Hardware In Loop Control Research On Hybrid Electric Tracked Vehicle

As the core of electric tracked vehicles‘ control system,the whole-vehicle control unit plays an important role in dynamic and reliable performance.The dissertation mainly takes the series hybrid tracked vehicle into research,aiming at building the test platform of real engine and the VCU in loop,basing on which,the study of hybrid tracked vehicle powertrain system in loop is developed.First,on the basis of introducing the series hybrid tracked vehicle's structure and analyzing the engine generator set's working characteristic,working patterns in different energy flow are analyzed,meanwhile,the Matlab/Simulink model is built.Also,whether the vehicle is equipped with or without battery,the control strategies are designed to meet the power the vehicle needs byseveral speed switching.The theory and demand of the test platform are studied,which helps to put forward the platform testing project of the real time simulation machine,AVL dyno,engine and VCU in loop Then comes a series of principal work including the establishing of dyno's real time loading strategies,the definition of CAN network and the foundation of the RT-LAB vehicle model facing the platform control.Due to the use of MotoTron controller that can achieve the automatic code generation,the whole-vehicle's control project and algorithm have been accomplished by the theory of finite state machine.To be specific,during this process,the electronic throttle control system and speed of engine are real controlled objects while the RT-LAB model is taken as a virtual controlled object.Via the cascadePI control theory and the modified control algorithm,the control of the electronic throttle control system and engine speed in loop has been completed,as well as each control parameter assisting in obtaining the proper control characteristic of the engine speed.Eventually,in order to verify the feasibility and effectivity of the whole-vehicle control algorithm in controlling engine speed and the vehicle's power chain coordination,the overall platform test of the ?Engine-VCU? hardware in loop has been conducted.