CN101446348A - System constraints method ofcontrolling operation of an electro-mechanical transmission with an additional constraint range - Google Patents

Abstract

A method for controlling an electromechanical transmission mechanically coupled to first and second electric machines to transmit power to an output member includes determining motor torque constraints and battery power constraints. A preferred output torque to an output member is determined that is achievable within the motor torque constraints, within a range for an additional torque input and based upon the battery power constraints.

Description

System constraints method with the running of additional constraint scope control electro-mechanical transmission

The cross reference of associated documents

[0001] to require 11/01/2007 application number that proposes be the rights and interests of 60/984,492 U.S. Provisional Application to the application, and be hereby incorporated by.

Technical field

[0002] the present invention relates to the control system of electro-mechanical transmission.

Background technique

[0003] statement in this section only provides background information related to the present invention but may not constitute prior art.

[0004] known mixed power architecture comprises many torques generating means, and it comprises internal-combustion engine and non-combustion machine, for example by gear arrangement transmission of torque is arrived the motor of output block.That the hybrid power system of an example comprises is double mode, combination-decomposing type, utilize input block to receive the electro-mechanical transmission and the output block of drag torque from the prime mover power source that is preferably internal-combustion engine.The power train that described output block is operably connected to motor vehicle is with to its transmitting tractive moment.Machinery, as motor or generator operation, the input torque that can be independent of from internal-combustion engine produces the torque that inputs to described speed changer.Described machine can convert the vehicle energy that is come by the vehicle transmission system transmission to be stored in the electrical energy storage device electric energy.Control system monitoring is from vehicle and operator's various inputs and control the operation of described hybrid power system, comprise control speed changer working state and gear shift, controlling torque generating means and be adjusted in electrical energy storage device and described machine between energy mutually conversion comprise torque and rotating speed with the output of control speed changer.

Summary of the invention

[0005] dynamical system comprises electro-mechanical transmission that mechanically operable ground links to each other with internal-combustion engine and first and second motors that power passed to output block.A kind of method of controlling electro-mechanical transmission comprises the motor torque constraint conditio of determining first and second motors, and the power of battery constraint conditio of definite electrical energy storage device.Determined to input to the scope of the additional torque of electro-mechanical transmission.In motor torque constraint conditio and additional torque input range, determine preferred output torque to the electro-mechanical transmission output block based on power of battery constraint conditio.

Description of drawings

[0006] referring now to the mode of accompanying drawing one or more embodiments are described by example, wherein:

[0007] Fig. 1 is the schematic representation according to example dynamical system of the present invention;

[0008] Fig. 2 is the schematic representation according to the example structure of dynamical system of the present invention and control system;

[0009] Fig. 3-the 4th is according to coordinate diagram of the present invention; With

[0010] Fig. 5 is according to algorithm flow chart of the present invention.

Embodiment

[0011] description, it only illustrates certain illustrative embodiments, rather than to the restriction of mode of execution, Fig. 1 and Fig. 2 have described exemplary electrical-mechanical mixing power system.Fig. 1 has described according to exemplary electrical of the present invention-mechanical mixing dynamical system, comprises double mode, combination-decomposing type, is operably connected to the electromechanical hybrid gearbox 10 and first the motor (' MG-A ' on the motor 14) 56 and second the motor (' MG-B ') 72.Motor 14 and first and second motors 56 and 72 produce the power that is sent to speed changer 10 respectively.Produce and be sent to the power of speed changer 10 by described motor and first and second motors 56 and 72, be described as using respectively T _I, T _AAnd T _BThe expression input and motor torque and use N _I, N _AAnd N _BThe speed of expression.

[0012] exemplary engine 14 comprises and optionally works under a plurality of states, by input shaft 12 torque is sent to the multi-cylinder engine of speed changer 10, and it can be spark-ignition type or compression ignition engine.Motor 14 comprises the bent axle (not shown) on the input shaft 12 that is operably connected to speed changer 10.The rotating speed of the described input shaft 12 of speed probe 11 monitorings.The power output of motor 14 comprises rotating speed and engine torque, and it is different from the input speed N that imports speed changer 10 into _IWith input torque T _I, because on the input shaft 12 between motor 14 and the speed changer 10, be provided with the parts that consume torque, for example, oil hydraulic pump (not shown) and/or torque control unit (not shown).

[0013] this exemplary speed changer 10 comprises three planetary gear set 24,26 and 28, and four torque transmitters that can optionally engage, that is, and and clutch C1 70, C2 62, C3 73 and C4 75.Here, clutch refers to the friction torque transfer unit of any kind, comprises for example single or combined clutch or clutch pack, band clutch and break.Hydraulic control circuit 42 is preferably by transmission control module (hereinafter being ' TCM ') 17 controls, in order to the solenoidoperated cluthes state.Clutch C2 62 and C4 75 preferably comprise hydraulic type spin friction clutch.Clutch C1 70 and C3 73 preferably comprise the hydraulic controlling type fixing device, and it can be connected to (grounded to) gearbox 68 selectively by shelves.Among clutch C1 70, C2 62, C3 73 and the C4 75 each is hydraulic type preferably, and can receive pressurized hydraulic fluid by this hydraulic control circuit 42 selectively.

[0014] this first and second motor 56 and 72 preferably comprises three phase alternating current motor, comprises stator (not shown) and rotor (not shown) and phase splitter separately 80 and 82 separately.The motor stator shelves of each motor are connected to the outside of described gearbox 68, and comprise the stator iron core that has the coil winding of extending therefrom.The rotor bearing of described first motor 56 is on the hub plate gear, and it is connected on the axle 60 by second planetary gear set 26.The rotor of second motor 72 is fixedly connected to quill drum 66.

[0015] each phase splitter 80 and 82 preferably comprises the variable reluctance device, and it comprises phase splitter stator (not shown) and phase splitter rotor (not shown).Described phase splitter 80 and 82 is suitably arranged and is assemblied on corresponding first and second motors 56 and 72.Described phase splitter 80 and 82 corresponding stator are operably connected in the stator of described first and second motors 56 and 72.The phase splitter rotor is operably connected on the respective rotor of the one the second motors 56 and 72.But each phase splitter 80 and 82 signal communication ground also is operably connected to variator power transducer control module (hereinafter ' TPIM ') 19, and separately perception and monitoring phase splitter rotor with respect to the rotational position of phase splitter stator, thereby monitor the rotational position of the respective rotor of first and second motors 56 and 72.In addition, the output of described phase splitter 80 and 82 signal is translated and is respectively applied for the rotating speed that first and second motors 56 and 72 are provided, i.e. N _AAnd N _B

[0016] speed changer 10 comprises output block 64, for example the axle, it is operably connected to the power train 90 of vehicle (not shown), to provide the output power that is passed to vehicle wheel 93 to described power train 90, one of them wheel as shown in Figure 1.Output power on the described output block 64 is characterized by output speed N _OWith output torque T _OThe rotating speed and the sense of rotation of the described output block 64 of speed changer output speed sensor 84 monitorings.Each wheel 93 preferred sensor 94 that are equipped with is to be used for the monitoring wheel rotating speed, its output is by the control module monitoring of distributed control module system shown in Figure 2, to determine car speed and to be used to brake the absolute rotating speed of wheel and the relative rotation speed of control, tractive force control and vehicle acceleration control.

[0017] motor torque of the input torque of motor 14 and first and second motors 56 and 72 (is respectively T _I, T _A, and T _B) produce by transformation of energy by fuel or the electrical potential energy that is stored in the electrical energy storage device (hereinafter ' ESD ') 74.ESD 74 is coupled to TPIM 19 by direct current conductor 27 high voltage direct current.Described conductor 27 comprises contactless contactor 38.When contactless contactor 38 closures, under normal operation, electric current can flow between ESD 74 and TPIM 19.Mobile be cut off of electric current between ESD 74 and TPIM 19 when described contactless contactor 38 is opened.Described TPIM 19 receives electric energy by conductor 29 to 56 transmission of described first motor or from it, and transmit or receive electric energy to described second motor 72 by conductor 31 similarly from it, with meet be used for described first and second motors 56 and 72 in response to described motor torque T _AAnd T _BTorque command.Whether electric current just is input to ESD 74 or from its output in charge or discharge according to described ESD 74.

[0018] described TPIM 19 comprises a pair of power converter (not shown) and corresponding motor control module (not shown), and motor control module is set to receive described torque instruction and comes control transformation device state to meet instruction motor torque T to provide _AAnd T _BMotor driving or regeneration function.Described power converter comprises the three phase power electronic equipment of known complementation, and it comprises that separately a plurality of direct currents that switch ESD 74 by high frequency are converted to Ac to be respectively the igbt (not shown) of first and second motors 56 and 72 power supplies.Described igbt forms the switch mode power that is set to receive control command.Generally all there is a pair of igbt respectively in each phase at three phase electric machine.The state of described igbt is controlled to provide motoring to produce machine power or electric power regeneration function.Described three phase converer receives by direct current conductor 27 or direct current is provided and itself and threephase AC are changed mutually, threephase AC conducts to first and second motors 56 and 72 or from its reception by conductor 29 and 31 respectively, with as motor or generator.

[0019] Fig. 2 is the skeleton diagram of described distributed control module system.Element described below comprises a subclass of rolling stock control structure, and the cooperative system control of hybrid power system shown in Figure 1 is provided.Described distributed control module system synthesis relevant information and input; and execution algorithm satisfies control target to control various actuators, comprises with fuel economy, discharging, performance, cornering ability and comprises the battery of ESD 74 and the related objective of the hardware protection of first and second motors 56 and 72.Described distributed control module system comprises engine control module (hereinafter ' ECM ') 23, TCM 17, battery pack control module (hereinafter ' BPCM ') 21 and TPIM 19.Mix control module (hereinafter ' HCP ') 5 monitoring and the coordination of described ECM 23, described TCM 17, described BPCM 21 and described TPIM 19 is provided.User interface (' UI ') but 13 signals are connected in multiple arrangement, vehicle operators is by the control of this multiple arrangement or instruct the operation of described electro-mechanical hybrid power system.Described device comprises accelerator pedal 113 (' AP '), operator's braking pedal 112 (' BP '), Transmission gear selector 114 (' PRNDL ') and speed of a motor vehicle cruise control (not shown).Described gear selector 114 can have the gear positions that a plurality of discrete Gong operators select, and the sense of rotation that comprises described output block 64 is to provide one of the direction that moves forward and backward.

[0020] above-mentioned control module and other control modules, sensor and actuator are by Local Area Network (hereinafter ' LAN ') bus 6 communications.Described LAN bus 6 allows working status parameter and actuator command signal to carry out the structuring communication between different control modules.The concrete communication protocol that adopts is specified according to using.Described LAN bus 6 and appropriate protocol are in above-mentioned control module and provide other functions for example to provide powerful communication and multiple control module interface between the control module of the control of brake anti-blocking, tractive force and intact stability.Multiple communication bus can be used for improving communication speed and certain other signal redundancy of level and integrity degree are provided.Communication between individual control module can also adopt direct connection to realize, for example, and Serial Peripheral Interface (SPI) (' SPI ') bus (not shown).

[0021] described HCP 5 provides the monitoring of described hybrid power system, is used for coordinating the operation of described ECM 23, TCM17, TPIM 19 and BPCM 21.Based on from user interface 13 with comprise the various input signals of the hybrid power system of ESD 74, described HCP 5 determines operator's torque requests, output torque command, engine input torque order, transmission of torque clutch C1 70, the C2 62 of employed speed changer 10, the clutch torque of C3 73, C4 75, and the motor torque T of first and second motors 56 and 72 _AAnd T _BDescribed TCM 17 is operably connected to described hydraulic control circuit 42 and provides various functions to comprise the various pressure transducer (not shown) of monitoring and generate and send control signal and arrives various electromagnetic coil (not shown), thereby is controlled at pressure switch and control valve in the hydraulic control circuit 42.

[0022] described ECM 23 is operably connected to described motor 14, and act as by many separated times, for simplicity illustrates with set bidirectional interface cable 35, obtains sensing data and controls the actuator of motor 14.Described ECM 23 receives the engine input torque order from described HCP 5.Described ECM 23 is based on the engine speed that is passed to described HCP 5 and the load of monitoring, and determining provides to the actual input torque T of the motor of described speed changer 10 at that time point _ITo determine the motor input speed to input shaft 12, it is converted into speed changer input speed, N from the input of speed probe 11 in described ECM 23 monitorings _IDescribed ECM 23 monitorings, comprise, for example mainfold presure, engineer coolant temperature, ambient air temperature and external pressure to determine the state of other engine operating parameters from the input of sensor (not shown).Described engine loading can by, for example, described mainfold presure determines, perhaps, according to the operator of monitoring the input of accelerator pedal 113 determined.Described ECM 23 produces and passes on the actuator of command signal with the control motor, comprises, for example, and fuel injector, ignition module and closure control module, all not shown.

[0023] described TCM 17 is operably connected to the input of speed changer 10 and monitoring sensor (not shown) to determine the state of speed changer running parameter.Described TCM 17 produces and passes on command signal with control speed changer 10, comprises the described oil hydraulic circuit 42 of control.Comprise from the input of TCM 17 to HCP 5 and to be used for each clutch, i.e. the output speed N of the estimation clutch torque of C1 70, C2 62, C3 73 and C4 75, and output block 64 _OIn order to control, other actuators and sensor can be used for providing supplementary from TCM 17 to HCP 5.TCM 17 monitoring is from the input of pressure switch (not shown) and activate the electromagnetic pressure control coil (not shown) of hydraulic control circuit 42 selectively and the electromagnetic coil (not shown) that is shifted reaches different speed changer work range states to activate each clutch C1 70, C2 62, C3 73 and C4 75 selectively, and is as mentioned below.

[0024] but described BPCM 21 signals are connected in the sensor (not shown) with monitoring ESD 74, comprise the state of electric current and voltage parameter, with the information of battery parameter state that indication ESD 74 is provided to HCP 5.The parameter state of described battery preferably includes battery charging state, cell voltage, battery temperature and the available power of battery, and it is in P _{BAT_MIN}To P _{BAT_MAX}Scope.

[0025] braking control module (hereinafter ' BrCM ') 22 functionally is connected to the friction brake (not shown) of each wheel 93.Described BrCM 22 monitoring operators control described friction brake and send control signals to described HCP 5 to operate described first and second motors 56 and 72 based on it to produce control signal the input of braking pedal 112.

[0026] each described control module, ECM 23, TCM 17, TPIM 19, BPCM 21 and BrCM22 are preferably general purpose digital computer, it comprises microprocessor or central processing unit (CPU), comprises ROM (read-only memory) (ROM '), random access memory (RAM '), the storage medium of electrically programable ROM (' EPROM '), high-frequency clock, analog-to-digital conversion (' A/D ') and digital-to-analog conversion (' D/A ') circuit and input/output circuitry and device (' I/O ') and appropriate signals are regulated and the buffering circuit.Each control module has a cover control algorithm, comprises in one that is stored in the described storage medium and is performed so that the resident program instructions and the calibration of computer function separately to be provided.Information transmission between control module preferably adopts described LAN bus 6 and serial peripheral interface bus to realize.Described control algorithm is carried out in the cycle period that presets, and each algorithm is carried out once in each cycle period at least.The algorithm that is stored in described Nonvolatile memory devices is carried out by of described central processing unit, and from the input of sensor and carry out control and diagnostic routine is controlled the operation of actuator, it adopts the calibration of presetting with monitoring.Carry out cycle period at regular intervals, for example carrying out duration of work once every 3.125,6.25,12.5,25 and 100 milliseconds of execution at described hybrid power system.Perhaps, algorithm can be carried out in response to the generation of an incident.

[0027] a described exemplary hybrid power system job in some work range states selectively, it can be described as comprising one engine condition during state (' ON ') left by motor and motor disconnects (' OFF '), with the transmission state that comprises a plurality of fixed gear ratio and continuous variable operator scheme, referring to following table 1.

Table 1

[0028] each speed changer work range state is described in described table and has been pointed out that among described concrete clutch C1 70, C2 62, C3 73 and the C4 75 which is used for each work range state.Choose the first continuous variable pattern by clutch C1 70 ＂ shelves being met ＂ to the external toothing parts of described the third line star gear device 28, for example, EVT pattern 1, perhaps M1.Described engine condition can be ON (' M1_Eng_On ') or ' M1_Eng_Off ') in one.Choose the second continuous variable pattern by the planet carrier that uses clutch C2 62 only axle 60 to be connected to described the third line star gear train 28, for example the EVT pattern 2, perhaps M2.Described engine condition can be ON (' M2_Eng_On ') or ' M2_Eng_Off ') in one.In order to describe, when described engine condition was OFF, the motor input speed was equivalent to zero rev/min (RPM '), that is to say, engine crankshaft is rotation not.The static stall operation provides speed changer 10 with fixing input output velocity ratio, i.e. N _I/ N _O, operation.First static stall operation (' G1 ') is chosen by using clutch C1 70 and C4 75.Second static stall operation (' G2 ') is chosen by using clutch C1 70 and C2 62.The 3rd static stall operation (' G3 ') is chosen by using clutch C2 62 and C4 75.The 4th static stall operation (' G4 ') is chosen by using clutch C2 62 and C3 73.Because the gear of described planetary gear system 24,26 and 28 is than reducing successively, the fixed ratio operation of input output velocity ratio increases along with the increase of static stall.Described first and second motors 56 and 72 rotating speed are respectively N _AAnd N _B, depend on by the interior rotation of the defined mechanism of described clutch and with proportional in the input speed that records at described input shaft 12 places.

[0029] operator who obtains in response to user interface 13 is to the input of accelerator pedal 113 and braking pedal 112, HCP 5 and one or more other control modules are determined torque command to control described torque generating means, comprise the motor 14 and first and second motors 56 and 72 to meet operator's torque requests that output block 64 places are passed to power train 90.Based on from described user interface 13 with comprise the input signal of the hybrid power system of ESD 74, HCP 5 determine between operator's torque requests, speed changer 10 and the power trains 90 order output torque, from the input torque of motor 14, be used for transmission of torque clutch C1 70, the C2 62 of speed changer 10, the clutch torque of C3 73, C4 75, and the motor torque that is respectively applied for first and second motors 56 and 72, will be described below.Described instruction output torque can be a pull-up torque, wherein torque flow (torque flow) comes from motor 14 and first and second motors 56 and 72 and be delivered to power train 90 via speed changer 10, also can be anti-torque, it comes from the wheel 93 of power train 90 and is delivered to first and second motors 56 and 72 and motor 14 via speed changer 10.

[0030] final vehicle acceleration is affected by other factors, and for example comprises road load, road grade and vehicle weight.The work range state of speed changer 10 is determined based on the various performance characteristic of hybrid power system.This comprises the above-described operator's torque requests that is conveyed to user interface 13 via accelerator pedal 113 and braking pedal 112.The work range state can need predicted based on the torque of mixed power system, and described torque need be produced by the instruction that order first and second motors 56 and 72 run under electric energy generate pattern or the torque generate pattern.The work range state can be determined that its energy efficiency based on operator's power needs, battery charging state and motor 14 and first and second motors 56 and 72 is determined optimizer system efficient by optimization algorithm or program.Described control system is controlled the torque input of motor 14 and first and second motors 56 and 72 based on the execution result of optimum procedure, thereby and optimization system efficient, with control fuel economy and charge in batteries.And operation can be determined based on the fault of part or system.The described torque generating apparatus of HCP 5 monitoring, and determine that in response to output torque required on the output block 64 power of the speed changer 10 that needs exports to satisfy operator's torque requests.Apparent from the above description, be that electricity functionally connects to use electric energy circulation therebetween between ESD 74 and first and second motors 56 and 72.In addition, motor 14, first and second motors 56 are mechanically functionally to be connected with transferring power betwixt to produce power circuits to give output block 64 with 72 with electro-mechanical transmission 10.

[0031] running of motor 14 and speed changer 10 is subjected to the constraint of power, engine torque and the speed limit of first and second motors 56 and 72, ESD74 and clutch C1 70, C2 62, C3 73 and C4 75.The operation constraint conditio of motor 14 and speed changer 10 can be converted into a group system constraining equation, and it is in one of described control module, and for example HCP5 is performed as one or more algorithm.

[0032], under commentaries on classics for the national games, make speed changer 10 operate under one of described work range state by the actuating of selecting one or two torque transfer clutch still with reference to figure 1.Determine each the torque constraint conditio in motor 14 and first and second motors 56 and 72, and motor 14, first and second motors 56 and 72 and the output block 64 of speed changer 10 in each constraint of velocity condition.The power of battery constraint conditio of ESD74 is determined and is used for further limiting the motor torque constraint conditio of first and second motors 56 and 72.Utilize the system restriction conditional equation, determine preferred dynamical system operation interval based on power of battery constraint conditio, motor torque constraint conditio and constraint of velocity condition.This preferred operation interval comprises a series of admissible operation torque or the speed of motor 14 and first and second motors 56 and 72.

[0033] by deriving and solve simultaneously the dynamical equation of speed changer 10, can determine torque limit by following linear equation, i.e. output torque To in this embodiment:

T _M1＝T _AtoT _M1*T _A+T _BtoT _M1*T _B+Misc_T _M1 [1]

T _M2＝T _AtoT _M2*T _A+T _BtoT _M2*T _B+Misc_T _M2 [2]

T _M3＝T _AtoT _M3*T _A+T _BtoT _M3*T _B+Misc_T _M3 [3]

Wherein, in this embodiment,

T _M1The output torque T of expression output block 64 _O,

T _M2The input torque T of expression input shaft 12 _I,

T _M3The reaction clutch torque that is used among transmission of torque clutch C1 70, the C2 62 of expression speed changer 10, C3 73, the C4 75,

T _AToT _M1, T _AToT _M2, T _AToT _M3Be T _ARespectively to T _M1, T _M2, T _M3Contribution coefficient,

T _BToT _M1, T _BToT _M2, T _BToT _M3Be T _BRespectively to T _M1, T _M2, T _M3Contribution coefficient,

Misc_T _M1, Misc_T _M2And Misc_T _M3Be to pass through N _{I_DOT}, N _{O_DOT}, N _{C_DOT}(time rate of change of input speed, output speed and clutch slip speed (clutch slip speed)) contributes to T respectively _M1, T _M2, T _M3Constant and

T _AAnd T _BIt is the motor torque of first and second motors 56 and 72.

Torque parameter T _M1, T _M2, T _M3Can be any three independent parameter, this depends on concrete application.

[0034] owing to mechanical narrow limitation and system's narrow limitation, motor 14 and speed changer 10 and first and second motors 56 and 72 have the constraint of velocity condition, torque constraint conditio and power of battery constraint conditio.

[0035] the constraint of velocity condition can comprise the N of motor 14 _IThe constraint of velocity condition of=0 (engine stop-state), wherein N _IIn 600rpm (idle running) arrives the 6000rpm scope.First and second motors 56 and 72 constraint of velocity condition can be as follows:

-10,500rpm≤N _A≤+10,500rpm and

-10,500rpm≤N _B≤+10,500rpm。

[0036] torque constraint conditio comprises the T that comprises of motor _{I_MIN}≤ T _I≤ T _{I_MAX}Torque constraint conditio, and first and second motors comprise T _{A_MIN}≤ T _A≤ T _{A_MAX}And T _{B_MIN}≤ T _B≤ T _{B_MAX}Motor torque constraint conditio.Motor torque constraint conditio T _{A_MIN}And T _{A_MAX}Torque limit when comprising first motor 56 respectively as motor that produces torque and generator work.Motor torque constraint conditio T _{B_MIN}And T _{B_MAX}Torque limit when comprising second motor 72 respectively as motor that produces torque and generator work.Preferably obtain minimum and maximum motor torque constraint conditio T the data array in one of memory device of being stored in one of control module with form _{A_MAX}, T _{A_MIN}, T _{B_MAX}, T _{B_MIN}Can be under all temps and voltage conditions, the motor of combination and power electronics devices (for example, power converter) are carried out traditional dynamometer test obtain such data array.

[0037] power of battery constraint conditio comprises from P _{BAT_MIN}To P _{BAT_MAX}Available battery power in the scope, wherein P _{BAT_MIN}Be admissible minimum battery charge power, P _{BAT_MAX}It is admissible largest battery discharge power.For just, be negative during charging when the power of battery is defined as discharge.

[0038] in constraint of velocity condition, motor torque constraint conditio, clutch torque constraint conditio and power of battery constraint conditio scope, determining T during the continuous service down _M1Minimum and maximum value, thereby control motor 14, the first and second motors 56 and 72 also are expressed as motor A56 and motor B 72, and the running of speed changer 10 is with the torque requests that satisfies the operator and instruction output torque.

[0039] can determine to comprise the operating range of torque output area based on the power of battery constraint conditio of ESD74.The power of battery P that uses _BATComputational methods as follows:

P _BAT＝P _A，ELEC+P _B，ELEC+P _{DC_LOAD} [4]

P wherein _{A, ELEC}The electric power that comprises motor A 56,

P _{B, ELEC} Comprise motor B 72 electric power and

P _{DC_LOAD}Comprise the known DC load that comprises accessory load.

[0040] with the P in the equation _{A, ELEC}And P _{B, ELEC}Obtain following equation after substituting:

P _BAT＝(P _A，MECH+P _A，LOSS)+(P _B，MECH+P _B，LOSS)+P _{DC_LOAD} [5]

P wherein _{A, MECH}The mechanical output that comprises motor A 56,

P _{A, LOSS}The power loss that comprises motor A 56,

P _{B, MECH} Comprise motor B 72 mechanical output and

P _{B, LOSS}The power loss that comprises motor B 72.

[0041] equation 5 can be rewritten as 6 expressions of following equation, wherein, uses speed N _AAnd N _B, torque T _AAnd T _BReplace power P _AAnd P _BThis comprises such hypothesis, promptly the loss of motor and transducer can be set up mathematical model with quadratic equation based on torque, and is as follows:

P _BAT＝(N _AT _A+(a ₁(N _A)T _A ²+a ₂(N _A)T _A+a ₃(N _A))) [6]

+(N _BT _B+(b ₁(N _B)T _B ²+b ₂(N _B)T _B+b ₃(N _B)))

+P _{DC_LOAD}

N wherein _A, N _BThe speed that comprises motor A and B 56 and 72,

T _A, T _BComprise motor A and B 56 and 72 speed and

A1, a2, a3, b1, b2, b3 are as motor speed N _A, N _BThe quadratic equation coefficient of function,

[0042] can also be rewritten as 7 expressions of following equation.

P _BAT＝a ₁*T _A ²+(N _A+a ₂)*T _A [7]

+b ₁*T _B ²+(N _B+b ₂)*T _B

+a ₃+b ₃+P _{DC_LOAD}

[0043] calculates into following equation 8.

P _BAT＝a ₁[T _A ²+T _A(N _A+a ₂)/a ₁+((N _A+a ₂)/(2*a ₁)) ²] [8]

+b ₁[T _B ²+T _B(N _B+b ₂)/b ₁+((N _B+b ₂)/(2*b ₁)) ²]

+a ₃+b ₃+P _{DC_LOAD}-(N _A+a ₂) ²/(4*a ₁)-(N _B+b ₂) ²/(4*b ₁)

[0044] calculates into following equation 9.

P _BAT＝a ₁[T _A+(N _A+a ₂)/(2*a ₁)] ²+b ₁[T _B+(N _B+b ₂)/(2*b ₁)] ² [9]

+a ₃+b ₃+P _{DC_LOAD}-(N _A+a ₂) ²/(4*a ₁)-(N _B+b ₂) ²/(4*b ₁)

[0045] calculates into following equation 10.

P _BAT＝[SQRT(a ₁)*T _A+(N _A+a ₂)/(2*SQRT(a ₁))] ² [10]

+[SQRT(b ₁)*T _B+(N _B+b ₂)/(2*SQRT(b ₁))] ²

+a ₃+b ₃+P _{DC_LOAD}-(N _A+a ₂) ²/(4*a ₁)-(N _B+b ₂) ²/(4*b ₁)

[0046] calculates into following equation 11.

P _BAT＝(A ₁*T _A+A ₂) ²+(B ₁*T _B+B ₂) ²+C [11]

A wherein ₁=SQRT (a ₁),

B ₁＝SQRT(b ₁)

A ₂＝(N _A+a ₂)/(2*SQRT(a ₁))，

B ₂=(N _B+ b ₂)/(2*SQRT (b ₁)) and

C＝a ₃+b ₃+P _{DC_LOAD}-(N _A+a ₂) ²/(4*a ₁)-(N _B+b ₂) ²/(4*b ₁)

[0047] motor torque T _AAnd T _BCan be as being downconverted into T _XAnd T _Y:

$\left[\begin{array}{c}{T}_X\\ T_Y\end{array}\right]=\left[\begin{array}{cc}{A}_1& 0\\ 0& B_1\end{array}\right]*\left[\begin{array}{c}{T}_A\\ T_B\end{array}\right]+\left[\begin{array}{c}{A}_2\\ B_2\end{array}\right]---\left[12\right]$

T wherein _XBy T _AConversion,

T _YBy T _BConversion and

A ₁, A ₂, B ₁, B ₂Comprise scalar value at application-specific.

[0048] therefore equation 11 can further do following calculation.

P _BAT＝(T _X ²+T _Y ²)+C [13]

P _BAT＝R ²+C [14]

[0049] equation 12 specifies motor torque T _ABe transformed into T _X, T _BBe transformed into T _YTherefore, defined one new for T _X/ T _YThe system of coordinates in space, equation 13 is with power of battery P _BATBe converted into T _X/ T _YThe space.Thereby, can calculate minimum and maximum power of battery P _{BAT_MAX}And P _{BAT_MIN}Between power of battery scope, and with the space T after the conversion _X/ T _YLast point (0,0) is the center, represents with alphabetical K among Fig. 3, with R _MAXAnd R _MINFor radius illustrates, wherein:

R _MIN=SQRT (P _{BAT_MIN}-C) and

R _MAX＝SQRT(P _{BAT_MAX}-C)。

[0050] preferably with minimum and maximum battery power, P _{BAT_MIN}And P _{BAT_MAX}, with the battery physical parameter, for example, charged state, temperature, voltage and utilization rate (amp hr/hour) are associated.Top parameters C is defined as at given electromotor velocity N _AAnd N _BDown, the absolute value of the possible minimum power of battery in the motor torque limit.In fact, work as T _A=0 and T _B=0 o'clock, first and second motors 56 and 72 output power were 0.In fact, T _X=0 and T _Y=0 maximum charge power corresponding to ESD74.Positive sign ('+') is defined as the discharge from ESD74, and negative sign ('-') is defined as to ESD74 and charges.R _MAXBe defined as maximum battery power, be generally discharge power, R _MINBe defined as minimum battery charge power.

[0051] aforementioned to space T _X/ T _YConversion as shown in Figure 3, be R with radius _MINAnd R _MAXThe power of battery constraint conditio represented of concentric circle (' Battery Power Constraints ') and the motor torque constraint conditio represented of straight line (' Motor Torque the Constraints ') working zone that limits permission.Find out that by analysis with defined vector in the equation 13, it comprises uses R _MINAnd R _MAXIndicated, can be by quilt minimum and maximum battery power P _{BAT_MIN}And P _{BAT_MAX}The motor torque T of constraint conditio _AAnd T _BThe T that is constituted _X/ T _YDetermine the minimum and the maximum battery power of a series of permission torques in the space, the conversion vector [T that determines in energy and the equation 12 _XT _Y] solve simultaneously.T _X/ T _YThe scope of the torque that allows has wherein defined some A, B, C, D and the E of expression border, straight line and radius as shown in Figure 3 in the space.

[0052] T _X/ T _YIn the space definable constant torque line, (' T shown in Figure 3 _M1=C1 '), comprise the breakdown torque T that describes in the front equation 1 _M1This breakdown torque T in this embodiment _M1Comprise output torque T _OAt T _X/ T _YEquation 1,2 and 3 is rewritten as following form in the space.

T _M1＝T _AtoT _M1*(T _X-A ₂)/A ₁+T _BtoT _M1*(T _Y-B ₂)/B ₁+Misc_T _M1 [15]

T _M2＝T _AtoT _M2*(T _X-A ₂)/A ₁+T _BtoT _M2*(T _Y-B ₂)/B ₁+Misc_T _M2 [16]

T _M3＝T _AtoT _M3*(T _X-A ₂)/A ₁+T _BtoT _M3*(T _Y-B ₂)/B ₁+Misc_T _M3 [17]

[0053] with T _{M1_XY}, T _{M2_XY}And T _{M3_XY}Be defined as T _M1, T _M2And T _M3By T _AAnd T _BThat is contributed is that part of, draws:

T _{M1_XY}＝T _AtoT _M1*(T _X-A ₂)/A ₁+T _BtoT _M1*(T _Y-B ₂)/B ₁ [18]

T _{M2_XY}＝T _AtoT _M2*(T _X-A ₂)/A ₁+T _BtoT _M2*(T _Y-B ₂)/B ₁ [19]

T _{M3_XY}＝T _AtoT _M3*(T _X-A ₂)/A ₁+T _BtoT _M3*(T _Y-B ₂)/B ₁ [20]

[0054] following coefficient can be defined by:

T _XtoT _M1＝T _AtoT _M1/A ₁，

T _YtoT _M1＝T _BtoT _M1/B ₁，

T _{M1_}Intercept＝T _AtoT _M1*A ₂/A ₁+T _BtoT _M1*B ₂/B ₁，

T _XtoT _M2＝T _AtoT _M2/A ₁，

T _YtoT _M2＝T _BtoT _M2/B ₁，

T _{M2_}Intercept＝T _AtoT _M2*A ₂/A ₁+T _BtoT _M2*B ₂/B ₁，

T _XtoT _M3＝T _AtoT _M3/A ₁，

T _YToT _M3=T _BToT _M3/ B ₁And

T _{M3_}Intercept＝T _AtoT _M3*A ₂/A ₁+T _BtoT _M3*B ₂/B ₁。

[0055] therefore, equation 1,2 and 3 transforms to T _X/ T _YIn the space, as follows:

T _{M1_XY}＝T _XtoT _M1*T _X+T _YtoT _M1*T _Y+T _{M1_}Intercept [21]

T _{M2_XY}＝T _XtoT _M2*T _X+T _YtoT _M2*T _Y+T _{M2_}Intercept [22]

T _{M3_XY}＝T _XtoT _M3*T _X+T _YtoT _M3*T _Y+T _{M3_}Intercept [23]

[0056] during continuous service, constraint of velocity condition, motor torque constraint conditio and power of battery constraint conditio can be determined and with being transformed T _X/ T _YLinear equation in the space is expressed.Equation 21 comprises describes output torque constraint conditio T _M1, T for example _OThe breakdown torque function.

[0057] can obey equation 22 and 23 defined constraint conditio T by using _M2And T _M3Equation 21 determine to transform to T _X/ T _YMaximum in the space or least limit torque comprise T _{M1_XY}Max and T _{M1_XY}One of Min, for example, the minimum and maximum output torque T after the conversion _{O_Max}And T _{O_Min}, determine the torque limit of speed changer 10, promptly be output torque T in this embodiment _OAt T _X/ T _YMaximum in the space after the conversion or least limit torque can be once more from T _X/ T _YConversion is returned in the space, to determine maximum or least limit torque T _{M1_Max}And T _{M1_Min}Thereby, the operation and the control of speed changer 10 and first and second motors 56 and 72 are handled.

[0058] Fig. 4 shows and is transformed T _X/ T _YMinimum in the space and maximum motor torque constraint conditio T _AAnd T _B(' T _{X_}Min ', ' T _{X_}Max ', ' T _{Y_}Min ', ' T _{Y_}Max ').Power of battery constraint conditio is transformed T _X/ T _YIn the space (' R_Min ', ' R_Max ') and have a central point K, (K _X, K _Y)=(0,0).Described the constraint conditio of the minimum and maximum limit (' Tm2=Tm2_High_Lmt ' and ' Tm2=Tm2_Low_Lmt ') that comprises the additional constraint condition torque, it comprises and is transformed T in the present embodiment _X/ T _YThe input torque T of the input shaft 12 in the space _IScope, and the straight line T that describes by aforementioned equation 22 _{M2_XY}Expression.The straight line T that aforementioned equation 22 is described _{M2_XY}Comprise T _{M2_}Intercept, it is corresponding to engine input torque T _IGreatest limit and least limit have two different values.Alternatively, the second input torque T _{M2_XY}The scope that can also comprise clutch torque or other torque input.

[0059] represents to export torque T with the straight line of representing greatest limit (' Tm1=-Tx+Ty (max) ') and least limit (' Tm1=-Tx+Ty (min) ') _OOperating range.

[0060] constant torque line (' Tm1 ') expression straight line T _{M1_XY}The general formula that in equation 24, has positive slope a/b:

Tm1＝a*Tx+b*Ty+C [24]

Wherein a＜0 and b〉0 and C be constant term.For the needs of explanation, in this description of determining, straight line T _{M1_XY}Positive slope with 1:1.X-intercept C can be varied in minimum or the peak torque one in the equation 24.Therefore, represent to export torque T with the straight line of representing greatest limit (' Tm1=-Tx+Ty (max) ') and least limit (' Tm1=-Tx+Ty (min) ') _OOperating range.

[0061] Fig. 5 has described based on constraint of velocity condition, motor torque constraint conditio and power of battery constraint conditio, and is constrained in the scope of the additional torque input that comprises Tm2 and determines minimum and maximum output torque T _{O_Max}And T _{O_Min}One of flow process.This flow process comprises determining whether optimal solution is the maximum value of output, that is, and and T _{M1_XY}Max is expressed as the Tm1_Max_Flag of marker, and perhaps whether this optimal solution is the minimum value of output, that is, setting identification Tm1_Max_Flag does not indicate T _{M1_XY}Min.Based on T _X/ T _YMotor torque constraint conditio in the space and power of battery constraint conditio are calculated the maximum value (or minimum value) of the first torque Tm1, promptly comprise T _{M1_XY}Max or T _{M1_XY}One of Min, and be (Tx, some P Ty) (or some Q) expression (502) with coordinate among Fig. 4.Calculate the second input torque T by equation 22 _{M2_XY}(' Tm2_Value) (504).Determine the second input torque T _{M2_XY}Whether the value of (' Tm2_Value ') is positioned at the operating range of second input torque, shown in the straight line of the expression upper limit (' Tm2_High_Lmt ') and lower limit (' Tm2_Low_Lmt ') (506).As definite second input torque T _{M2_XY}(' Tm2_Value ') when being positioned at the operating range of second input torque, accepting with coordinate is that (Tx, the maximum value (or minimum value) of the first torque Tm1 of some P Ty) (or some Q) expression is as effectively separating (518).(it is reduced into motor torque (T for Tx, the Ty) optimal solution of expression control operation _A, T _B) to control the running of first and second motors 56 and 72.

[0062] as definite second input torque T _{M2_XY}(' Tm2_Value ') is during less than the operating range of second input torque, shown in the straight line of representing lower limit (' Tm2_Low_Lmt ') among Fig. 4 (508), then the second torque Tm2 is set at lower limit, promptly, Tm2=Tm2_min is made as straight line Tm2=Tm2Low_Lmt (510), and begins search to determine in motor torque constraint conditio and the power of battery constraint conditio minimum value (or maximum value) (514) with the interior first torque Tm1 on lower limit (' Tm2_Low_Lmt ').In any case, the described minimum value (or maximum value) (520) that comprises the first torque Tm1 that is positioned at motor torque constraint conditio and the power of battery constraint conditio and the second torque Tm2 constraint conditio of separating.

[0063] as definite second input torque T _{M2_XY}(' Tm2_Value ') is during greater than the operating range of second input torque, shown in the straight line of representing the upper limit (' Tm2_High_Lmt ') among Fig. 4 (508,512), carry out search to determine within motor torque constraint conditio and the power of battery constraint conditio and be positioned at the maximum value (or minimum value) (516) of the first torque Tm1 on the upper limit (' Tm2_High_Lmt ').Under any circumstance, the described maximum value (or minimum value) (520) that comprises the first torque Tm1 that is positioned at motor torque constraint conditio and the power of battery constraint conditio and the second torque Tm2 constraint conditio of separating.

[0064] optimal solution under this group constraint conditio (520) is to have separating that less Tm1 orders, that is, in the time will exporting the torque maximization, less output torque constraint conditio T _M1, maybe when the output torque minimizes, have than separating that big Tm1 is ordered.Disaggregation preferably includes representative and is used to control the point of optimal solution of running (Tx, Ty), it can be reduced into motor torque (T _A, T _B), thereby control the running of first and second motors 56 and 72.

[0065] aforesaid mode of execution is based on the straight line T of the general formula that has positive slope a/b in the equation 24 _{M1_XY}: (as previously mentioned):

Tm1＝a*Tx+b*Ty+C [24]

Wherein a＜0 and b〉0 and C be constant term, for for example, slope a/b=1:1, x-intercept C can change.The present invention also is applicable to a〉0, b＜0, slope a/b is less than 1:1 or greater than the combined situation of 1:1.

[0066] the present invention is described certain preferred implementation and its improvement.By reading and understanding specification and can make more modification and replacement.Therefore, the present invention is not limited to be described as the embodiment of carrying out best mode of the present invention, but comprises that all fall into all mode of executions in the claim scope.

Claims (17)

1, a kind of method of controlling electro-mechanical transmission, electro-mechanical transmission is connected mechanically to first and second motors so that power is outputed to output block, and the method comprises:

Determine the motor torque constraint conditio of first and second motors;

Determine to be electrically connected to the power of battery constraint conditio of the electrical energy storage device of first and second motors;

Determine additional torque input range to electro-mechanical transmission; With

Determine to give the preferred output torque of the output block of electro-mechanical transmission, this is preferably exported, and torque can obtain in motor torque constraint conditio, acquisition and based on power of battery constraint conditio in the additional torque input range.

2, method according to claim 1 is wherein preferably exported torque and is comprised the instruction output torque of giving output block in response to operator's torque requests.

3, method according to claim 2 is characterized in that preferably exporting torque and comprises maximum pull-up torque to output block.

4, method according to claim 2 is characterized in that preferably exporting torque and comprises maximum regeneration torque to output block.

5, method according to claim 1 is characterized in that the additional torque input comprises engine input torque.

6, method according to claim 1 is characterized in that the additional torque input comprises the clutch anti-torque.

7, method according to claim 1, it also comprises the running of the control electro-mechanical transmission and first and second motors, thereby obtains the preferred output torque at output block place based on motor torque constraint conditio, additional torque input range and power of battery constraint conditio.

8, method according to claim 7, it also comprises the preferred output torque of determining to the electro-mechanical transmission output block, should preferred output torque in the additional torque input range, can obtain, and in motor torque constraint conditio, can obtain and additional torque input when exceeding maximum battery power constraint conditio in additional torque input, minimize the violation of maximum battery power constraint conditio.

9, method according to claim 7, it also comprises the preferred output torque of determining to the electro-mechanical transmission output block, should preferred output torque in the additional torque input range, can obtain, and in motor torque constraint conditio, can obtain and additional torque input in maximum battery power constraint conditio scope, can obtain the time in additional torque input, be subjected to the constraint of maximum battery power constraint conditio.

10, method according to claim 7, it also comprises and will give the preferred output torque limit of electro-mechanical transmission output block for can obtain in motor torque constraint conditio and obtainable output torque in power of battery constraint conditio.

11, method according to claim 10 is characterized in that maximum battery power constraint conditio comprises the largest battery discharge power.

12, method according to claim 10 is characterized in that minimum power of battery constraint conditio comprises minimum battery charge power.

13, method according to claim 1 is characterized in that additional torque input comprises the input torque from the internal-combustion engine that is connected mechanically to electro-mechanical transmission to input shaft.

14, method according to claim 1 is characterized in that the additional torque input comprises through the torque transmission that torque transmits clutch that applies in the speed changer.

15, method according to claim 1 is characterized in that also comprising:

Make up the minimum and maximum motor torque constraint conditio of expression first and second motors and the math equation of representing minimum and maximum power of battery constraint conditio;

Make up the math equation of expression output torque;

Make up the math equation of expression additional torque input range;

The math equation of the minimum and maximum power of battery constraint conditio of expression is transformed into the concentric circle equation with relevant radii;

The math equation of representing the minimum and maximum motor torque constraint conditio of first and second motors is transformed into the equation that comprises straight line;

The math equation of expression additional torque input range is transformed into the equation that comprises straight line; With

The math equation of expression output torque is transformed into the equation that comprises straight line.

16, method according to claim 15 is characterized in that also comprising:

Determine obtainable output torque after at least one conversion based on the motor torque constraint conditio of first and second motors after the conversion, power of battery constraint conditio after the conversion and the additional torque input range after the conversion;

Obtainable maximum output torque after definite conversion from electro-mechanical transmission; With

With obtainable maximum output torque conversion again after the conversion, thus the preferred motor torque of definite first and second motors.

17, method according to claim 15 is characterized in that also comprising at least one common factor of the math equation after the conversion of math equation after the conversion of math equation after the conversion of minimum and maximum motor torque constraint conditio of math equation after the conversion that calculates the minimum and maximum power of battery constraint conditio of expression, expression first and second motors, expression additional torque input range and expression output torque.

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