A method and device for simulating energy consumption of a heavy-loaded wire-controlled chassis

Abstract

The present application discloses a method and device for simulating the energy consumption of a heavy-loaded wire-controlled chassis, the method comprising: obtaining the simulation working conditions and actual data of the heavy-loaded wire-controlled chassis to be simulated; inputting the simulation working conditions into a pre-constructed simulation energy consumption model to obtain the simulation energy consumption corresponding to the heavy-loaded wire-controlled chassis to be simulated; wherein the simulation energy consumption model is composed of a joint simulation communication between a pre-constructed chassis model and a whole vehicle control strategy model; the chassis model is pre-combined with components corresponding to each key part of a sample heavy-loaded wire-controlled chassis; based on actual data, the actual energy consumption of the heavy-loaded wire-controlled chassis is calculated; based on the simulation energy consumption and the actual energy consumption, the energy consumption simulation error of the simulation energy consumption model is determined. Thus, the simulation model formed by the joint simulation communication between the chassis model and the whole vehicle control strategy model can realize high-precision simulation of the energy consumption in the actual port operation working conditions, thereby effectively reducing the error results of the energy consumption simulation.

Description

Technical Field

[0001] The present application relates to the technical field of electric vehicle simulation, and in particular to a method and device for simulating energy consumption of a heavy-loaded wire-controlled chassis. Background Art

[0002] Fly-by-wire chassis is a new type of automobile chassis control system. It uses sensors and computers to control the movement of the chassis, making the vehicle driving smoother, more precise and safer. It is increasingly used in the field of port transportation. At the same time, as a chassis control system for new energy vehicles, the energy consumption of the whole vehicle can directly affect the performance and cruising range of the vehicle. Therefore, the energy consumption of the heavy-duty fly-by-wire chassis must be considered.

[0003] Since the heavy-loaded wire-controlled chassis used in ports has special front and rear heterogeneous motor configuration design, advanced intelligent driving control, driving scenarios and working conditions, the existing energy consumption simulation model cannot take these characteristics into account at the same time, resulting in the existing energy consumption simulation model being unsuitable for the heavy-loaded wire-controlled chassis of the port, which in turn leads to the use of the existing energy consumption simulation model to simulate the heavy-loaded wire-controlled chassis of the port, resulting in large simulation results and low energy consumption accuracy. Summary of the invention

[0004] Based on the above-mentioned deficiencies of the prior art, the present application provides a method and device for simulating energy consumption of a heavy-loaded wire-controlled chassis to solve the problem of relatively large errors in simulation results brought about by the prior art.

[0005] In order to achieve the above objectives, this application provides the following technical solutions:

[0006] The first aspect of the present application provides an energy consumption simulation method for a heavy-loaded wire-controlled chassis, comprising:

[0007] Obtain the simulation conditions and actual data of the heavy-loaded wire-controlled chassis to be simulated;

[0008] The simulation working condition is input into a pre-built simulation energy consumption model to obtain the simulation energy consumption corresponding to the heavy-duty wire-controlled chassis to be simulated; wherein the simulation energy consumption model is composed of a joint simulation communication between a pre-built chassis model and a whole vehicle control strategy model; the chassis model is pre-combined by components corresponding to each key part of a sample heavy-duty wire-controlled chassis, and trained by using parameters corresponding to each key part of the sample heavy-duty wire-controlled chassis; the whole vehicle control strategy model is composed of a combination of various preset formulas;

[0009] Based on the actual data, calculating the actual energy consumption of the heavy-duty wire-controlled chassis;

[0010] Based on the simulated energy consumption and the actual energy consumption, an energy consumption simulation error of the simulated energy consumption model is determined.

[0011] Optionally, in the above-mentioned energy consumption simulation method for a heavy-loaded drive-by-wire chassis, determining an energy consumption simulation error of the simulated energy consumption model based on the simulated energy consumption and the actual energy consumption includes:

[0012] Calculating the difference between the actual energy consumption and the simulated energy consumption;

[0013] The difference is divided by the actual energy consumption to obtain an energy consumption simulation error, and the energy consumption simulation error is determined as the energy consumption simulation error of the simulated energy consumption model.

[0014] Optionally, in the above-mentioned energy consumption simulation method of the heavy-loaded by-wire chassis, the step of inputting the simulation working condition into a pre-built simulation energy consumption model to obtain the simulated energy consumption corresponding to the heavy-loaded by-wire chassis to be simulated includes:

[0015] Inputting the simulation working condition of the heavy-loaded by-wire chassis to be simulated into a pre-trained chassis model to obtain fixed value data and various real-time variables of the heavy-loaded by-wire chassis to be simulated; wherein the fixed value data is the power data of the heavy-loaded by-wire chassis to be simulated evaluated by the chassis model;

[0016] Classifying the fixed value data and each of the real-time variables to obtain each variable set corresponding to the heavy-loaded wire-controlled chassis to be simulated, and calculating each of the variable sets to obtain each variable value;

[0017] Inputting each of the variable values ​​into the vehicle control strategy model for calculation, and obtaining the driving signal value and the braking signal value of the heavy-loaded wire-controlled chassis to be simulated;

[0018] The driving signal value and the braking signal are input into the chassis model to obtain the simulated energy consumption corresponding to the heavy-loaded wire-controlled chassis to be simulated.

[0019] Optionally, in the above-mentioned method for simulating energy consumption of a heavy-loaded drive-by-wire chassis, the method for constructing the chassis model includes:

[0020] Obtaining the key parts of the sample heavy-duty controlled-by-wire chassis and the working principles between the key parts;

[0021] Selecting components corresponding to each of the key parts from the sample heavy-duty drive-by-wire chassis;

[0022] According to the working principle between each of the key parts, a connection relationship between each of the components is established;

[0023] Based on the connection relationship between the various components, the chassis model is constructed using the various components.

[0024] Optionally, in the above-mentioned energy consumption simulation method of the heavy-loaded wire-controlled chassis, the training method of the chassis model includes:

[0025] Obtain sample simulation parameters corresponding to each sample key component of the sample heavy-loaded controlled-by-wire chassis;

[0026] Inputting sample simulation parameters corresponding to each of the sample key components into a pre-built chassis model to obtain sample real-time variables corresponding to each of the sample key components;

[0027] Determine whether the sample real-time variables corresponding to each of the sample key components are consistent with the actual variables corresponding to each of the sample key components;

[0028] If the sample real-time variables corresponding to each of the sample key components are consistent with the actual variables corresponding to each of the sample key components, the chassis model is determined to be a trained chassis model;

[0029] If the sample real-time variables corresponding to each of the sample key components do not conform to the actual variables corresponding to each of the sample key components, the constraints of the chassis model are adjusted, and the execution is returned to input the sample simulation parameters corresponding to each of the sample key components into the pre-built chassis model respectively to obtain the sample real-time variables corresponding to each of the sample key components.

[0030] Optionally, in the above-mentioned energy consumption simulation method of the heavy-loaded by-wire chassis, the calculating the actual energy consumption of the heavy-loaded by-wire chassis based on the actual data includes:

[0031] Extracting the simulation start time, the simulation end time and the actual dual-motor total power from the actual data;

[0032] Based on the simulation start time and the simulation end time, the actual dual-motor total power is integrated using an integral formula to obtain the actual energy consumption of the heavy-loaded wire-controlled chassis.

[0033] A second aspect of the present application provides an energy consumption simulation device for a heavy-loaded wire-controlled chassis, comprising:

[0034] A working condition acquisition unit, used to acquire the simulated working condition and actual data of the heavy-loaded wire-controlled chassis to be simulated;

[0035] A working condition input unit is used to input the simulation working condition into a pre-built simulation energy consumption model to obtain the simulation energy consumption corresponding to the heavy-duty wire-controlled chassis to be simulated; wherein the simulation energy consumption model is composed of a joint simulation communication between a pre-built chassis model and a whole vehicle control strategy model; the chassis model is pre-combined by components corresponding to each key part of a sample heavy-duty wire-controlled chassis, and trained by using parameters corresponding to each key part of the sample heavy-duty wire-controlled chassis; the whole vehicle control strategy model is composed of a combination of various preset formulas;

[0036] an energy consumption calculation unit, configured to calculate the actual energy consumption of the heavy-duty wire-controlled chassis based on the actual data;

[0037] An error determination unit is used to determine an energy consumption simulation error of the simulated energy consumption model based on the simulated energy consumption and the actual energy consumption.

[0038] Optionally, in the above-mentioned energy consumption simulation device for a heavy-loaded wire-controlled chassis, the error determination unit includes:

[0039] A difference calculation unit, used for calculating the difference between the actual energy consumption and the simulated energy consumption;

[0040] The first determining unit is used to divide the difference by the actual energy consumption to obtain an energy consumption simulation error, and determine the energy consumption simulation error as the energy consumption simulation error of the simulated energy consumption model.

[0041] Optionally, in the above-mentioned energy consumption simulation device for a heavy-duty wire-controlled chassis, the operating condition input unit includes:

[0042] A first input unit is used to input the simulation working condition of the heavy-loaded by-wire chassis to be simulated into a pre-trained chassis model to obtain fixed value data and various real-time variables of the heavy-loaded by-wire chassis to be simulated; wherein the fixed value data is the power data of the heavy-loaded by-wire chassis to be simulated evaluated by the chassis model;

[0043] A classification unit, used for classifying the fixed value data and each of the real-time variables to obtain each variable set corresponding to the heavy-loaded wire-controlled chassis to be simulated, and calculating each of the variable sets to obtain each variable value;

[0044] A second input unit is used to input each of the variable values ​​into the vehicle control strategy model for calculation, so as to obtain the driving signal value and the braking signal value of the heavy-loaded wire-controlled chassis to be simulated;

[0045] The third input unit is used to input the driving signal value and the braking signal into the chassis model to obtain the simulated energy consumption corresponding to the heavy-loaded wire-controlled chassis to be simulated.

[0046] Optionally, in the above-mentioned energy consumption simulation device for a heavy-loaded wire-controlled chassis, it further includes:

[0047] An acquisition unit, used to acquire various key parts of the sample heavy-loaded controlled-by-wire chassis and working principles between the key parts;

[0048] A selection unit, used for selecting components corresponding to each of the key parts from the sample heavy-duty drive-by-wire chassis;

[0049] An establishing unit, used to establish a connection relationship between each of the components according to the working principle between each of the key parts;

[0050] The construction unit is used to construct a chassis model using each of the components based on the connection relationship between the components.

[0051] Optionally, in the above-mentioned energy consumption simulation device for a heavy-loaded wire-controlled chassis, it further includes:

[0052] A parameter acquisition unit, used to acquire sample simulation parameters corresponding to each sample key component of the sample heavy-loaded controlled-by-wire chassis;

[0053] A fourth input unit is used to input the sample simulation parameters corresponding to each of the sample key components into the pre-built chassis model to obtain the sample real-time variables corresponding to each of the sample key components;

[0054] A judging unit, used to judge whether the sample real-time variables corresponding to each of the sample key components are consistent with the actual variables corresponding to each of the sample key components;

[0055] A second determining unit is used to determine the chassis model as a trained chassis model if the sample real-time variables corresponding to each of the sample key components are consistent with the actual variables corresponding to each of the sample key components;

[0056] The adjustment unit is used to adjust the constraints of the chassis model if the sample real-time variables corresponding to each of the sample key components do not conform to the actual variables corresponding to each of the sample key components, and return to execute the input of the sample simulation parameters corresponding to each of the sample key components into the pre-built chassis model to obtain the sample real-time variables corresponding to each of the sample key components.

[0057] Optionally, in the above-mentioned energy consumption simulation device for a heavy-duty wire-controlled chassis, the energy consumption calculation unit comprises:

[0058] An extraction unit, used to extract a simulation start time, a simulation end time and an actual dual-motor total power from the actual data;

[0059] The integration unit is used to integrate the actual dual-motor total power using an integration formula based on the simulation start time and the simulation end time to obtain the actual energy consumption of the heavy-loaded wire-controlled chassis.

[0060] The present application provides a method for simulating the energy consumption of a heavy-duty wire-controlled chassis. The method obtains the simulation working conditions and actual data of the heavy-duty wire-controlled chassis to be simulated, and then inputs the simulation working conditions into a pre-built simulation energy consumption model to obtain the simulation energy consumption corresponding to the heavy-duty wire-controlled chassis to be simulated, wherein the simulation energy consumption model is composed of a joint simulation communication between a pre-built chassis model and a vehicle control strategy model. The chassis model is pre-combined with components corresponding to each key part of a sample heavy-duty wire-controlled chassis, and is trained using parameters corresponding to each key part of the sample heavy-duty wire-controlled chassis. The vehicle control strategy model is composed of a combination of various preset formulas, and then the actual energy consumption of the heavy-duty wire-controlled chassis is calculated based on actual data. Finally, based on the simulation energy consumption and the actual energy consumption, the energy consumption simulation error of the simulation energy consumption model is determined. Therefore, the simulation energy consumption model formed by the joint simulation communication between the chassis model and the vehicle control strategy model can achieve high-precision simulation of the energy consumption in the actual port operation working conditions, thereby effectively reducing the error results of the energy consumption simulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0062] Figure 1 A schematic flow chart of a method for simulating energy consumption of a heavy-loaded wire-controlled chassis provided in an embodiment of the present application;

[0063] Figure 2 A schematic diagram of a custom working condition provided in an embodiment of the present application;

[0064] Figure 3 A schematic diagram of a flow chart of a method for obtaining simulated energy consumption provided in an embodiment of the present application;

[0065] Figure 4 A schematic diagram of the structure of a simulation process of a simulation energy consumption model provided in an embodiment of the present application;

[0066] Figure 5 A schematic diagram of a process of constructing a chassis model provided in an embodiment of the present application;

[0067] Figure 6A schematic diagram of the structure of a chassis model provided in an embodiment of the present application;

[0068] Figure 7 A schematic diagram of a process flow of a chassis model training method provided in an embodiment of the present application;

[0069] Figure 8 A flowchart of a method for calculating actual energy consumption provided in an embodiment of the present application;

[0070] Fig. 9 A flowchart of a method for determining an energy consumption simulation error provided in an embodiment of the present application;

[0071] Fig.10 A schematic structural diagram of an energy consumption simulation device for a heavy-loaded wire-controlled chassis provided in another embodiment of the present application. DETAILED DESCRIPTION

[0072] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0073] In this application, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0074] The present application embodiment provides a method for simulating energy consumption of a heavy-duty wire-controlled chassis, such as Figure 1 As shown, the specific steps include:

[0075] S101, obtaining simulation conditions and actual data of a heavy-loaded controlled-by-wire chassis to be simulated.

[0076] It should be noted that, considering that the heavy-loaded wire-controlled chassis is running in a port environment, and the port environment is relatively closed, the road conditions are relatively simple, and the heavy-loaded wire-controlled chassis has a low driving speed, a small acceleration, and frequent acceleration and deceleration, as well as standard operating conditions such as WLTC (Worldwide Harmonized Light Vehicles Test Cycle), NEDC (New European Driving Cycle) and CLTC (China Light-duty Vehicle Test Cycle) have high-speed sections and complex operating conditions. Therefore, the operating conditions of the heavy-loaded wire-controlled chassis collected under these conditions are not suitable for the simulation of the simulation energy consumption model. Therefore, in the embodiment of the present application, the following is adopted Figure 2 The structural schematic diagram of a custom working condition shown shows that the embodiment of the present application collects the time-speed data of the actual port heavy-loaded wire-controlled chassis traveling in an empty state as the custom working condition set by the simulation energy consumption model. The total sampling time is 1260s and the sampling frequency is 1HZ. Therefore, the simulation working condition of the heavy-loaded wire-controlled chassis to be simulated is the speed of the heavy-loaded wire-controlled chassis to be simulated within a period of time.

[0077] It should also be noted that in order to subsequently determine the energy consumption simulation error of the simulation energy consumption model, it is also necessary to confirm it based on the actual data of the heavy-loaded wire-controlled chassis to be simulated, so it is also necessary to obtain the actual data of the heavy-loaded wire-controlled chassis to be simulated.

[0078] S102 , inputting the simulation working condition into a pre-built simulation energy consumption model to obtain the simulation energy consumption corresponding to the heavy-loaded controlled-by-wire chassis to be simulated.

[0079] The simulation energy consumption model is composed of the joint simulation communication between the pre-built chassis model and the vehicle control strategy model. The chassis model is pre-combined with the components corresponding to the key parts of the sample heavy-duty wire-controlled chassis, and trained using the parameters corresponding to the key parts of the sample heavy-duty wire-controlled chassis. The vehicle control strategy model is composed of a combination of various preset formulas.

[0080] It should be emphasized that the simulation time and simulation step size need to be set in advance in the simulation energy consumption model. When the simulation working condition is input into the simulation energy consumption model, the simulation energy consumption model will run the simulation according to the simulation time, simulation step size and simulation working condition. The simulation time setting is consistent with the actual working condition. If the actual working condition is 1260s, then the simulation time is set to 1260s and the simulation step size is 0.01s.

[0081] It should also be emphasized that the simulated energy consumption corresponding to the heavy-loaded wire-controlled chassis to be simulated is obtained through the total power consumption and battery voltage of the battery components in the simulated energy consumption model. The specific acquisition method is:

[0082]

[0083] in, is the simulated energy consumption, Ah is the battery power consumption during the simulation, and U is the battery voltage.

[0084] Optionally, in another embodiment of the present application, a specific implementation of step S102 is as follows: Figure 3 As shown, the following steps are included:

[0085] S301, inputting the simulation working condition of the heavy-loaded by-wire chassis to be simulated into a pre-trained chassis model to obtain constant value data and various real-time variables of the heavy-loaded by-wire chassis to be simulated.

[0086] The fixed value data is the power data of the heavy-loaded wire-controlled chassis to be simulated by the chassis model, for example, the estimated mass of the vehicle, the estimated axle load, DCDC power, PTC power, etc.

[0087] It should be noted that, because the simulation energy consumption model is composed of the joint simulation communication between the pre-built chassis model and the vehicle control strategy model, it is necessary to input the simulation working conditions of the heavy-loaded wire-controlled chassis to be simulated into the pre-trained chassis model in advance to obtain constant value data and various real-time variables of the heavy-loaded wire-controlled chassis to be simulated, such as the actual torque of the motor, the actual speed of the motor, the battery SOC, the battery voltage, the battery current, the wheel speed, the vehicle displacement, etc.

[0088] It should also be noted that the chassis model is pre-assembled through the components corresponding to the key parts of the sample heavy-loaded wire-controlled chassis. Therefore, the real-time variables of the heavy-loaded wire-controlled chassis to be simulated refer to the energy consumption simulated by the key parts of the heavy-loaded wire-controlled chassis to be simulated.

[0089] S302, classifying the fixed value data and each real-time variable to obtain each variable set corresponding to the heavy-loaded wire-controlled chassis to be simulated, and calculating each variable set to obtain each variable value.

[0090] It should be noted that since the output of the chassis model will be used as the input of the vehicle control strategy model to achieve the correspondence between the chassis model and the vehicle control strategy model, the energy consumption in the actual port operation conditions can be simulated with high precision, so that the energy consumption simulation error is only 10%. However, before the output data of the chassis model is input into the vehicle control strategy model, the output data needs to be classified and calculated, so that the constant value data and each real-time variable belonging to the same type of data are placed in a set, so that when calculating, the formula can be flexibly and effectively used to calculate the values ​​in the same set, thereby improving the calculation efficiency.

[0091] Specifically, combining the above-mentioned fixed value data and examples of various real-time variables, the variable values ​​obtained by calculating each variable set can be the BMS instantaneous maximum charging power P S，C , BMS continuous maximum charging power P C，C 、BMS instantaneous maximum discharge power P S，F And BMS continuous maximum discharge power P C，F wait.

[0092] It is understandable that the BMS instantaneous maximum charging power P S，C The calculation formula is:

[0093] P S，C =I S，C (SOC) × U

[0094] BMS continuous maximum charging power P C，C The calculation formula is:

[0095] P C，C =I C，C (SOC) × U

[0096] BMS instantaneous maximum discharge power P S，F The calculation formula is:

[0097] P S，F =I S，F (SOC) × U

[0098] BMS continuous maximum discharge power P C，F The calculation formula is:

[0099] P C，F =I C，F (SOC) × U

[0100] Among them, U is the battery voltage at the current moment, I S，C (SOC) is the instantaneous maximum charging current of the battery under the current battery SOC, I C，C (SOC) is the maximum continuous charging current of the battery under the current battery SOC, I S，F (SOC) is the instantaneous maximum discharge current of the battery under the current battery SOC, I C，F (SOC) is the maximum continuous discharge current of the battery under the battery SOC at the current moment.

[0101] S303: Inputting the values ​​of various variables into the vehicle control strategy model for calculation, and obtaining the driving signal value and the braking signal value of the heavy-loaded wire-controlled chassis to be simulated.

[0102] Specifically, each variable value is input into the vehicle control strategy model respectively, so that through calculation inside the vehicle control strategy model, the driving signal value and braking signal value of the heavy-loaded wire-controlled chassis to be simulated can be obtained, such as the motor control torque, braking deceleration request, etc.

[0103] S304: Input the driving signal value and the braking signal into the chassis model to obtain the simulated energy consumption corresponding to the heavy-loaded wire-controlled chassis to be simulated.

[0104] Specifically, in order to create a joint simulation environment and realize data exchange between the chassis model and the vehicle control strategy model, it is also necessary to input the driving signal value and braking signal output by the vehicle control strategy model into the chassis model for joint simulation, so as to obtain the simulated energy consumption corresponding to the heavy-loaded wire-controlled chassis to be simulated.

[0105] It should be emphasized that the overall simulation process from step S301 to step S304 can be regarded as a simulation energy consumption model. Figure 4 The structural schematic diagram of the simulation process of the simulation energy consumption model shown.

[0106] Optionally, the present application embodiment provides a method for constructing a chassis model, such as Figure 5 As shown, the following steps are included:

[0107] S501. Obtain the key parts of the sample heavy-loaded controlled-by-wire chassis and the working principles between the key parts.

[0108] It should be noted that the embodiment of the present application is a chassis model constructed based on the special configuration of the front and rear heterogeneous motors and the control characteristics of advanced intelligent driving of the heavy-duty wire-controlled chassis in the port. Therefore, it is necessary to obtain the key parts of the front and rear heterogeneous motors and advanced intelligent driving, specifically including two motor elements and vehicle control elements that realize advanced intelligent driving control.

[0109] It should also be noted that due to the flow of variables between various key parts, in order to construct an accurate chassis model, it is also necessary to construct it according to the flow of variables between various key parts.

[0110] S502. Select components corresponding to key parts from the sample heavy-loaded controlled-by-wire chassis.

[0111] Specifically, the components corresponding to each key part may include vehicle control components, battery components, front motor components, rear motor components, reducer components, vehicle components and environmental components.

[0112] S503: Establish connection relationships between various components based on the working principles between various key parts.

[0113] It can be understood that, in combination with the components selected in step S502, the working principle of the vehicle control component is as follows: the desired working condition needs to be input into the vehicle control component, expressed as a time-speed function, and the acceleration and braking information is calculated to follow the target speed. At the same time, the voltage, current, power, state of charge (SOC) of the battery, the torque and speed of the motor, the movement speed, angle, angular velocity, acceleration, axle load, and vehicle mass of the port heavy-loaded wire-controlled chassis are received. After the analysis and calculation of the vehicle intelligent driving control strategy, the motor torque command is output to realize the dynamic torque distribution control of the front and rear motors, and the vehicle braking deceleration request is output for braking.

[0114] The working principle of the battery element is: the battery element is composed of battery cells connected in series and parallel. The number of battery cells in series and parallel is S. cell , the initial state of charge of the battery pack (SOC o ) and rated capacity Q, battery cell open circuit voltage U cell and internal resistance R cell , where U cell and R cell They are respectively expressed as functions related to the battery temperature C and SOC, so that electrical energy is output through the battery elements to power the motor.

[0115] Single cell open circuit voltage U cell It can be expressed as: cell =f U (C, SOC).

[0116] Internal resistance of single battery R cell It can be expressed as: R cell =f R (C, SOC).

[0117] Battery output voltage U bat It can be expressed as: bat =U cell -IR cell S cell .

[0118] The battery output power P can be expressed as: P=R cell I 2 S cell .

[0119] The battery state of charge SOC can be expressed as: SOC = SOC o -∫Idt / Q.

[0120] The working principle of the front motor element is as follows: The front motor element is a motor with a rated power of 90kw. Input maximum positive torque T max , Maximum negative torque T min and efficiency η, T maxExpressed as a function of motor speed, negative torque is defined as being opposite to positive torque, and η is expressed as a function of motor speed and motor torque, thereby outputting torque and power loss through the front motor element.

[0121] Maximum positive torque T max It can be expressed as: max =f T (ω), T min ≤T m ≤T max .

[0122] The efficiency η can be expressed as: .

[0123] The motor output torque T can be expressed as: .

[0124] Motor mechanical power P mec It can be expressed as: .

[0125] Motor power loss P lost It can be expressed as: .

[0126] The battery output current I can be expressed as: .

[0127] In the above expression, t r is the custom torque feedback lag time, T m Torque command input to vehicle control components.

[0128] The working principle of the rear motor element is as follows: the rear motor element is a motor with a rated power of 110kw. The maximum positive / negative torque and efficiency need to be input to the rear motor element, the maximum positive torque is expressed as a function related to the motor speed, the negative torque is defined as the opposite of the positive torque, and the efficiency is expressed as a function related to the motor speed and the motor torque, so as to output the torque and power loss through the rear motor element.

[0129] The working principle of the reducer element is: the transmission ratio i needs to be input to the reducer element to achieve a ratio of reduced speed and increased torque. Specifically, the expression of the motor speed ω is: ω=iw W .

[0130] The expression of motor torque T is: T=T W / i.

[0131] Among them, w W Expressed as tire speed, it needs to be obtained through the output of vehicle components, T W Indicates the output torque of the reducer element.

[0132] The working principle of the vehicle component is: the total mass M of the port heavy-duty wire-controlled chassis and the rolling radius R of the tire need to be input into the vehicle component. d , driving torque and braking torque of each axis, rolling resistance coefficient C f , Drag coefficient C a and windward area S, considering the rolling resistance, wind resistance and slope resistance of the port heavy-loaded wire-controlled chassis during driving, the displacement, velocity and acceleration also need to be calculated and output.

[0133] Specifically, the tire speed w W The expression is: .

[0134] Driving force F v The expression is: .

[0135] The expression of acceleration a is: .

[0136] The expression of velocity v is: v=∫adt.

[0137] The expression for displacement s is: s=∫v dt.

[0138] Total resistance F f The expression is: F f =F a +F r +F c .

[0139] Wind resistance F a The expression is: .

[0140] Rolling resistance F r The expression is: F r =MgC f .

[0141] Slope resistance F c The expression is: F c =Mg sin(arctan α / 100).

[0142] Among them, in the above expression is the torque output by the front motor element, The torque output by the rear motor element.

[0143] The working principle of the environmental element is: the environmental element represents a constant environment, including air density , wind speed , road slope α.

[0144] Therefore, since there are variables using component outputs in the working principles of vehicle control components, battery components, front motor components, rear motor components, reducer components, vehicle components and environmental components, the connection relationship between each component can be established based on the working principles between each key part.

[0145] S504: Based on the connection relationship between the various components, the chassis model is constructed using the various components.

[0146] It can be understood that each component is connected through the input and output of variables, such as the output current of the battery component as the input of the motor component, the output torque of the motor component as the input of the reducer component, and the output torque of the reducer component as the input of the vehicle component, etc. Therefore, according to the input and output relationship of the variables between each component, the chassis model can be constructed using each component, so that each component in the chassis model accurately corresponds to each component of the actual port heavy-duty wire-controlled chassis, thereby ensuring the reliability of the model simulation results.

[0147] It should be emphasized that the structural diagram of the chassis model can be found in Figure 6 shown.

[0148] Optionally, the present application embodiment provides a method for training a chassis model, such as Figure 7 As shown, the following steps are included:

[0149] S701. Obtain sample simulation parameters corresponding to each sample key component of the sample heavy-loaded controlled-by-wire chassis.

[0150] Specifically, in order to train the chassis model and achieve high-precision simulation of the chassis model, it is necessary to obtain in advance the sample simulation parameters corresponding to each sample key component of the sample heavy-duty wire-controlled chassis. The sample simulation parameters may include the number of cells, open circuit voltage, internal resistance, etc. of the battery, the maximum torque and efficiency of the motor, the total speed ratio of the reducer, the wheel rolling radius, vehicle weight, rolling resistance coefficient, etc. of the vehicle, and the wind speed, slope, and wind resistance coefficient in the environment.

[0151] S702: Input the sample simulation parameters corresponding to each sample key component into the pre-built chassis model to obtain the sample real-time variables corresponding to each sample key component.

[0152] It can be understood that the sample simulation parameters corresponding to each sample key component are respectively input into the vehicle control element, battery element, front motor element, rear motor element, reducer element, vehicle element and environmental element, so that through the working principle of each element, the real-time variables of each sample output by each element can be obtained.

[0153] S703: Determine whether the sample real-time variables corresponding to each sample key component are consistent with the actual variables corresponding to each sample key component.

[0154] Specifically, in order to ensure that the real-time variables output by each component in the chassis model are accurate, so as to determine the reliability of the simulation results obtained during the joint simulation, it is necessary to judge the sample real-time variables corresponding to each sample key component, that is, to judge whether the sample real-time variables corresponding to each sample key component are consistent with the actual variables corresponding to each sample key component. If the sample real-time variables corresponding to each sample key component are consistent with the actual variables corresponding to each sample key component, it means that the real-time variables output by each component in the chassis model are accurate enough, so step S704 is executed. If the sample real-time variables corresponding to each sample key component are not consistent with the actual variables corresponding to each sample key component, it means that the chassis model needs to be iteratively trained, so step S705 is executed.

[0155] S704: Determine the chassis model as the trained chassis model.

[0156] S705. Adjust the constraints of the chassis model.

[0157] Specifically, when the sample real-time variables corresponding to each sample key component do not conform to the actual variables corresponding to each sample key component, it is necessary to adjust the constraints of the chassis model, that is, adjust the calculation variables of each component, and then return to execute step S702 until the sample real-time variables corresponding to each sample key component conform to the actual variables corresponding to each sample key component.

[0158] S103. Calculate the actual energy consumption of the heavy-loaded controlled-by-wire chassis based on the actual data.

[0159] It should be noted that in order to subsequently obtain the energy consumption simulation error of the simulation energy consumption model, in addition to the simulated energy consumption output by the simulation energy consumption model, it is also necessary to obtain the actual energy consumption of the heavy-loaded wire-controlled chassis in order to obtain the energy consumption simulation error of the simulation energy consumption model.

[0160] Optionally, in another embodiment of the present application, a specific implementation of step S103 is as follows: Figure 8 As shown, the following steps are included:

[0161] S801. Extract simulation start time, simulation end time and actual dual-motor total power from actual data.

[0162] It should be noted that the calculation of the actual energy consumption of the heavy-loaded wire-controlled chassis requires the simulation start time, simulation end time and actual dual-motor total power in the actual data, and the actual data may also include other data of the heavy-loaded wire-controlled chassis. Therefore, it is necessary to extract the simulation start time, simulation end time and actual dual-motor total power from the actual data in advance.

[0163] S802. Based on the simulation start time and the simulation end time, the actual dual-motor total power is integrated using an integral formula to obtain the actual energy consumption of the heavy-loaded wire-controlled chassis.

[0164] The actual energy consumption E of the heavy-loaded wire-controlled chassis is calculated as follows:

[0165]

[0166] Among them, t1 is the simulation start time, t2 is the simulation end time, and P(t) is the actual dual-motor total power.

[0167] S104: Determine an energy consumption simulation error of a simulated energy consumption model based on the simulated energy consumption and the actual energy consumption.

[0168] Specifically, the smaller the energy consumption simulation error is, the higher the accuracy of the simulation energy consumption model is.

[0169] Optionally, in another embodiment of the present application, a specific implementation of step S104 is as follows: Fig. 9 As shown, the following steps are included:

[0170] S901: Calculate the difference between the actual energy consumption and the simulated energy consumption.

[0171] S902: Divide the difference by the actual energy consumption to obtain an energy consumption simulation error, and determine the energy consumption simulation error as an energy consumption simulation error of the simulated energy consumption model.

[0172] Specifically, the calculation expression of the energy consumption simulation error of the simulation energy consumption model is:

[0173] Energy consumption simulation error = (actual energy consumption E-simulated energy consumption ) / actual energy consumption E.

[0174] The present application provides a method for simulating the energy consumption of a heavy-duty wire-controlled chassis. The method obtains the simulation working conditions and actual data of the heavy-duty wire-controlled chassis to be simulated, and then inputs the simulation working conditions into a pre-built simulation energy consumption model to obtain the simulation energy consumption corresponding to the heavy-duty wire-controlled chassis to be simulated, wherein the simulation energy consumption model is composed of a joint simulation communication between a pre-built chassis model and a vehicle control strategy model. The chassis model is pre-combined with components corresponding to each key part of a sample heavy-duty wire-controlled chassis, and is trained using parameters corresponding to each key part of the sample heavy-duty wire-controlled chassis. The vehicle control strategy model is composed of a combination of various preset formulas, and then the actual energy consumption of the heavy-duty wire-controlled chassis is calculated based on actual data. Finally, based on the simulation energy consumption and the actual energy consumption, the energy consumption simulation error of the simulation energy consumption model is determined. Therefore, the simulation energy consumption model formed by the joint simulation communication between the chassis model and the vehicle control strategy model can achieve high-precision simulation of the energy consumption in the actual port operation working conditions, thereby effectively reducing the error results of the energy consumption simulation.

[0175] Another embodiment of the present application provides an energy consumption simulation device for a heavy-duty wire-controlled chassis, such as Fig.10 As shown, it includes the following units:

[0176] The working condition acquisition unit 1001 is used to acquire the simulation working condition and actual data of the heavy-loaded wire-controlled chassis to be simulated.

[0177] The working condition input unit 1002 is used to input the simulation working condition into the pre-built simulation energy consumption model to obtain the simulation energy consumption corresponding to the heavy-duty wire-controlled chassis to be simulated. The simulation energy consumption model is composed of the joint simulation communication between the pre-built chassis model and the vehicle control strategy model. The chassis model is pre-combined with the components corresponding to the key parts of the sample heavy-duty wire-controlled chassis, and trained using the parameters corresponding to the key parts of the sample heavy-duty wire-controlled chassis. The vehicle control strategy model is composed of a combination of various preset formulas.

[0178] The energy consumption calculation unit 1003 is used to calculate the actual energy consumption of the heavy-loaded wire-controlled chassis based on actual data.

[0179] The error determination unit 1004 is used to determine the energy consumption simulation error of the simulated energy consumption model based on the simulated energy consumption and the actual energy consumption.

[0180] It should be noted that the specific working process of the above-mentioned units in the embodiment of the present application can refer to steps S101 to S104 in the above-mentioned method embodiment, and will not be repeated here.

[0181] Optionally, in another embodiment of the present application, in an energy consumption simulation device for a heavy-loaded wire-controlled chassis, the error determination unit 1004 includes:

[0182] The difference calculation unit is used to calculate the difference between the actual energy consumption and the simulated energy consumption.

[0183] The first determining unit is used to divide the difference by the actual energy consumption to obtain an energy consumption simulation error, and determine the energy consumption simulation error as the energy consumption simulation error of the simulated energy consumption model.

[0184] Optionally, in another embodiment of the present application, in an energy consumption simulation device for a heavy-duty wire-controlled chassis, the operating condition input unit 1002 includes:

[0185] The first input unit is used to input the simulation working condition of the heavy-loaded by-wire chassis to be simulated into the pre-trained chassis model to obtain fixed value data and various real-time variables of the heavy-loaded by-wire chassis to be simulated. The fixed value data is the power data of the heavy-loaded by-wire chassis to be simulated evaluated by the chassis model.

[0186] The classification unit is used to classify the fixed value data and each real-time variable to obtain each variable set corresponding to the heavy-loaded wire-controlled chassis to be simulated, and calculate each variable set to obtain each variable value.

[0187] The second input unit is used to input various variable values ​​into the vehicle control strategy model for calculation, so as to obtain the driving signal value and the braking signal value of the heavy-loaded wire-controlled chassis to be simulated.

[0188] The third input unit is used to input the driving signal value and the braking signal into the chassis model to obtain the simulated energy consumption corresponding to the heavy-loaded wire-controlled chassis to be simulated.

[0189] Optionally, another embodiment of the present application provides an energy consumption simulation device for a heavy-loaded wire-controlled chassis, further comprising:

[0190] An acquisition unit is used to acquire various key parts of a sample heavy-loaded controlled-by-wire chassis and working principles between the various key parts.

[0191] The selection unit is used to select components corresponding to various key parts from the sample heavy-loaded wire-controlled chassis.

[0192] The establishment unit is used to establish the connection relationship between various components according to the working principles between various key parts.

[0193] The construction unit is used to construct a chassis model using each component based on the connection relationship between the components.

[0194] Optionally, another embodiment of the present application provides an energy consumption simulation device for a heavy-loaded wire-controlled chassis, further comprising:

[0195] The parameter acquisition unit is used to obtain sample simulation parameters corresponding to each sample key component of the sample heavy-loaded wire-controlled chassis.

[0196] The fourth input unit is used to input the sample simulation parameters corresponding to each sample key component into the pre-built chassis model to obtain the sample real-time variables corresponding to each sample key component.

[0197] The judgment unit is used to judge whether the sample real-time variables corresponding to each sample key component are consistent with the actual variables corresponding to each sample key component.

[0198] The second determination unit is used to determine the chassis model as a trained chassis model if the sample real-time variables corresponding to each sample key component are consistent with the actual variables corresponding to each sample key component.

[0199] The adjustment unit is used to adjust the constraints of the chassis model if the sample real-time variables corresponding to each sample key component do not conform to the actual variables corresponding to each sample key component, and return to execute to input the sample simulation parameters corresponding to each sample key component into the pre-built chassis model respectively to obtain the sample real-time variables corresponding to each sample key component.

[0200] Optionally, in another embodiment of the present application, in an energy consumption simulation device for a heavy-loaded wire-controlled chassis, the energy consumption calculation unit 1003 includes:

[0201] The extraction unit is used to extract the simulation start time, the simulation end time and the actual dual-motor total power from the actual data.

[0202] The integration unit is used to integrate the actual dual-motor total power based on the simulation start time and the simulation end time using an integration formula to obtain the actual energy consumption of the heavy-loaded wire-controlled chassis.

[0203] It should be noted that the specific working process of each unit provided in the above embodiments of the present application can refer to the corresponding steps in the above method embodiments, and will not be repeated here.

[0204] In summary, another embodiment of the present application provides an energy consumption simulation device for a heavy-loaded wire-controlled chassis. The simulated energy consumption model formed by the simulation environment constructed by the chassis model and the vehicle control strategy model can simulate the energy consumption in actual port operating conditions with high precision, thereby reducing the energy consumption simulation error.

[0205] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0206] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for simulating energy consumption of a heavy-loaded wire-controlled chassis, characterized in that: include: Obtain the simulation conditions and actual data of the heavy-loaded wire-controlled chassis to be simulated; The simulation working condition is input into a pre-built simulation energy consumption model to obtain the simulation energy consumption corresponding to the heavy-loaded wire-controlled chassis to be simulated; wherein the simulation energy consumption model is composed of a joint simulation communication between a pre-built chassis model and a whole vehicle control strategy model; the chassis model is pre-combined by components corresponding to each key part of a sample heavy-loaded wire-controlled chassis, and trained using parameters corresponding to each key part of the sample heavy-loaded wire-controlled chassis; the whole vehicle control strategy model is composed of a combination of various preset formulas; the simulation energy consumption corresponding to the heavy-loaded wire-controlled chassis to be simulated is obtained by the total power consumption and battery voltage of the battery components in the simulation energy consumption model; Based on the actual data, calculating the actual energy consumption of the heavy-duty wire-controlled chassis; Based on the simulated energy consumption and the actual energy consumption, determining an energy consumption simulation error of the simulated energy consumption model; The step of inputting the simulation working condition into a pre-built simulation energy consumption model to obtain the simulation energy consumption corresponding to the heavy-loaded wire-controlled chassis to be simulated includes: Inputting the simulation working condition of the heavy-loaded by-wire chassis to be simulated into a pre-trained chassis model to obtain fixed value data and various real-time variables of the heavy-loaded by-wire chassis to be simulated; wherein the fixed value data is the power data of the heavy-loaded by-wire chassis to be simulated evaluated by the chassis model; Classifying the fixed value data and each of the real-time variables to obtain each variable set corresponding to the heavy-loaded wire-controlled chassis to be simulated, and calculating each of the variable sets to obtain each variable value; Inputting each of the variable values ​​into the vehicle control strategy model for calculation, and obtaining the driving signal value and the braking signal value of the heavy-loaded wire-controlled chassis to be simulated; Inputting the driving signal value and the braking signal into the chassis model to obtain the simulated energy consumption corresponding to the heavy-loaded wire-controlled chassis to be simulated; The method for constructing the chassis model comprises: Obtaining the key parts of the sample heavy-duty controlled-by-wire chassis and the working principles between the key parts; Selecting components corresponding to each of the key parts from the sample heavy-duty drive-by-wire chassis; According to the working principle between each of the key parts, a connection relationship between each of the components is established; Based on the connection relationship between the various components, the chassis model is constructed using the various components.

2. The method according to claim 1, characterized in that The determining, based on the simulated energy consumption and the actual energy consumption, an energy consumption simulation error of the simulated energy consumption model comprises: Calculating the difference between the actual energy consumption and the simulated energy consumption; The difference is divided by the actual energy consumption to obtain an energy consumption simulation error, and the energy consumption simulation error is determined as the energy consumption simulation error of the simulated energy consumption model.

3. The method according to claim 1, characterized in that The training method of the chassis model comprises: Obtain sample simulation parameters corresponding to each sample key component of the sample heavy-loaded controlled-by-wire chassis; Inputting sample simulation parameters corresponding to each of the sample key components into a pre-built chassis model to obtain sample real-time variables corresponding to each of the sample key components; Determine whether the sample real-time variables corresponding to each of the sample key components are consistent with the actual variables corresponding to each of the sample key components; If the sample real-time variables corresponding to each of the sample key components are consistent with the actual variables corresponding to each of the sample key components, the chassis model is determined to be a trained chassis model; If the sample real-time variables corresponding to each of the sample key components do not conform to the actual variables corresponding to each of the sample key components, the constraints of the chassis model are adjusted, and the execution is returned to input the sample simulation parameters corresponding to each of the sample key components into the pre-built chassis model respectively to obtain the sample real-time variables corresponding to each of the sample key components.

4. The method according to claim 1, characterized in that: The calculating the actual energy consumption of the heavy-duty wire-controlled chassis based on the actual data includes: Extracting the simulation start time, the simulation end time and the actual dual-motor total power from the actual data; Based on the simulation start time and the simulation end time, the actual dual-motor total power is integrated using an integral formula to obtain the actual energy consumption of the heavy-loaded wire-controlled chassis.

5. An energy consumption simulation device for a heavy-loaded wire-controlled chassis, characterized in that: include: A working condition acquisition unit, used to acquire the simulated working condition and actual data of the heavy-loaded wire-controlled chassis to be simulated; A working condition input unit is used to input the simulation working condition into a pre-built simulation energy consumption model to obtain the simulation energy consumption corresponding to the heavy-loaded wire-controlled chassis to be simulated; wherein the simulation energy consumption model is composed of a joint simulation communication between a pre-built chassis model and a whole vehicle control strategy model; the chassis model is pre-combined by components corresponding to each key part of a sample heavy-loaded wire-controlled chassis, and trained using parameters corresponding to each key part of the sample heavy-loaded wire-controlled chassis; the whole vehicle control strategy model is composed of a combination of various preset formulas; the simulation energy consumption corresponding to the heavy-loaded wire-controlled chassis to be simulated is obtained by the total power consumption of the battery components and the battery voltage in the simulation energy consumption model; an energy consumption calculation unit, configured to calculate the actual energy consumption of the heavy-duty wire-controlled chassis based on the actual data; an error determining unit, configured to determine an energy consumption simulation error of the simulated energy consumption model based on the simulated energy consumption and the actual energy consumption; Also includes: An acquisition unit, used to acquire various key parts of the sample heavy-loaded controlled-by-wire chassis and working principles between the key parts; A selection unit, used for selecting components corresponding to each of the key parts from the sample heavy-duty drive-by-wire chassis; An establishing unit, used to establish a connection relationship between each of the components according to the working principle between each of the key parts; A construction unit, configured to construct a chassis model using each of the components based on the connection relationship between the components; The working condition input unit comprises: A first input unit is used to input the simulation working condition of the heavy-loaded by-wire chassis to be simulated into a pre-trained chassis model to obtain fixed value data and various real-time variables of the heavy-loaded by-wire chassis to be simulated; wherein the fixed value data is the power data of the heavy-loaded by-wire chassis to be simulated evaluated by the chassis model; A classification unit, used for classifying the fixed value data and each of the real-time variables to obtain each variable set corresponding to the heavy-loaded wire-controlled chassis to be simulated, and calculating each of the variable sets to obtain each variable value; A second input unit is used to input each of the variable values ​​into the vehicle control strategy model for calculation, so as to obtain the driving signal value and the braking signal value of the heavy-loaded wire-controlled chassis to be simulated; The third input unit is used to input the driving signal value and the braking signal into the chassis model to obtain the simulated energy consumption corresponding to the heavy-loaded wire-controlled chassis to be simulated.

6. The device according to claim 5, characterized in that The error determination unit comprises: A difference calculation unit, used for calculating the difference between the actual energy consumption and the simulated energy consumption; The first determining unit is used to divide the difference by the actual energy consumption to obtain an energy consumption simulation error, and determine the energy consumption simulation error as the energy consumption simulation error of the simulated energy consumption model.

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