基于规则的混合动力矿用自卸车能量管理策略研究

doi:10.16182/j.issn1004731x.joss.23-1218

系统仿真学报 ›› 2025, Vol. 37 ›› Issue (2): 487-497.doi: 10.16182/j.issn1004731x.joss.23-1218

• 研究论文 • 上一篇

基于规则的混合动力矿用自卸车能量管理策略研究

刘建功¹^,², 张远辉¹, 魏菲³, 王毅颖¹^,⁴, 李晓岭⁵, 刘佩情¹, 司冯淼¹

^1.河北工程大学机械与装备工程学院，河北邯郸 056038
^2.河北省煤矿生态保护开采产业技术研究院，河北邯郸 056038
^3.天津康复疗养中心信息科，天津 300191
^4.河北省冀南新区现代装备制造协同创新中心，河北邯郸 056038
^5.邯郸科技职业学院计算机系，河北邯郸 056046

收稿日期:2023-10-10 修回日期:2023-12-05 出版日期:2025-02-14 发布日期:2025-02-10
通讯作者: 李晓岭
第一作者简介:刘建功(1956-)，男，教授，博士，研究方向为智能装备、智能控制。
基金资助:
河北省高等学校科学技术研究项目(CXY2023002)

Research on Rule-based Energy Management Strategy of Hybrid Mining Dump Truck

Liu Jiangong¹^,², Zhang Yuanhui¹, Wei Fei³, Wang Yiying¹^,⁴, Li Xiaoling⁵, Liu Peiqing¹, Si Fengmiao¹

^1.School of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan 056038, China
^2.Hebei Institute of Coal Mining Technology for Ecological Protection, Handan 056038, China
^3.Information Department of Tianjin Rehabilitation and Recuperation Center, Tianjin 300191, China
^4.Collaborative Innovation Center of Modern Equipment Manufacturing of Jinan New Area(Hebei), Handan 056038, China
^5.Department of Computer, Handan Vocational College of Science and Technology, Handan 056046, China

Received:2023-10-10 Revised:2023-12-05 Online:2025-02-14 Published:2025-02-10
Contact: Li Xiaoling

摘要/Abstract

摘要：

为改善传统柴油矿用自卸车存在的动力性不足、燃油经济性不佳等问题，提出一种分布式混合动力传动系统结构和基于规则的能量管理策略。通过对矿用自卸车的运动特征进行分析，构建分布式混合动力系统结构，给出车辆行驶工况，制定了相关的模式切换规则。仿真结果表明：分布式混合动力系统结构使车辆在使用第三挡进行爬坡时，其爬坡能力提高了27%；同时通过采用基于规则能量管理策略，混合动力矿用自卸车的油耗较原型车降低了19%。基于规则的能量管理策略提高了燃油经济性，为提升能源利用效率和环境友好性提供了支持。

关键词: 混合动力矿车, 基于规则, 能量管理策略, 动力性, 燃油经济性

Abstract:

A distributed hybrid powertrain system structure and a rule-based energy management strategy are proposed to address the problems of insufficient power and poor fuel economy in conventional diesel-powered mining dump trucks. By analyzing the operational characteristics of mining dump trucks, a distributed hybrid powertrain system structure and vehicle driving conditions are established, relevant mode-switching rules are formulated. The results demonstrate that the proposed distributed hybrid powertrain system structure enhances the climbing capability of the vehicle by 27% when using the third gear for uphill driving. In addition, the adoption of the rule-based energy management strategy results in an 19% reduction in fuel consumption compared to the prototype vehicle. The rule-based energy management strategy improves fuel consumption and helps to increase energy efficiency and environmental friendliness.

Key words: hybrid mine car, based on rules, energy management strategy, powerfulness, fuel economy

中图分类号:

TP391.9

刘建功,张远辉,魏菲等 . 基于规则的混合动力矿用自卸车能量管理策略研究[J]. 系统仿真学报, 2025, 37(2): 487-497.

Liu Jiangong,Zhang Yuanhui,Wei Fei,et al . Research on Rule-based Energy Management Strategy of Hybrid Mining Dump Truck[J]. Journal of System Simulation, 2025, 37(2): 487-497.

图/表 16

图1

表1

表2

表3

图2

图3

图4

表4

图5

表5

各模式下的动力部件扭矩分配

工作模式	发动机输出扭矩	电机输出扭矩
发动机驱动	T_req	0
电机驱动	0	T_req
混合驱动	T_req–T_m	min( $T m_m a x$ , $T r e q - T e p$ )
行车充电	$T e_l$	$T r e q - T e_l$
制动回收	0	max( $T b r e q, T m r e, m a x$ )

表5

图6

图7

图8

图9

图10

图11

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参数名称	数值
轴数	6×4
驱动轮数	4
整备质量/kg	11 000
额定载重量/kg	22 000
外形尺寸(长×宽×高)/mm	7 600×2 450×2 500
车轮半径/m	0.483
迎风面积/m²	6.13
轴距/mm	3 600+1 600
风阻系数	0.65
主减速比	6.62/20.68
变速箱传动比	9.3/5.43/3.64/2.53/1.92/1.33/1

名称	参数
发动机	6缸，额定功率140 kW，额定转矩780 N·m，额定转速2 200 r/min
电机	最大扭矩710 N·m，额定功率76 kW，额定扭矩300 N·m
动力电池	容量175 Ah

变量名	含义	门限值
C_c	动力电池当前SoC值	—
C_l/%	允许动力电池放电最小电荷量	10
C_h/%	允许动力电池充电最大电荷量	85
T_req	车辆需求扭矩	—
T_{e_l}	发动机低负荷转矩曲线	查表
T_{e_h}	发动机高负荷转矩曲线	查表
u/(km/h)	允许制动能量回收的最小车速	3

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基于规则的混合动力矿用自卸车能量管理策略研究

Research on Rule-based Energy Management Strategy of Hybrid Mining Dump Truck

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