy configuration, and can improve the overall performance of the vehicle.

Description

Technical Field

[0001] This invention belongs to the field of electric vehicle energy integrated management technology, and specifically relates to an electrothermal coordinated control method, system, and energy router for electric vehicles. Background Technology

[0002] Electric vehicles and other new energy vehicles are cleaner and more environmentally friendly than traditional fuel vehicles, and their ownership has been increasing in recent years.

[0003] Currently, electric vehicles still suffer from unclear energy distribution methods. Each component often operates at its maximum capacity, lacking control algorithms that adapt to different driving conditions, resulting in short driving range and hindering the promotion and development of electric vehicles.

[0004] Various industries urgently need more environmentally friendly and energy-efficient 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 range anxiety.

[0005] Thermal management in electric vehicles primarily encompasses the thermal management of the power battery, motor, electronic control system, and passenger compartment. Electrical management mainly includes the electrical management of the power battery, motor, electronic control system, and other electrical equipment. Thermal management ensures that functional components operate at optimal temperatures and meets the cooling and heating needs of the passenger compartment, while also mitigating safety risks associated with battery and motor thermal runaway. Electrical management ensures normal vehicle starting and operation, battery charging and discharging, and provides power to the air conditioning system. Both thermal and electrical management are essential. Current technologies mostly focus on either thermal or electrical management alone. While single-point thermal or electrical management can achieve localized optimization of equipment performance and improve thermal or electrical energy utilization efficiency, it may not be optimal for the overall performance of the electric vehicle. Summary of the Invention

[0006] The purpose of this invention is to provide a method, system, and energy router for electro-thermal coordinated control of electric vehicles, thereby solving one or more of the aforementioned technical problems. The technical solution provided by this invention employs game theory to optimize energy management, enabling electro-thermal coordinated energy management of electric vehicles. By coordinating the management of electricity and heat, and considering both overall and local optimization of vehicle energy configuration, it can improve overall vehicle performance.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] The first aspect of this invention provides a method for electrothermal coordinated control of electric vehicles, comprising the following steps:

[0009] Obtain the operating status parameters of the electric system equipment and thermal system equipment of electric vehicles;

[0010] Based on the acquired operating status parameters, a master-slave Stackelberg game strategy is adopted to obtain the next moment's operating parameters of the electrical system equipment and the thermal system equipment, thereby realizing the electric-thermal coordinated control of electric vehicles.

[0011] In the master-follower Stackelberg game strategy, the leader is the vehicle energy management system, and the followers are the passenger compartment, battery, and air conditioning heat pump. The vehicle energy management system distributes its optimization strategy to the followers based on its own objective function. The followers make decisions based on the optimization strategy distributed by the leader, using the optimization strategy distributed by the leader as a constraint and calculating the optimal strategy according to their own objective function. The calculated optimal strategy is then fed back to the leader. This process is repeated iteratively until the game reaches Stackelberg equilibrium. The leader and followers obtain the optimal strategy and the next-moment operating parameters of the electrical and thermal system equipment.

[0012] A further improvement to 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,

[0013] Electrical system equipment includes batteries, motors, and electronic controls;

[0014] The thermal system equipment includes air conditioning heat pumps, PTC electric heaters, electric fans, blowers, water pumps, and motor electric heat recovery equipment.

[0015] A further improvement to the method of the present invention lies in the step of obtaining the next-moment operating parameters of the electrical system equipment and the thermal system equipment based on the acquired operating state parameters using a master-slave Stackelberg game strategy.

[0016] The master-slave Stackelberg game strategy was adopted to obtain the operating parameters for the next time step, including battery charging and discharging power, motor power consumption, air conditioning system power consumption, electric heating PTC power consumption, blower power consumption, electric fan power consumption, water pump power consumption, as well as battery temperature and crew cabin temperature curves.

[0017] A further improvement to the method of the present invention is that the step of obtaining the next-moment operating parameters of the electrical system equipment and the thermal system equipment based on the acquired operating state parameters using a master-slave Stackelberg game strategy, and realizing the electro-thermal coordinated control of the electric vehicle, includes:

[0018] The initial value of the objective function of the vehicle energy management system was calculated, and the NSGAⅡ algorithm was used to initialize each power and temperature population.

[0019] The leader selects each power and temperature population and distributes the optimized strategy to the followers. The followers calculate the optimal strategy set based on 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 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 a new generation of population according to the elite strategy.

[0020] The master-slave game is optimized again to obtain the new objective function I of the vehicle energy management system. er (i+1), if I er (i+1)> er (i) Update the optimized population; otherwise, leave the population unchanged. Determine if Stackelberg equilibrium has been reached. If it has, output the result; otherwise, repeat the iterative calculation.

[0021] The objective function of the vehicle energy management system is expressed as follows:

[0022]

[0023] In the formula, I er This indicates the driving range of an electric vehicle, where S represents the driving range. For battery output power, Where η is the battery temperature, v is the vehicle speed, and η is the vehicle speed. bat For battery operating efficiency, Δt is the preset time interval, and T is a scheduling cycle.

[0024] A further improvement of the method of the present invention lies in that the objective function I of the crew cabin in the objective function of the follower itself. cabin Represented as,

[0025]

[0026] In the formula, T cabin The real-time temperature of the crew cabin is represented by t, where t represents time; T cabin,set For optimal thermal comfort temperature; φ cabin These are the temperature deviation coefficient and the temperature fluctuation coefficient, respectively.

[0027] Among them, the closer the thermal comfort value (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 represented as...

[0028] T cabin,set =t a | PMV＝0 ;

[0029]

[0030]

[0031] In the formula, t a M is the ambient air temperature, W is the human body's metabolic rate, and t is the mechanical work done by the human body. cl The temperature of the outer surface of the clothing. P represents the average radiant temperature of the room. a The partial pressure of water vapor around the human body, h c f is the convective heat transfer coefficient. cl I is the area coefficient of clothing. cl For the thermal resistance of clothing.

[0032] A further improvement of the method of the present invention lies in that the battery objective function I in the follower's own objective function... bat Represented as,

[0033]

[0034] In the formula, f η This is a function of battery efficiency. This represents the electrical power output by the battery, where a1 and a2 are weighting coefficients.

[0035] The constraints imposed on the battery by its own equipment are represented as follows:

[0036]

[0037] In the formula, T bat,min T bat,max These represent the minimum and maximum temperatures within the battery's operating range, respectively. Indicates the actual state of charge (SOC) of the battery. bat,min SOC bat,max These represent the upper and lower limits of the battery capacity, respectively. This indicates the maximum power output of the battery.

[0038] A further improvement of the method of the present invention is that the objective function of the air conditioning heat pump in the objective function of the follower itself is,

[0039]

[0040] In the formula, These represent the power consumption of the air conditioning heat pump equipment during cooling and heating, respectively. This indicates the power consumption of the blower. These represent the cooling and heating power of the air conditioner heat pump, respectively. These 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.

[0041] A further improvement to the method of this invention is that the condition for the game to reach Stackelberg equilibrium is,

[0042]

[0043] In the formula, I er I cabin I bat I achp The objective functions are respectively for the vehicle energy management system, passenger compartment, battery, and air conditioning heat pump; These are the optimal strategy sets for the vehicle energy management system, passenger compartment, battery, and air conditioning heat pump, respectively.

[0044] A second aspect of the present invention provides an electrothermal coordinated control system for electric vehicles, comprising:

[0045] The data acquisition module is used to acquire the operating status parameters of the electric system equipment and thermal system equipment of the electric vehicle;

[0046] The collaborative control module is used to obtain the next-moment operating parameters of the electrical system equipment and thermal system equipment based on the acquired operating status parameters, using a master-slave Stackelberg game strategy, so as to realize the electric and thermal collaborative control of electric vehicles.

[0047] In the master-follower Stackelberg game strategy, the leader is the vehicle energy management system, and the followers are the passenger compartment, battery, and air conditioning heat pump. The vehicle energy management system distributes its optimization strategy to the followers based on its own objective function. The followers make decisions based on the optimization strategy distributed by the leader, using the optimization strategy distributed by the leader as a constraint and calculating the optimal strategy according to their own objective function. The calculated optimal strategy is then fed back to the leader. This process is repeated iteratively until the game reaches Stackelberg equilibrium. The leader and followers obtain the optimal strategy and the next-moment operating parameters of the electrical and thermal system equipment.

[0048] 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 equipped with the electrothermal coordinated control system for electric vehicles described in the second aspect of the present invention.

[0049] Compared with the prior art, the present invention has the following beneficial effects:

[0050] The collaborative control method provided by this invention employs a master-slave game theory approach to optimize operating parameters, enabling comprehensive electrical and thermal management of electric vehicle equipment and achieving integrated electrical and thermal management. It achieves both overall and local optimization of vehicle energy configuration, improving overall vehicle performance. Specifically, game theory is used to optimize energy management. The vehicle energy management system, as the leader, ensures the vehicle is always in an optimal range state. Followers calculate the optimal strategy based on the energy router's strategy and then feed the optimized strategy back to the energy router. Once a Stackelberg equilibrium is reached, the game ends, and the followers also obtain the optimal strategy. Game theory plays an optimizing role in the energy interaction process, improving energy utilization efficiency.

[0051] In this invention, an intelligent optimization algorithm is used to solve the equations established during the game process. It has fast convergence and strong robustness, enabling the game strategy to be output faster and better, thereby achieving the purpose of real-time optimization. It ensures the normal operation of the equipment and saves energy consumption, and finds the operating state with the lowest energy consumption of the whole vehicle while ensuring that all functions of the whole vehicle meet the requirements.

[0052] In this invention, the objective function of the vehicle energy management system comprehensively considers the driving range of electric vehicles, thereby achieving optimized control of vehicle energy management and improving the performance and usability of electric vehicles. 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, ensuring both the accuracy and stability of the passenger compartment temperature and the requirements of human thermal comfort. The objective function of the battery considers battery efficiency and the battery's output power; simultaneously, the battery is subject to constraints imposed by its own equipment, such as temperature, upper and lower capacity limits. By considering these constraints, the safety and stability of the battery can be ensured, and the charging and discharging power of the battery can be optimized when implementing electrothermal synergistic control, thus achieving better dynamic energy management. The objective function of the air conditioning heat pump calculates the power consumption of the air conditioning heat pump equipment during cooling and heating, thereby optimizing the energy utilization efficiency of the air conditioning heat pump. In summary, the objective functions disclosed in this invention play a key role in electrothermal synergistic 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 thermo-electric synergistic optimization, thereby improving the energy utilization efficiency and performance of the entire vehicle. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art are briefly introduced below; obviously, the drawings described below are some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0054] Figure 1 This is a schematic flowchart of an electrothermal coordinated control method for electric vehicles provided in an embodiment of the present invention;

[0055] Figure 2 This is a schematic diagram of energy interaction of an electric vehicle energy router in an embodiment of the present invention;

[0056] Figure 3 This is a schematic diagram of the electric vehicle energy router optimization solution process in an embodiment of the present invention;

[0057] Figure 4 This is a schematic diagram of an electrothermal co-control system for electric vehicles provided in an embodiment of the present invention. Detailed Implementation

[0058] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0059] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0060] The present invention will now be described in further detail with reference to the accompanying drawings:

[0061] Please see Figure 1 The present invention provides an electrothermal coordinated control method for electric vehicles, comprising the following steps:

[0062] Step 1: Obtain the operating status parameters of the electric system equipment and thermal system equipment of the electric vehicle;

[0063] Step 2: Based on the operating status parameters obtained in Step 1, a master-slave Stackelberg game strategy is adopted to obtain the operating parameters of the electrical system equipment and the thermal system equipment at the next moment, so as to realize the electric and thermal coordinated control of the electric vehicle.

[0064] In the master-follower Stackelberg game strategy, the leader is the vehicle energy management system, and the followers are the passenger compartment, battery, and air conditioning heat pump. The vehicle energy management system distributes its optimization strategy to the followers based on its own objective function. The followers make decisions based on the optimization strategy distributed by the leader, using the optimization strategy distributed by the leader as a constraint and calculating the optimal strategy according to their own objective function. The calculated optimal strategy is then fed back to the leader. This process is repeated iteratively until the game reaches Stackelberg equilibrium. The leader and followers obtain the optimal strategy and the next-moment operating parameters of the electrical and thermal system equipment.

[0065] The technical solution provided by the embodiments of the present invention uses game theory to optimize energy management, and can perform thermoelectric synergistic energy management of electric vehicles; by managing electricity and heat in a coordinated manner, taking into account both the overall optimization and local optimization of vehicle energy configuration, the overall vehicle performance can be improved.

[0066] This invention provides an electric vehicle energy router, which mainly includes: a device interface unit, a communication center module, and a control center module; wherein,

[0067] The device interface unit is used to connect to a preset electric vehicle device; the communication center module is used to collect information from the preset electric vehicle device, obtain the current operating status parameters of the device, and identify the load type; the control center module is used to perform optimization calculations on the electrical system and thermal system based on the obtained operating status parameters, and output strategies to control the operating parameters of the device at the next moment.

[0068] Please see Figure 2In a further specific embodiment of the present invention, a schematic diagram of energy interaction of the electric vehicle energy router is shown. Regarding electricity consumption, the motor control system, air conditioning heat pump, PTC electric heater, blower, electric fan, and water pump all require electrical energy from the battery. Regarding heating and cooling, the air conditioning heat pump can be used to heat the passenger compartment and battery, and the waste heat from the motor control system can also be used to heat the passenger compartment. The air conditioning heat pump's cooling is used for passenger compartment cooling and battery cooling. Under the premise of meeting the electrical load, heat load, and cooling load requirements, the energy router can calculate the optimal solution and flexibly manage dynamic energy. In a further specific explanation of this embodiment of the invention, under controllable electrical loads, the motor control unit, air conditioning heat pump, PTC electric heater, blower, electric fan, and water pump switch and change their operating modes according to the instructions of the control center; under controllable heating and cooling loads, the passenger compartment and battery have heating and cooling requirements, the motor control unit has heat dissipation requirements, the air conditioning heat pump is used for cooling the passenger compartment and cooling the battery when operating in cooling mode, and can be used for heating the passenger compartment and heating the battery when operating in heating mode, the PTC electric heater can be used for heating the passenger compartment and battery, and the waste heat recovery of the motor control unit can be used for heating the passenger compartment; the temperature of the passenger compartment, battery, and motor control unit is regulated according to the instructions of the control center; under the premise of meeting the requirements of the motor control unit and battery temperature being within a safe range, the energy router can calculate the optimal strategy and flexibly manage dynamic energy.

[0069] Please see Figure 3 In a further specific embodiment of the present invention, during the process of optimizing the electrical and thermal systems based on the acquired operating state parameters and outputting strategies to control the operating parameters of the equipment at the next moment, the control strategy involves a master-slave game strategy for the electric vehicle energy router, various devices, and the passenger compartment. 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 strategies obtained from the game include battery charging and discharging power, motor power consumption, air conditioning system power consumption, PTC power consumption, blower power consumption, electric fan power consumption, water pump power consumption, battery temperature, and passenger compartment temperature curves. Each participant establishes its own objective function, which includes the vehicle's range index, temperature index of the temperature control components, and optimal performance index of major components. When the game reaches Stackelberg equilibrium, the leader and followers obtain the optimal strategy. The condition for Stackelberg equilibrium is...

[0070]

[0071] In the formula, I er ,I cabin ,I bat ,I achp The objective functions are respectively for the energy router, the crew cabin, the battery, and the air conditioning heat pump; These are the optimal strategy sets for the energy router, crew cabin, battery, and air conditioning heat pump, respectively.

[0072] In this embodiment of the invention, the optimization solution process for the master-slave game includes inputting initial data and constraints, inputting initial weather, intersection parameters, and operating parameters of each device; and calculating the initial value I of the objective function of the energy router based on the established component models such as the energy router, battery, passenger compartment, and air conditioning heat pump. er (0) The NSGA II algorithm is used to initialize each power and temperature population; the game leader, the energy router, selects each power and temperature population and distributes 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 this game, the objective function I of the energy router is calculated. er (i) Perform binary crossover and mutation operations on the current population, and select a new generation of population according to the elite strategy; perform optimization again to solve the master-slave game; then calculate the objective function of the energy router again; if I er (i+1)>I er If (i) is reached, then update the population; otherwise, the population remains unchanged. Then check whether the maximum number of iterations has been reached. If it is, output the result; otherwise, continue iterative calculation.

[0073]

[0074] In the formula, I er The driving range (S) of an electric vehicle is determined by the battery's output power. Battery temperature Vehicle speed v, battery efficiency η bat The impact is that Δt and T represent a small time interval and a scheduling cycle, respectively.

[0075] In this embodiment of the invention, the objective of the passenger cabin is to minimize the deviation and fluctuation between the actual passenger cabin temperature and the optimal thermal comfort setting temperature within a scheduling cycle. The objective function of the passenger cabin is I. cabin for,

[0076]

[0077] In the formula, T cabin,set For optimal thermal comfort temperature, φ cabin These are the temperature deviation coefficient and the temperature fluctuation coefficient, respectively.

[0078] In this embodiment of the invention, the PMV (thermal comfort value) is 0 when the passenger cabin is at the optimal thermal comfort temperature, which is represented as follows:

[0079] T cabin,set=t a | PMV＝0 ;

[0080]

[0081]

[0082] In the formula, t a M is the ambient air temperature, W is the human body's metabolic rate, and t is the mechanical work done by the human body. cl The temperature of the outer surface of the clothing. P represents the average radiant temperature of the room. a The partial pressure of water vapor around the human body, h c f is the convective heat transfer coefficient. cl I is the area coefficient of clothing. cl For the thermal resistance of clothing.

[0083] In this embodiment of the invention, the objective function I of the battery bat Battery efficiency η bat The objective function is to minimize the energy consumption of the most power-consuming components that require battery power.

[0084]

[0085] In the formula, f η This represents a function of battery efficiency, which is related to battery temperature. related, This represents the electrical power output by the battery, where a1 and a2 are weighting coefficients.

[0086] In addition, batteries are also subject to the conditions of their own devices, which are expressed as follows:

[0087]

[0088] In the formula, T bat,min With T bat,max These represent the minimum and maximum temperatures within the battery's operating range, respectively. Indicates the actual state of charge (SOC) of the battery. bat,min With SOC bat,max These represent the upper and lower limits of the battery capacity, respectively. This indicates the maximum power output of the battery.

[0089] In this embodiment of the invention, the objective function of the air conditioning heat pump is:

[0090]

[0091] In the formula, These represent the power consumption of the air conditioning heat pump equipment during cooling and heating, respectively. This indicates the power consumption of the blower. These represent the cooling and heating power of the air conditioning heat pump, respectively. These 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 considers minimizing the combined energy consumption of the air conditioning heat pump equipment and the blower under unit cooling and heating capacity.

[0092] In this embodiment of the invention, the power balance constraint condition must be satisfied when solving the above objective functions:

[0093] Electric power balance is

[0094] Thermal power balance is

[0095] Cold power balance is

[0096] In the formula, These represent the power consumption of the motor, electronic control unit, electric fan, blower, and water pump, respectively, COP. h With COP c η represents the energy efficiency ratio of the air conditioner heat pump for heating and cooling, respectively. ptc This indicates the efficiency of PTC electric heating. This indicates the power consumption of the PTC electric heating. and These refer to the heating power of the electric motor's waste heat recovery system used for the crew cabin.

[0097] In the technical solution provided by this invention, the electric vehicle energy router can collaboratively manage the electrical and thermal systems of an electric vehicle, integrating an electrical management module and a thermal management module to achieve integrated electrical and thermal management. Game theory is used to optimize energy management, with the energy router acting as the leader to ensure the vehicle is always in the optimal range state. Followers such as the passenger compartment, battery, and air conditioning heat pump also obtain optimal strategies. Game theory plays an optimizing role in the energy interaction process, improving energy utilization efficiency. An intelligent optimization algorithm is used to solve the established equations. This algorithm has a simple structure, fast convergence, and strong robustness, enabling faster and better output of the game strategy, thereby achieving real-time optimization.

[0098] Please see Figure 4 An embodiment of the present invention provides an electrothermal coordinated control system for electric vehicles, comprising:

[0099] The data acquisition module is used to acquire the operating status parameters of the electric system equipment and thermal system equipment of the electric vehicle;

[0100] The collaborative control module is used to obtain the next-moment operating parameters of the electrical system equipment and thermal system equipment based on the acquired operating status parameters, using a master-slave Stackelberg game strategy, so as to realize the electric and thermal collaborative control of electric vehicles.

[0101] In the master-follower Stackelberg game strategy, the leader is the vehicle energy management system, and the followers are the passenger compartment, battery, and air conditioning heat pump. The vehicle energy management system distributes its optimization strategy to the followers based on its own objective function. The followers make decisions based on the optimization strategy distributed by the leader, using the optimization strategy distributed by the leader as a constraint and calculating the optimal strategy according to their own objective function. The calculated optimal strategy is then fed back to the leader. This process is repeated iteratively until the game reaches Stackelberg equilibrium. The leader and followers obtain the optimal strategy and the next-moment operating parameters of the electrical and thermal system equipment.

[0102] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0103] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0104] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0105] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0106] 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, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for electric-thermal cooperative control of an electric vehicle, characterized by, The method comprises the following steps: obtaining operation state parameters of electric system equipment and thermal system equipment of the electric vehicle; obtaining next-time operation parameters of the electric system equipment and the thermal system equipment according to the obtained operation state parameters by using a master-slave Stackelberg game strategy, so as to realize electric-thermal collaborative control of the electric vehicle; In the master-slave Stackelberg game strategy, a leader of the master-slave Stackelberg game strategy is a vehicle energy management system, and followers are a passenger cabin, a battery and an air conditioner heat pump; the vehicle energy management system sends an optimization strategy to the followers according to a target function of the vehicle energy management system; the followers make decisions according to the optimization strategy sent by the leader, take the optimization strategy sent by the leader as a constraint condition and calculate an optimal strategy according to a target function of the followers, and then feed back the calculated optimal strategy to the leader; the game reaches a Stackelberg equilibrium by repeated iteration, and the leader and the followers obtain the optimal strategy and the next-time operation parameters of the electric system equipment and the thermal system equipment; The step of obtaining the next time operation parameter of the electric system equipment and the heat system equipment according to the obtained operation state parameter, and realizing the electric-heat collaborative control of the electric vehicle comprises: calculating an initial value of a target function of the vehicle energy management system, and initializing each power and temperature population by using an NSGA II algorithm; selecting each power and temperature population by a leader, and issuing the optimized strategy to a follower; calculating an optimal strategy set by the follower according to the target function, selecting an optimal solution from the optimal strategy set by using a TOPSIS method, and feeding back the optimized strategy to the leader; after reaching a Stackelberg equilibrium of the game, calculating a target function of the vehicle energy management system ; performing binary crossover and mutation operations on the current population, selecting a new population from the population according to an elite strategy; optimizing and solving the master-slave game again, and calculating a new target function of the vehicle energy management system If , the optimized population is updated, otherwise the population is unchanged; it is judged whether the Stackelberg equilibrium is reached, and if yes, the result is output, otherwise the iteration calculation is repeated.

2. The method according to claim 1, wherein In the step of obtaining the operation state parameters of the electric system equipment and the thermal system equipment of the electric vehicle, the electric system equipment comprises a battery, a motor and an electronic control; the thermal system equipment comprises an air conditioner heat pump, a PTC electric heating device, an electronic fan, a blower, a water pump and a motor electric heating waste heat recovery device.

3. The method of claim 1, wherein the method further comprises: In the step of obtaining the next-time operation parameters of the electric system equipment and the thermal system equipment according to the obtained operation state parameters by using the master-slave Stackelberg game strategy, the next-time operation parameters obtained by using the master-slave Stackelberg game strategy comprise battery charging and discharging power, motor power consumption, air conditioner system power consumption, electric heating PTC power consumption, blower power consumption, electronic fan power consumption, water pump power consumption, battery temperature and a passenger cabin temperature curve.

4. The method of claim 1, wherein the method further comprises: An expression of the target function of the vehicle energy management system is ； In the formula, represents an index of the cruising range of the electric vehicle, is the cruising range, is the battery output power, is the battery temperature, is the vehicle speed, is the battery working efficiency, Δ t is a preset time interval, T is a scheduling period.

5. The method of claim 4, wherein the method further comprises: The follower's own objective function, which is the passenger cabin objective function is represented as, ； wherein is the real-time passenger cabin temperature, t represents time; is the optimal thermal comfort temperature; , are the temperature deviation coefficient and the temperature fluctuation coefficient, respectively; wherein the closer the thermal comfort PMV is to 0, the better the comfort is, and the PMV is 0 when the passenger cabin is at an optimal thermal comfort temperature, and is expressed as ； ； ； In the formula, t a The temperature of the air surrounding the human body. M The human body's energy metabolism rate. W Mechanical work performed on the human body t cl The temperature of the outer surface of the clothing. The average radiant temperature of the room. P a The partial pressure of water vapor around the human body h c The convective heat transfer coefficient is... f cl This is the area coefficient for clothing. For the thermal resistance of clothing.

6. The method of claim 4, wherein the method further comprises: the battery objective function in the follower's own objective function is represented as, ； wherein is a function of the efficiency of the battery, represents the electrical power output by the battery, , is a weighting factor; wherein the condition constraint of the battery on itself is expressed as ； In the formulae, , denote the minimum temperature, the maximum temperature, respectively, of the battery operating range, denotes the actual state of charge of the battery, , denote the upper limit, the lower limit, respectively, of the battery capacity, denotes the maximum power of the battery output.

7. The method of claim 4, wherein the method further comprises: a target function of the air conditioner heat pump in the target function of the follower is ； In the formula, , respectively represent the power consumption of the air conditioner heat pump device when the air conditioner heat pump is cooling and heating, represent the power consumption of the air blower, , respectively represent the cooling and heating power of the air conditioner heat pump, , , , respectively represent the heat power of the air conditioner heat pump to cool the passenger compartment, to cool the battery, to heat the passenger compartment, and to heat the battery.

8. The method of claim 1, wherein the method further comprises: a condition for the game to reach the Stackelberg equilibrium is ； In the formula, are the objective functions of the whole vehicle energy management system, the passenger cabin, the battery, and the air conditioning heat pump, respectively; are the optimal strategy sets of the whole vehicle energy management system, the passenger cabin, the battery, and the air conditioning heat pump, respectively.

9. An electric-thermal cooperative control system for an electric vehicle, characterized by, comprise: a data acquisition module for obtaining operation state parameters of electric system equipment and thermal system equipment of the electric vehicle; a collaborative control module for obtaining next-time operation parameters of the electric system equipment and the thermal system equipment according to the obtained operation state parameters by using a master-slave Stackelberg game strategy, so as to realize electric-thermal collaborative control of the electric vehicle. In the main and subordinate Stackelberg game strategy, the leader of the main and subordinate Stackelberg game strategy is the whole vehicle energy management system, the follower is the passenger cabin, the battery and the air conditioner heat pump; the whole vehicle energy management system sends the optimization strategy to the follower according to the target function of itself; the follower makes a decision according to the optimization strategy sent by the leader, takes the optimization strategy sent by the leader as a constraint condition and calculates the optimal strategy according to the target function of the follower, and then feeds back the optimal strategy obtained by calculation to the leader; the game reaches Stackelberg equilibrium through repeated iteration, and the leader and the follower obtain the optimal strategy and the next time running parameters of the electric system equipment and the thermal system equipment. The steps of the electric-thermal collaborative control of the electric vehicle, according to the obtained operating state parameters, using the master-slave Stackelberg game strategy, obtaining the next time operating parameters of the electric system equipment and the thermal system equipment, include: calculating the initial value of the target function of the vehicle energy management system, initializing each power and temperature population using the NSGA II algorithm; selecting each power and temperature population by the leader, and issuing the optimized strategy to the follower; calculating the optimal strategy set according to the target function by the follower, selecting the optimal solution from the optimal strategy set using the TOPSIS method, and feeding back the optimized strategy to the leader; after reaching the Stackelberg equilibrium of the game, calculating the target function of the vehicle energy management system ; performing binary crossover and mutation operations on the current population, selecting the population according to the elite strategy to obtain a new generation of population; optimizing and solving the master-slave game again, and calculating the new target function of the vehicle energy management system ; if , updating the optimized population, otherwise the population remains unchanged; judging whether the Stackelberg equilibrium is reached, and if yes, outputting the result, otherwise repeating the iteration calculation.

10. An energy router for an electric vehicle, characterized by, The application relates to an electric-thermal collaborative control system for an electric vehicle. The electric-thermal collaborative control system comprises a device interface unit, a communication center module and a control center module. The control center module is provided with the electric-thermal collaborative control system for the electric vehicle.

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