Range extender power closed-loop control method and device, computer equipment and storage medium

Abstract

The invention relates to a range extender power closed-loop control method and device, computer equipment and a storage medium, and the method comprises the steps: determining the target torque of closed-loop control according to the request power, actual rotating speed and generator efficiency of a range extender; according to the target torque and the obtained demand torque, feed-forward torque of closed-loop control is obtained; a torque intervention result is obtained according to the feed-forward torque and the intervention amount calculated through closed-loop control; intervention is conducted on the required torque according to the torque intervention result, the actual request torque is obtained, and the actual power of the range extender is controlled through the actual request torque. According to the method and the device, the feed-forward torque can be introduced in closed-loop control, the demand torque of the industrial control point of the range extender is intervened, power control is performed according to the actual request torque after intervention, and the problem that the power control effect of the range extender is poor is solved.

Description

Technical Field

[0001] The present application relates to the technical field of range extenders, and in particular, to a method and device for closed-loop control of range extender power, a computer device, and a storage medium. Background Art

[0002] To meet market demand, a large number of automobile manufacturers have launched range-extended electric vehicles. The range extender is one of the power sources of range-extended electric vehicles and provides electrical energy to the power battery of the electric vehicle. Range-extended electric vehicles can alleviate or eliminate consumers' range anxiety about pure electric vehicles, and to a certain extent, can improve the driving experience and overall fuel economy.

[0003] Currently, most of the control methods for range extenders are through bench tests. The theoretical operating points are measured in a laboratory environment, and the corresponding operating speed and torque requests are determined according to the actual power. The operating speed and torque are respectively requested to the generator and the engine for power generation. However, affected by different external environments and operating conditions, there are still problems with poor power control effect of the range extender during operating condition switching or steady-state operating conditions.

[0004] In view of the problem of poor power control effect of the range extender in the related art, no effective solution has been proposed yet. Summary of the Invention

[0005] Based on this, in view of the above technical problems, it is necessary to provide a method and device for closed-loop control of range extender power, a computer device, and a storage medium that can improve the power control effect of the range extender.

[0006] In a first aspect, in the present embodiment, a method for closed-loop control of range extender power is provided, including:

[0007] Determine the target torque for closed-loop control according to the requested power, actual speed, and generator efficiency of the range extender;

[0008] Obtain the feedforward torque for closed-loop control according to the target torque and the obtained required torque;

[0009] Obtain the torque intervention result according to the feedforward torque and the intervention amount calculated by closed-loop control;

[0010] Intervene in the required torque according to the torque intervention result to obtain the actual requested torque, so as to control the actual power of the range extender through the actual requested torque.

[0011] In some of these embodiments, the determining the target torque for closed-loop control according to the requested power, actual speed, and generator efficiency of the range extender includes:

[0012] Obtain the theoretical power closed-loop torque according to the requested power and the actual speed;

[0013] Obtain the generator efficiency by looking up a table according to the theoretical power closed-loop torque and the actual rotational speed;

[0014] Calculate the target torque according to the theoretical power closed-loop torque and the generator efficiency.

[0015] In some embodiments, the method further includes:

[0016] Obtain the required torque by looking up a table according to the requested power.

[0017] In some embodiments, obtaining the torque intervention result according to the intervention amount calculated from the feedforward torque and the closed-loop control includes:

[0018] Use the feedforward torque as the feedforward of the closed-loop control, and add it to the intervention amount calculated by the closed-loop control to obtain the torque intervention result.

[0019] In some embodiments, the method further includes:

[0020] Determine the proportional term coefficient and integral term coefficient of the closed-loop control according to the actual rotational speed by looking up a table;

[0021] Using the proportional term coefficient and integral term coefficient, use the requested power as the control target value of the closed-loop control, and use the actual power of the range extender as the observed value of the closed-loop control, and output the intervention amount of the closed-loop control on the torque.

[0022] In some embodiments, the method further includes:

[0023] When the difference between the requested powers at adjacent moments is greater than a preset power value, or the difference between the actual rotational speeds at adjacent moments is greater than a preset rotational speed value, reset the integral term of the closed-loop control.

[0024] In some embodiments, the method further includes:

[0025] Set the maximum limit and minimum limit of the torque intervention result;

[0026] When the torque intervention result reaches the maximum limit or the minimum limit, stop the integral accumulation of the integral term of the closed-loop control, and latch the value of the current integral term.

[0027] In a second aspect, in the present embodiment, a range extender power closed-loop control device is provided, including:

[0028] A torque acquisition module, configured to determine the target torque of the closed-loop control according to the requested power, actual rotational speed, and generator efficiency of the range extender;

[0029] A feedforward calculation module, configured to obtain a feedforward torque for closed-loop control according to the target torque and the obtained required torque;

[0030] An intervention calculation module, configured to obtain a torque intervention result according to the feedforward torque and the intervention amount calculated by closed-loop control;

[0031] A torque intervention module, configured to intervene on the required torque according to the torque intervention result to obtain an actual requested torque, so as to control the actual power of the range extender through the actual requested torque.

[0032] In a third aspect, in this embodiment, a computer device is provided, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the range extender power closed-loop control method described in the first aspect above is implemented.

[0033] In a fourth aspect, in this embodiment, a storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the range extender power closed-loop control method described in the first aspect above is implemented.

[0034] Compared with the related art, in the range extender power closed-loop control method, device, computer device, and storage medium provided in this embodiment, the target torque for closed-loop control is determined according to the requested power, actual speed, and generator efficiency of the range extender; the feedforward torque for closed-loop control is obtained according to the target torque and the obtained required torque; the torque intervention result is obtained according to the feedforward torque and the intervention amount calculated by closed-loop control; the required torque is intervened according to the torque intervention result to obtain an actual requested torque, so as to control the actual power of the range extender through the actual requested torque. Through this embodiment, a feedforward torque can be introduced in the closed-loop control to intervene on the required torque at the industrial control point of the range extender, and power control is performed with the intervened actual requested torque, thereby solving the problem of poor range extender power control effect.

[0035] Details of one or more embodiments of the present application are set forth in the following drawings and description, so that other features, objects, and advantages of the present application become more concise and understandable. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments and descriptions thereof of the present application are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0037] Figure 1 is a hardware structure block diagram of a terminal of the range extender power closed-loop control method in an embodiment;

[0038] Figure 2It is a flowchart of the power closed-loop control method of the range extender in an embodiment;

[0039] Figure 3 It is a flowchart of the power closed-loop control method of the range extender in another embodiment;

[0040] Figure 4 It is a schematic diagram of the torque intervention process of the range extender in an embodiment;

[0041] Figure 5 It is a structural block diagram of the power closed-loop control device of the range extender in an embodiment.

[0042] In the figure: 102, processor; 104, memory; 106, transmission device; 108, input / output device; 10, torque acquisition module; 20, feedforward calculation module; 30, intervention calculation module; 40, torque intervention module. Detailed implementation manners

[0043] For a clearer understanding of the purpose, technical solution and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0044] Unless otherwise defined, the technical terms or scientific terms involved in the present application shall have the general meanings understood by those with ordinary skills in the technical field to which the present application belongs. In the present application, words such as "a", "one", "a kind of", "the", "these" and the like do not indicate a limitation in quantity, and they can be singular or plural. The terms "including", "comprising", "having" and any variants thereof involved in the present application are intended to cover non-exclusive inclusion; for example, a process, method, system, product or device including a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent in these processes, methods, products or devices. The terms "connected", "coupled" and the like involved in the present application do not limit to physical or mechanical connections, but may include electrical connections, whether directly or indirectly. The term "plurality" involved in the present application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" may represent: A exists alone, A and B exist simultaneously, and B exists alone. Usually, the character " / " indicates that the objects associated before and after are in an "or" relationship. The terms "first", "second", "third" and the like involved in the present application are only used to distinguish similar objects and do not represent a specific order for the objects.

[0045] In the method embodiment provided in this embodiment, it can be executed on a terminal, a computer or a similar computing device. For example, running on a terminal,Figure 1 It is a hardware structure block diagram of the terminal of the power closed-loop control method of the range extender in this embodiment. As Figure 1 shown, the terminal may include one or more ( Figure 1 only one is shown in the figure) processors 102 and a memory 104 for storing data. Among them, the processor 102 may include, but is not limited to, processing devices such as a microprocessor MCU or a programmable logic device FPGA. The above terminal may also include a transmission device 106 for communication functions and an input / output device 108. Those of ordinary skill in the art can understand that Figure 1 the structure shown is only for illustration and does not limit the structure of the above terminal. For example, the terminal may further include more or fewer components than Figure 1 shown in the figure, or have a different configuration from Figure 1 shown.

[0046] The memory 104 can be used to store computer programs. For example, software programs and modules of application software, such as the computer program corresponding to the power closed-loop control method of the range extender in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, implements the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some instances, the memory 104 may further include a memory remotely set relative to the processor 102, and these remote memories can be connected to the terminal through a network. Examples of the above network include, but are not limited to, the Internet, an enterprise internal network, a local area network, a mobile communication network, and combinations thereof.

[0047] The transmission device 106 is used to receive or send data via a network. The above network includes a wireless network provided by the communication provider of the terminal. In one instance, the transmission device 106 includes a network adapter (abbreviated as NIC), which can be connected to other network devices through a base station and thus can communicate with the Internet. In one instance, the transmission device 106 may be a radio frequency (abbreviated as RF) module, which is used to communicate with the Internet wirelessly.

[0048] Currently, most of the control methods of the range extender are through bench tests. The theoretical operating points are measured in a laboratory environment, and the corresponding working speed and torque requests are determined according to the actual power. The working speed and torque are respectively requested to the generator and the engine for power generation. However, affected by different external environments and operating conditions, there are still problems with poor power control effects of the range extender during operating condition switching or steady-state operating conditions.

[0049] For example, when switching from a high-power and high-speed operating point to a low-power and low-speed operating point, the target engine speed needs to decrease. However, the torque requests at the two different operating points are relatively stable. At this time, the generator needs to have a greater power to pull down the engine speed to the new low-speed operating point. At this time, the actual power of the generator will exceed the requested power, which may cause overcharging of the battery.

[0050] Under steady-state operating conditions (i.e., the power request is stable at a certain fixed point), the speed request and torque request determined by looking up the table according to the power request remain unchanged. However, under different external environments, the actual torque of the engine under the same torque request may have a large deviation (including but not limited to the following operating conditions: under high-altitude conditions, the engine may not burn sufficiently due to insufficient oxygen content, resulting in a decrease in engine efficiency; under low-temperature conditions, the engine oil has a high viscosity and the engine resistance is large, resulting in a smaller actual torque of the engine under the same torque request), resulting in a large deviation between the actual power and the requested power, affecting the power control accuracy.

[0051] In this embodiment, a power closed-loop control method for a range extender is provided. Figure 2 It is a flowchart of the power closed-loop control method for the range extender in this embodiment, as Figure 2 shown. The method includes the following steps:

[0052] Step S201, determine the target torque for closed-loop control according to the requested power, actual speed, and generator efficiency of the range extender.

[0053] Specifically, a range extender, a drive motor, a high-voltage power battery, and related necessary high- and low-voltage conversion accessories are equipped in a range-extended electric vehicle. The range extender consists of a traditional fuel engine and a start-generator integrated motor.

[0054] The requested power of the range extender refers to the power requested in the power request signal sent by the driver to the vehicle power system at the front end by operating the accelerator pedal and other means. According to the requested power and the actual speed of the range extender, the theoretical power closed-loop torque can be calculated from the calculation relationship between power, speed, and torque. Further, based on the theoretical power closed-loop torque and the generator efficiency, the torque request under the theoretical electric power is obtained by converting the theoretical power closed-loop torque calculated by mechanical power. Closed-loop control (PID) is based on the feedback principle. By performing proportional, integral, and differential operations on the deviation between the actual output (such as power) of the range extender and the set target, the control parameters are adjusted. In this embodiment, the torque request under the theoretical electric power is used as the target torque for closed-loop control.

[0055] Step S202, obtain the feedforward torque for closed-loop control according to the target torque and the obtained required torque.

[0056] Specifically, the required torque calculated by pre-table lookup is obtained. The required torque is the torque requested by the torque request calculated by table lookup at the operating point under laboratory conditions. Since the required torque calculated by table lookup at the operating point may have a large deviation from the actual torque of the range extender, based on this, the feedforward torque is obtained according to the difference between the required torque and the target torque of the closed-loop control, and this difference is used as the feedforward torque of the closed-loop control. The output of the range extender is intervened in advance using the feedforward deviation information. The feedforward control can directly adjust the control quantity (such as power, etc.) according to the current torque deviation, so that the range extender can reach the required theoretical torque value range of the requested power faster, shortening the time for the PI (Proportional Integral) regulator to adjust to the target.

[0057] Step S203, obtaining a torque intervention result according to the feedforward torque and the intervention amount calculated by the closed-loop control.

[0058] Specifically, in closed-loop control, feedforward control through feedforward torque can quickly respond to known interference or expected changes. In addition, through the feedback principle of closed-loop control, accurate adjustments are made according to the deviation between the actual power output of the range extender and the requested power. Proportional, integral and differential operations are performed using the proportional term coefficient and the integral term coefficient to calculate the torque intervention amount. By adding the intervention amount and the feedforward torque to obtain the torque intervention result, the difference between the target torque and the required torque at the operating point can be used as feedforward, combined with closed-loop feedback control based on actual power and requested power, it is possible to quickly make preliminary adjustments to the torque deviation, and accurately adjust the power through closed-loop feedback control, so that the actual power output of the range extender can reach the requested power more stably and accurately, thereby improving the control performance and stability of the entire system.

[0059] Step S204 , intervening the required torque according to the torque intervention result to obtain the actual requested torque, so as to control the actual power of the range extender through the actual requested torque.

[0060] Specifically, the demand torque at the operating point is intervened according to the torque intervention result, and the actual requested torque to the range extender is obtained by adding the demand torque and the torque intervention result, which is sent to the engine control unit of the range extender. The output torque of the engine is changed by adjusting the throttle opening of the engine, the fuel injection amount, etc., thereby adjusting the output power of the range extender so that the actual power output by the range extender reaches the original requested power.

[0061] Through the above steps, it is possible to introduce feedforward torque in closed-loop control to intervene in the required torque at the industrial control point of the range extender. When switching from a high-power and high-speed operating point to a low-power and low-speed operating point, the engine torque can be made to decrease first, thereby reducing the risk that the actual power exceeds the requested power during the speed reduction in the prior art, resulting in overcharging of the battery. Under steady-state conditions, if the actual power exceeds the requested power, the requested torque decreases; if the actual power is less than the requested power, the requested torque increases. If the actual power exceeds the requested power, the requested torque decreases, enabling the actual power output by the range extender to reach the original requested power faster and more accurately, thereby achieving better power control effects under different external environments and operating conditions and solving the problem of poor power control effect of the range extender.

[0062] In some of these embodiments, determining the target torque according to the requested power, actual speed, and generator efficiency in step S201 of the above steps includes the following steps:

[0063] Obtain the theoretical power closed-loop torque according to the requested power and actual speed; obtain the generator efficiency by looking up a table according to the theoretical power closed-loop torque and actual speed; calculate the target torque according to the theoretical power closed-loop torque and generator efficiency.

[0064] Specifically, according to the requested power and the actual speed of the range extender, the theoretical power closed-loop torque can be calculated from the calculation relationship between power, speed, and torque. The calculation of the theoretical power closed-loop torque TrqReqCal is as follows:

[0065] TrqReqCal = PwrReq * 9550 / SpdAct;

[0066] Wherein, PwrReq is the requested power and SpdAct is the actual speed.

[0067] According to the actual speed of the range extender and the calculated theoretical power closed-loop torque, look up the table to determine the generator efficiency. Different models of generators have different corresponding relationships between speed and torque. Exemplarily, Table 1 below shows the corresponding relationship between the theoretical power closed-loop torque and actual speed of a generator. When the combination of actual speed and torque request does not have an exact match in the table, an interpolation algorithm can be used to estimate the efficiency value.

[0068] Table 1

[0069]

[0070] According to the theoretical power closed-loop torque and generator efficiency, convert the theoretical power closed-loop torque calculated by mechanical power into the torque request under theoretical electric power, and use this torque request as the target torque. The calculation of the target torque TrqReqInLoop is as follows:

[0071] TrqReqInLoop = TrqReqCal / Kp1;

[0072] Among them, TrqReqCal is the theoretical power closed-loop torque, and Kp1 is the generator efficiency.

[0073] By converting the theoretical power closed-loop torque of mechanical power calculation into the torque request of the target torque under theoretical electric power in this embodiment, the theoretical target torque can be obtained, providing support for subsequent calculation of the feedforward torque.

[0074] In some of these embodiments, the above method further includes the following steps:

[0075] According to the requested power, look up the table to obtain the required torque.

[0076] Specifically, the required torque is the torque request calculated by looking up the table according to the operating point under laboratory conditions. The table stores the corresponding relationship between the requested power and the required torque. Match the requested power with the parameters in the table, and find the required torque corresponding to the requested power from the table.

[0077] Furthermore, according to the difference between the target torque and the required torque, the feedforward torque for closed-loop control is obtained. One calculation of the feedforward torque TrqReqFF is as follows:

[0078] TrqReqFF = TrqReqInLoop - TrqReq;

[0079] Among them, TrqReqInLoop is the target torque, and TrqReq is the required torque.

[0080] By looking up the table to obtain the required torque in this embodiment, and then further calculating the difference between the required torque and the target torque as the feedforward torque for closed-loop control, the system of the range extender can reach the theoretical torque value range required by the requested power faster, shorten the time for the PI regulator to adjust to the target, and prevent control overshoot.

[0081] In some of these embodiments, in step S203 above, according to the feedforward torque and the intervention amount calculated by closed-loop control, the torque intervention result is obtained, including the following steps:

[0082] Take the feedforward torque as the feedforward of closed-loop control, and add it to the intervention amount calculated by closed-loop control to obtain the torque intervention result.

[0083] In some of these embodiments, according to the actual speed, look up the table to determine the proportional term coefficient and integral term coefficient of closed-loop control; according to the proportional term coefficient and integral term coefficient, take the requested power as the control target value of closed-loop control, and take the actual power of the range extender as the observed value of closed-loop control, and output the intervention amount of closed-loop control on torque.

[0084] Specifically, according to the feedback principle of closed-loop control, precise adjustment is carried out based on the deviation between the actual power output by the range extender and the requested power. Proportional, integral, and differential operations are performed using the proportional term coefficient and the integral term coefficient to calculate the intervention amount of torque. Among them, the proportional term coefficient and the integral term coefficient can be determined by looking up a preset table according to the actual speed. The preset table stores the corresponding relationship between the actual speed and the proportional term coefficient and the integral term coefficient. The actual speed is matched with the corresponding preset table, and the proportional term coefficient and the integral term coefficient corresponding to the actual speed are found from the preset table. When the actual speed does not have an exact match in the table, an interpolation algorithm can be used to estimate the coefficients.

[0085] Exemplarily, Table 2 below shows a corresponding relationship between the actual speed and the proportional term coefficient.

[0086] Table 2

[0087] Actual rotational speed 1000 3000 6000 Proportional term coefficient 0.1 0.2 0.3

[0088] The following Table 3 shows a corresponding relationship between the actual speed and the integral term coefficient.

[0089] Table 3

[0090] Actual rotational speed 1000 3000 6000 Integral term coefficient 0.05 0.1 0.15

[0091] In closed-loop control, the requested power serves as the target value of the closed-loop control, which is the power expected to be output by the range extender. The actual power is the actual output power of the range extender measured by a sensor, specifically calculated based on the current and voltage. The power deviation can be determined according to the requested power and the actual power. The proportional term coefficient determines the response intensity of the proportional link to the deviation. The torque intervention amount output by the proportional link is proportional to the power deviation. For example, if the power deviation is large, the torque intervention amount calculated according to the proportional term coefficient will also be large, so that the output power of the range extender can quickly approach the target power. The integral link performs an integral operation on the power deviation to eliminate the steady-state error. If the power deviation persists, the integral link will continuously accumulate this deviation, generating a continuously increasing torque intervention amount until the power deviation is zero, ensuring that the output of the range extender is stable at the target power. The differential link calculates based on the rate of change of the power deviation. When the power deviation of the range extender changes rapidly, such as in the case of sudden load changes, the differential link can predict the development trend of the deviation in advance, quickly adjust the torque intervention amount, reduce the overshoot phenomenon, and make the system reach the target power more smoothly. The intervention amount finally calculated by the closed-loop control can be the sum of the torque intervention amounts output by the proportional, integral, and differential links.

[0092] In this embodiment, a torque intervention result is calculated based on the intervention amount of the closed-loop control and the feedforward torque, so as to intervene on the required torque in subsequent steps using the torque intervention result, and obtain the actual requested torque after intervention, thereby improving the effect of controlling the power of the range extender.

[0093] In some of these embodiments, the above method further includes:

[0094] When the difference between the requested powers at adjacent moments is greater than a preset power value, or the difference between the actual speeds at adjacent moments is greater than a preset speed value, reset the integral term of the closed-loop control.

[0095] Specifically, considering the error effects at different speeds and power points, the previously accumulated error in the integral term may not be suitable for the new state. Therefore, when the speed or the requested power changes, a request for resetting the integral term result is issued to reset the value of the integral term.

[0096] If the difference (or the absolute value of the difference) between the requested power at the current moment and the requested power at the previous moment is greater than a preset power value (for example, 1 kW), it means that the requested power has changed and the integral term needs to be reset once to prevent the integral term at the previous power point from interfering with the closed-loop calculation at the current power point; if the difference (or the absolute value of the difference) between the actual speed at the current moment and the actual speed at the previous moment is greater than a preset speed value (for example, 20 rpm (revolutions per minute)), it means that the requested speed has changed and the integral term needs to be reset once to prevent the integral term under other speed conditions from interfering with the closed-loop calculation under the current speed condition.

[0097] In some of these embodiments, a maximum limit value and a minimum limit value of the torque intervention result are set; when the torque intervention result reaches the maximum limit value or the minimum limit value, stop the integral accumulation of the integral term of the closed-loop control and latch the value of the current integral term.

[0098] Specifically, considering the limiting conditions of the system, the maximum value and the minimum value of the torque intervention result can also be limited to ensure the safe and stable operation of the system. When the torque intervention result reaches the maximum limit value or the minimum limit value, stop the integral accumulation and latch the current integral value to prevent the adjustment of the closed-loop control from exceeding the safe torque range.

[0099] The following describes and illustrates this embodiment through preferred embodiments.

[0100] Figure 3 is a flowchart of the power closed-loop control method of the range extender in this embodiment, as Figure 3 shown, and the method includes the following steps:

[0101] Step S301: Obtain the theoretical power closed-loop torque based on the requested power and the actual rotational speed; look up the generator efficiency in a table according to the theoretical power closed-loop torque and the actual rotational speed; calculate the target torque based on the theoretical power closed-loop torque and the generator efficiency.

[0102] Step S302: Obtain the feedforward torque for closed-loop control based on the target torque and the required torque obtained by looking up a table.

[0103] Step S303: Determine the proportional term coefficient and integral term coefficient for closed-loop control by looking up a table according to the actual rotational speed; use the proportional term coefficient and integral term coefficient, take the requested power as the control target value for closed-loop control, and take the actual power of the range extender as the observed value for closed-loop control, and output the intervention amount of the closed-loop control on the torque.

[0104] Step S304: When the difference between the requested powers at adjacent times is greater than the preset power value, or the difference between the actual rotational speeds at adjacent times is greater than the preset rotational speed value, reset the integral term of the closed-loop control.

[0105] Step S305: Set the maximum limit and minimum limit of the torque intervention result; when the torque intervention result reaches the maximum limit or the minimum limit, stop the integral accumulation of the integral term of the closed-loop control and latch the value of the current integral term.

[0106] Step S306: Add the feedforward torque and the intervention amount calculated by the closed-loop control to obtain the torque intervention result.

[0107] Step S307: Add the torque intervention result and the required torque to obtain the actual requested torque, so as to control the actual power of the range extender through the actual requested torque.

[0108] Figure 4 is a schematic diagram of the torque intervention process of the range extender in this embodiment. As Figure 4 shown, according to the requested power PwrReq and the actual rotational speed SpdAct, the theoretical power closed-loop torque TrqReqCal can be calculated from the calculation relationship between power, rotational speed and torque. Determine the generator efficiency Kp1 by looking up a table in the generator efficiency map according to the actual rotational speed SpdAct and the theoretical power closed-loop torque TrqReqCal. Calculate the target torque TrqReqInLoop based on the generator efficiency Kp1 and the theoretical power closed-loop torque TrqReqCal.

[0109] Look up the operating point according to the requested power PwrReq, and determine the rotational speed request calculated by looking up the operating point under laboratory conditions and the required torque TrqReq calculated by looking up the operating point under laboratory conditions.

[0110] Determine the feedforward torque TrqReqFF of the closed-loop control (PI controller) based on the difference between the required torque TrqReq and the target torque TrqReqInLoop. Look up the proportional term coefficient Kp and the integral term coefficient Ki of the closed-loop control in the PI parameter map according to the actual speed SpdAct. Use the requested power PwrReq as the control target value of the closed-loop control, and the actual power PwrAct of the range extender as the observed value of the closed-loop control. Under the control of the integral term result reset request I_Reset, the maximum limit MaxLimt, and the minimum limit MinLimt, obtain the torque intervention result TrqDelta together with the feedforward torque TrqReqFF. Finally, add the torque intervention result TrqDelta and the required torque TrqReq to obtain the actual required torque TrqReqFinal.

[0111] It should be noted that the steps shown in the above process or the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0112] In this embodiment, a range extender power closed-loop control device is also provided. This device is used to implement the above-mentioned embodiments and preferred implementation manners, and those that have been described will not be repeated here. The following terms such as "module", "unit", "sub-unit", etc. can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0113] Figure 5 is the structural block diagram of the range extender power closed-loop control device in this embodiment, as Figure 5 shown, this device includes:

[0114] A torque acquisition module 10, configured to determine the target torque of the closed-loop control according to the requested power, actual speed, and generator efficiency of the range extender;

[0115] A feedforward calculation module 20, configured to obtain the feedforward torque of the closed-loop control according to the target torque and the acquired required torque;

[0116] An intervention calculation module 30, configured to obtain a torque intervention result according to the feedforward torque and the intervention amount calculated by the closed-loop control;

[0117] A torque intervention module 40, configured to intervene in the required torque according to the torque intervention result to obtain the actual required torque, so as to control the actual power of the range extender through the actual required torque.

[0118] Through the device provided in this embodiment, it is possible to introduce feedforward torque in closed-loop control to intervene in the required torque at the industrial control point of the range extender. When switching from a high-power and high-speed operating point to a low-power and low-speed operating point, the engine torque can be made to decrease first, thereby reducing the risk of overcharging the battery caused by the actual power exceeding the requested power when the speed drops in the prior art; in the steady-state operating condition, if the actual power exceeds the requested power, the requested torque decreases, if the actual power is less than the requested power, the requested torque increases, and if the actual power exceeds the requested power, the requested torque decreases, enabling the actual power output by the range extender to reach the original requested power faster and more accurately, thereby achieving better power control effects under different external environments and operating conditions and solving the problem of poor power control effect of the range extender.

[0119] It should be noted that the above-mentioned various modules can be functional modules or program modules, and can be implemented either by software or by hardware. For the modules implemented by hardware, the above-mentioned various modules can be located in the same processor; or the above-mentioned various modules can also be located in different processors in any combined form.

[0120] In this embodiment, a computer device is also provided, including a memory and a processor. A computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0121] Optionally, the above-mentioned computer device may further include a transmission device and an input / output device, wherein the transmission device is connected to the above-mentioned processor, and the input / output device is connected to the above-mentioned processor.

[0122] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation manners, and will not be repeated in this embodiment.

[0123] In addition, in combination with the range extender power closed-loop control method provided in the above embodiment, a storage medium can also be provided to implement it in this embodiment. A computer program is stored on the storage medium; when the computer program is executed by the processor, it implements any one of the range extender power closed-loop control methods in the above embodiment.

[0124] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0125] It should be understood that the specific embodiments described herein are for the purpose of explaining this application and not for limiting it. All other embodiments obtained by those of ordinary skill in the art based on the embodiments provided in this application without creative efforts shall fall within the protection scope of this application.

[0126] Obviously, the accompanying drawings are only some examples or embodiments of this application. For those of ordinary skill in the art, this application can also be applied to other similar situations based on these drawings without creative efforts. Additionally, it can be understood that although the work done during the development here may be complex and time-consuming, for those of ordinary skill in the art, certain design, manufacturing, or production changes based on the technical content disclosed in this application are only routine technical means and should not be regarded as insufficient disclosure of this application.

[0127] The term "embodiment" in this application means that the specific features, structures, or characteristics described in connection with the embodiments may be included in at least one embodiment of this application. The phrase appears at various positions in the specification and does not necessarily mean the same embodiment, nor does it mean being independent or alternative to other embodiments and mutually exclusive. Those of ordinary skill in the art can clearly or implicitly understand that the embodiments described in this application can be combined with other embodiments without conflict.

[0128] The above-described embodiments only represent several implementation manners of this application, and their descriptions are relatively specific and detailed, but should not be construed as a limitation on the scope of patent protection. It should be noted that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can still be made, and these all belong to the protection scope of this application. Therefore, the protection scope of this application shall be subject to the appended claims.

Claims

1. A range extender power closed-loop control method, characterized in that: include: Determine the target torque of the closed-loop control according to the requested power, actual speed and generator efficiency of the range extender; Obtaining a feedforward torque for closed-loop control according to the target torque and the acquired required torque; Obtaining a torque intervention result according to the feedforward torque and the intervention amount calculated by the closed-loop control; The demand torque is intervened according to the torque intervention result to obtain an actual request torque, so as to control the actual power of the range extender through the actual request torque.

2. The range extender power closed-loop control method according to claim 1, characterized in that: Determining the target torque of the closed-loop control according to the requested power, actual speed and generator efficiency of the range extender includes: Obtaining a theoretical power closed-loop torque according to the requested power and the actual speed; Obtaining the generator efficiency by looking up a table according to the theoretical power closed-loop torque and the actual speed; The target torque is calculated according to the theoretical power closed-loop torque and the generator efficiency.

3. The method for closed-loop power control of a range extender according to claim 1, characterized in that: The method further comprises: According to the requested power, the required torque is obtained by looking up a table.

4. The method for closed-loop power control of a range extender according to claim 1, characterized in that: The step of obtaining a torque intervention result based on the feedforward torque and the intervention amount calculated by the closed-loop control includes: The feedforward torque is used as the feedforward of the closed-loop control and is added to the intervention amount calculated by the closed-loop control to obtain the torque intervention result.

5. The range extender power closed-loop control method according to claim 4, characterized in that: The method further comprises: According to the actual speed, a proportional term coefficient and an integral term coefficient of a closed-loop control are determined by looking up a table; According to the proportional term coefficient and the integral term coefficient, the requested power is used as the control target value of the closed-loop control, and the actual power of the range extender is used as the observed value of the closed-loop control, and the intervention amount of the closed-loop control on the torque is output.

6. The range extender power closed-loop control method according to claim 5, characterized in that: The method further comprises: When the difference between the requested powers at adjacent moments is greater than the preset power value, or the difference between the actual speeds at adjacent moments is greater than the preset speed value, the integral term of the closed-loop control is reset.

7. The method for closed-loop power control of a range extender according to claim 5, characterized in that: The method further comprises: Setting the maximum limit and the minimum limit of the torque intervention result; When the torque intervention result reaches the maximum limit value or the minimum limit value, the integral accumulation of the closed-loop control integral term is stopped, and the value of the current integral term is latched.

8. A range extender power closed-loop control device, characterized in that: include: A torque acquisition module, used to determine the target torque of the closed-loop control according to the requested power, actual speed and generator efficiency of the range extender; A feedforward calculation module, used for obtaining a feedforward torque for closed-loop control according to the target torque and the acquired required torque; An intervention calculation module, used for obtaining a torque intervention result according to the feedforward torque and the intervention amount calculated by the closed-loop control; The torque intervention module is used to intervene in the required torque according to the torque intervention result to obtain an actual requested torque, so as to control the actual power of the range extender through the actual requested torque.

9. A computer device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to execute the range extender power closed-loop control method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the range extender power closed-loop control method according to any one of claims 1 to 7 are implemented.

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