CN103359104B - Automobile wriggling control method and system - Google Patents
Automobile wriggling control method and system Download PDFInfo
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- CN103359104B CN103359104B CN201310311350.5A CN201310311350A CN103359104B CN 103359104 B CN103359104 B CN 103359104B CN 201310311350 A CN201310311350 A CN 201310311350A CN 103359104 B CN103359104 B CN 103359104B
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Abstract
The invention provides a kind of automobile wriggling control method, it comprises: activate/close wriggling controlling functions according to actual vehicle speed and accelerator open degree; When wriggling controlling functions is in state of activation, carry out following operation: based on engine speed, driving engine desired idle and brake pedal position determination desired speed; Based on the speed of a motor vehicle difference between desired speed and actual vehicle speed, power-transfer clutch is expected that moment of torsion carries out proportional plus integral control, expect moment of torsion to adjust power-transfer clutch; Expect that moment of torsion controls power-transfer clutch according to power-transfer clutch.Corresponding present invention also offers a kind of automobile wriggling control system, and automobile wriggling control method of the present invention and system cover different driving cycle, and stable performance, is easy to realize.
Description
Technical field
The present invention relates to auto electric control technology, be specifically related to a kind of automobile wriggling control method and system.
Background technology
Wriggling function carries out the auxiliary technology controlled to vehicle under a kind of state lower in the speed of a motor vehicle, can provide convenience for the driving of vehicle, for the vehicle with double clutch automatic speed changing case, also do not have a kind of algorithm simple at present and be easy to the wriggling control method that realizes.
Summary of the invention
In order to solve the problems of the technologies described above, the present invention proposes a kind of automobile wriggling control method, it is applicable to the vehicle with dual-clutch transmission, and technical scheme is as follows:
A kind of automobile wriggling control method, comprising: activate/close wriggling controlling functions according to actual vehicle speed and accelerator open degree; Under wriggling controlling functions is in state of activation, carry out following operation: based on engine speed, driving engine desired idle and brake pedal position determination desired speed; Based on the speed of a motor vehicle difference between desired speed and actual vehicle speed, power-transfer clutch is expected that moment of torsion carries out proportional plus integral control, expect moment of torsion to adjust power-transfer clutch; Expect that moment of torsion controls power-transfer clutch according to power-transfer clutch.
Automobile wriggling control method as above, before expecting that moment of torsion controls power-transfer clutch according to power-transfer clutch, also comprise and engine speed and brake pedal position are judged: when judging engine speed < engine speed lower limit or brake pedal position > brake pedal thresholding, power-transfer clutch is expected that moment of torsion carries out separation and controls, expects moment of torsion to adjust power-transfer clutch.
To power-transfer clutch, automobile wriggling control method as above, describedly expects that moment of torsion carries out separations and controls, comprising: calculate disengaging of clutch slope: power-transfer clutch expectation moment of torsion/disengaging time that disengaging of clutch slope=start carries out being separated when controlling; According to disengaging of clutch slope, power-transfer clutch is expected that moment of torsion carries out separation and controls.
Automobile wriggling control method as above, before expecting that moment of torsion controls power-transfer clutch according to power-transfer clutch, also comprise and power-transfer clutch is expected that moment of torsion limits: if power-transfer clutch expects that moment of torsion >=power-transfer clutch expects upper torque limit, power-transfer clutch is expected the numerical value of moment of torsion is adjusted to power-transfer clutch and expects upper torque limit; If power-transfer clutch expects that moment of torsion≤power-transfer clutch expects lower torque limit, power-transfer clutch is expected the numerical value of moment of torsion is adjusted to power-transfer clutch and expects lower torque limit.
Automobile wriggling control method as above, described based on engine speed, driving engine desired idle and brake pedal position determination desired speed, comprise: the speed discrepancy between calculation engine desired idle and engine speed, determine the first desired speed according to described speed discrepancy; The second desired speed is determined according to brake pedal position; Calculate the difference of the first desired speed and the second desired speed as desired speed.
Automobile wriggling control method as above, described based on engine speed, driving engine desired idle and brake pedal position determination desired speed, also comprise and speed limit is carried out to desired speed and/or carries out vehicle speed variation rate restriction; Described speed limit is carried out to desired speed, comprising: if desired speed < desired speed minimum value, the numerical value of desired speed is adjusted to desired speed minimum value; If desired speed > desired speed maxim, is adjusted to desired speed maxim by the numerical value of desired speed; Described vehicle speed variation rate restriction is carried out to desired speed, comprising: if the rate of change < desired speed rate of change minimum value of desired speed, then according to desired speed rate of change minimum value adjustment desired speed; If the rate of change > desired speed rate of change maxim of desired speed, then according to desired speed rate of change maxim adjustment desired speed.
Automobile wriggling control method as above, described based on the speed of a motor vehicle difference between desired speed and actual vehicle speed to power-transfer clutch expect moment of torsion carry out proportional plus integral control, according to actual vehicle speed determination proportionality coefficient and integral coefficient, and the activation of integration control wherein/closedown condition is: if engine speed >=engine speed lower limit and brake pedal position≤brake pedal thresholding, activate integration control, otherwise close integration control.
Automobile wriggling control method as above, describedly activate/close wriggling controlling functions according to actual vehicle speed and accelerator open degree, comprise: judge whether automobile gears is in forward gear or reverse gear: when automobile gears is in reverse gear, if the speed of a motor vehicle≤reverse gear wriggling speed of a motor vehicle irreducible minimum value and accelerator open degree≤minimum limit value of reverse gear wriggling accelerator open degree, activate reverse gear wriggling controlling functions; If the speed of a motor vehicle >=reverse gear wriggling speed of a motor vehicle threshold limit value or accelerator open degree >=reverse gear wriggling accelerator open degree threshold limit value, close reverse gear wriggling controlling functions; When automobile gears is in forward gear, judge that the target gear of automobile is 1 grade or 2 grades: when the target gear of automobile is 1 grade: if the speed of a motor vehicle≤1 grade wriggling speed of a motor vehicle irreducible minimum value and the accelerator open degree≤1 grade minimum limit value of wriggling accelerator open degree, activate 1 grade of wriggling controlling functions; If the speed of a motor vehicle >=1 grade wriggling speed of a motor vehicle threshold limit value or accelerator open degree >=1 grade wriggling accelerator open degree threshold limit value, close 1 grade of wriggling controlling functions; When the target gear of automobile is 2 grades: if the speed of a motor vehicle≤2 grade wriggling speed of a motor vehicle irreducible minimum value and the accelerator open degree≤2 grade minimum limit value of wriggling accelerator open degree, activate 2 grades of wriggling controlling functions; If the speed of a motor vehicle >=2 grade wriggling speed of a motor vehicle threshold limit value or accelerator open degree >=2 grade wriggling accelerator open degree threshold limit value, close 2 grades of wriggling controlling functions.
Automobile wriggling control method as above, before expecting that moment of torsion controls power-transfer clutch according to power-transfer clutch, also comprise 1 grade of wriggling to control and 2 grades of switching controls controlled of wriggling: when automobile is in 1 grade of wriggling control, if meet the activation condition of 2 grades of wriggling controlling functions, just close 1 grade of wriggling controlling functions and activate 2 grades of wriggling controlling functions, and power-transfer clutch being expected the numerical value of moment of torsion is adjusted to the numerical value switching moment of torsion; When automobile is in 2 grades of wriggling control, if meet the activation condition of 1 grade of wriggling controlling functions, just closes 2 grades of wriggling controlling functions and activate 1 grade of wriggling controlling functions, and power-transfer clutch being expected the numerical value of moment of torsion is adjusted to the numerical value switching moment of torsion.
Automobile wriggling control method as above, also comprise driving engine cooperation control, comprise: under wriggling controlling functions state of activation, based on the speed discrepancy between driving engine desired idle and engine speed, proportional plus integral control is carried out to driving engine requested torque, to adjust driving engine requested torque; According to driving engine requested torque, driving engine is controlled.
Automobile wriggling control method as above, also comprises and activates/kill engine cooperation control according to brake pedal position: if brake pedal position≤brake pedal thresholding, just activates driving engine cooperation control, otherwise the cooperation control that kills engine.
Automobile wriggling control method as above, describedly based on the speed discrepancy between driving engine desired idle and engine speed, proportional plus integral control is carried out to driving engine requested torque, according to engine speed determination driving engine cooperation control proportionality coefficient and driving engine cooperation control integral coefficient, and the activation of integration control wherein/closedown condition is: if brake pedal position≤brake pedal thresholding, activate integration control, otherwise close integration control.
Corresponding, the invention allows for a kind of automobile wriggling control system, its technical scheme is as follows:
A kind of automobile wriggling control system, comprising: wriggle and control to activate unit, power-transfer clutch expectation moment of torsion control unit and clutch control unit; Described wriggling controls to activate unit, for activating/closing wriggling function according to actual vehicle speed and accelerator open degree; Described power-transfer clutch expects moment of torsion control unit, under controlling functions state of activation of wriggling, expects that moment of torsion controls, comprising: based on engine speed, driving engine desired idle and brake pedal position determination desired speed power-transfer clutch; Based on the speed of a motor vehicle difference between desired speed and actual vehicle speed, power-transfer clutch is expected that moment of torsion carries out proportional plus integral control, expect moment of torsion to adjust power-transfer clutch; According to power-transfer clutch, described clutch control unit, under controlling functions state of activation of wriggling, expects that moment of torsion controls power-transfer clutch.
Automobile wriggling control system as above, described power-transfer clutch expects that moment of torsion control unit is also for judging engine speed and brake pedal position: when judging engine speed < engine speed lower limit or brake pedal position > brake pedal thresholding, power-transfer clutch is expected that moment of torsion carries out separation and controls, expects moment of torsion to adjust power-transfer clutch.
Automobile wriggling control system as above, to power-transfer clutch, described power-transfer clutch expectation moment of torsion control unit expects that moment of torsion carries out separation and controls, comprising: calculate disengaging of clutch slope: disengaging of clutch slope=power-transfer clutch started when carrying out separation control expects moment of torsion/disengaging time; According to disengaging of clutch slope, power-transfer clutch is expected that moment of torsion carries out separation and controls.
Automobile wriggling control system as above, described power-transfer clutch expects moment of torsion control unit also for after expecting that moment of torsion carries out proportional plus integral control to power-transfer clutch, power-transfer clutch is expected that moment of torsion limits: if power-transfer clutch expects that moment of torsion >=power-transfer clutch expects upper torque limit, power-transfer clutch is expected the numerical value of moment of torsion is adjusted to power-transfer clutch and expects upper torque limit; If power-transfer clutch expects that moment of torsion≤power-transfer clutch expects lower torque limit, power-transfer clutch is expected the numerical value of moment of torsion is adjusted to power-transfer clutch and expects lower torque limit.
Automobile wriggling control system as above, described power-transfer clutch expects that moment of torsion control unit is based on engine speed, driving engine desired idle and brake pedal position determination desired speed, comprise: the speed discrepancy between calculation engine desired idle and engine speed, determine the first desired speed according to described speed discrepancy; The second desired speed is determined according to brake pedal position; Calculate the difference of the first desired speed and the second desired speed as desired speed.
Automobile wriggling control system as above, described power-transfer clutch expects that moment of torsion control unit is also for carrying out speed limit and/or carrying out vehicle speed variation rate restriction to desired speed; Described speed limit is carried out to desired speed, comprising: if desired speed < desired speed minimum value, the numerical value of desired speed is adjusted to desired speed minimum value; If desired speed > desired speed maxim, is adjusted to desired speed maxim by the numerical value of desired speed; Described vehicle speed variation rate restriction is carried out to desired speed, comprising: if the rate of change < desired speed rate of change minimum value of desired speed, then according to desired speed rate of change minimum value adjustment desired speed; If the rate of change > desired speed rate of change maxim of desired speed, then according to desired speed rate of change maxim adjustment desired speed.
Automobile wriggling control system as above, described power-transfer clutch expects to power-transfer clutch, moment of torsion control unit expects that moment of torsion carries out proportional plus integral control based on the speed of a motor vehicle difference between desired speed and actual vehicle speed, according to actual vehicle speed determination proportionality coefficient and integral coefficient, and the activation of integration control wherein/closedown condition is: if engine speed >=engine speed lower limit and brake pedal position≤brake pedal thresholding, activate integration control, otherwise close integration control.
Automobile wriggling control system as above, described wriggling controls to activate unit and activates/close wriggling controlling functions according to actual vehicle speed and accelerator open degree, comprise: judge whether automobile gears is in forward gear or reverse gear: when automobile gears is in reverse gear, if the speed of a motor vehicle≤reverse gear wriggling speed of a motor vehicle irreducible minimum value and accelerator open degree≤minimum limit value of reverse gear wriggling accelerator open degree, activate reverse gear wriggling controlling functions; If the speed of a motor vehicle >=reverse gear wriggling speed of a motor vehicle threshold limit value or accelerator open degree >=reverse gear wriggling accelerator open degree threshold limit value, close reverse gear wriggling controlling functions; When automobile gears is in forward gear, judge that the target gear of automobile is 1 grade or 2 grades: when the target gear of automobile is 1 grade: if the speed of a motor vehicle≤1 grade wriggling speed of a motor vehicle irreducible minimum value and the accelerator open degree≤1 grade minimum limit value of wriggling accelerator open degree, activate 1 grade of wriggling controlling functions; If the speed of a motor vehicle >=1 grade wriggling speed of a motor vehicle threshold limit value or accelerator open degree >=1 grade wriggling accelerator open degree threshold limit value, close 1 grade of wriggling controlling functions; When the target gear of automobile is 2 grades: if the speed of a motor vehicle≤2 grade wriggling speed of a motor vehicle irreducible minimum value and the accelerator open degree≤2 grade minimum limit value of wriggling accelerator open degree, activate 2 grades of wriggling controlling functions; If the speed of a motor vehicle >=2 grade wriggling speed of a motor vehicle threshold limit value or accelerator open degree >=2 grade wriggling accelerator open degree threshold limit value, close 2 grades of wriggling controlling functions.
Automobile wriggling control system as above, described power-transfer clutch expectation moment of torsion control unit also controls for 1 grade of wriggling and 2 grades of switching controls controlled of wriggling: when automobile is in 1 grade of wriggling control, if meet the activation condition of 2 grades of wriggling controlling functions, just close 1 grade of wriggling controlling functions and activate 2 grades of wriggling controlling functions, and power-transfer clutch being expected the numerical value of moment of torsion is adjusted to the numerical value switching moment of torsion; When automobile is in 2 grades of wriggling control, if meet the activation condition of 1 grade of wriggling controlling functions, just closes 2 grades of wriggling controlling functions and activate 1 grade of wriggling controlling functions, and power-transfer clutch being expected the numerical value of moment of torsion is adjusted to the numerical value switching moment of torsion.
Automobile wriggling control system as above, also comprises driving engine requested torque control unit and control unit of engine; Described driving engine requested torque control unit, under wriggling controlling functions state of activation, carries out proportional plus integral control based on the speed discrepancy between driving engine desired idle and engine speed to driving engine requested torque, to adjust driving engine requested torque; Described control unit of engine, for controlling driving engine according to driving engine requested torque.
Automobile wriggling control system as above, also comprise driving engine cooperation control and activate unit: if wriggling controlling functions is in state of activation and brake pedal position≤brake pedal thresholding, activate driving engine coordinated control function, otherwise the coordinated control function that kills engine.
Automobile wriggling control system as above, described driving engine requested torque control unit carries out proportional plus integral control based on the speed discrepancy between driving engine desired idle and engine speed to driving engine requested torque, according to engine speed determination driving engine cooperation control proportionality coefficient and driving engine cooperation control integral coefficient, and the activation of integration control wherein/closedown condition is: if brake pedal position≤brake pedal thresholding, activate integration control, otherwise close integration control.
Automobile wriggling control method of the present invention, adopts adaptive proportional plus integral control, covers different driving cycle, and stable performance, method are simple and easy, is easy to realize.
Accompanying drawing explanation
Fig. 1 is that the present invention is wriggled the structural representation of control system.
Fig. 2 is that the present invention is wriggled the principle schematic of control method.
Fig. 3 is the principle schematic of wriggling process driving engine cooperation control of the present invention.
Fig. 4 is the principle schematic that wriggling controlling functions of the present invention activates.
Fig. 5 is 1 grade of the present invention and wriggles and 2 grades of switching principle schematic diagrams controlled of wriggling.
Fig. 6 is that power-transfer clutch of the present invention expects the schematic flow sheet that moment of torsion controls.
Fig. 7 is the schematic flow sheet of driving engine requested torque cooperation control of the present invention.
Detailed description of the invention
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining the present invention, and can not limitation of the present invention being interpreted as.
Shown in figure 1, the present invention is wriggled, and control system comprises control activation unit of wriggling, power-transfer clutch expects that moment of torsion control unit, clutch control unit, driving engine cooperation control activate unit, driving engine requested torque control unit and control unit of engine.
Shown in figure 2, the wriggle working process of control method and system of the present invention is: described wriggling controls to activate unit and activates/close wriggling function according to actual vehicle speed and accelerator open degree; Under wriggling controlling functions state of activation, described power-transfer clutch expects to power-transfer clutch, moment of torsion control unit expects that moment of torsion controls, and comprising: based on engine speed, driving engine desired idle and brake pedal position determination desired speed; Based on the speed of a motor vehicle difference between desired speed and actual vehicle speed, power-transfer clutch is expected that moment of torsion carries out proportional plus integral control, expect moment of torsion to adjust power-transfer clutch; According to power-transfer clutch, described clutch control unit expects that moment of torsion controls power-transfer clutch.
Shown in figure 3, the working process of driving engine control method for coordinating of the present invention and system is: under wriggling controlling functions state of activation, described driving engine requested torque control unit carries out proportional plus integral control based on the speed discrepancy between driving engine desired idle and engine speed to driving engine requested torque, to adjust driving engine requested torque.Described driving engine cooperation control activates unit, if wriggling controlling functions is in state of activation and brake pedal position≤brake pedal thresholding, activates driving engine coordinated control function, otherwise the coordinated control function that kills engine.Described control unit of engine, controls driving engine according to driving engine requested torque under driving engine coordinated control function state of activation.
Wherein, described wriggling control system continues the control unit from car load, as engine management system (EngineManagementSystem, EMS)/electronic stabilizing control system (ElectronicStabilityControl, ESC)/vehicle stabilization ancillary system (VehicleStabilityAssist, VSA), or car load sensor, as places such as car speed sensor/engine speed sensor/throttle position switch/pedal stroke sensors, Real-time Collection engine speed, driving engine desired idle, actual vehicle speed, the signal such as brake pedal position and accelerator open degree.
Wherein, power-transfer clutch of the present invention is expected that moment of torsion refers to and is expected that power-transfer clutch passes to the moment of torsion of change speed gear box.Described driving engine requested torque refers to that request driving engine passes to the moment of torsion of power-transfer clutch.
Wherein, control unit of engine can be integrated in Engine ECU; Control of wriggling activates unit, power-transfer clutch expects that moment of torsion control unit, clutch control unit, driving engine cooperation control activate unit, driving engine requested torque control unit can be integrated in Automatic Transmission control unit TCU.
Shown in figure 4, the principle of work that wriggling controlling functions of the present invention activates/closes is: control of wriggling activates unit and activates/close wriggling controlling functions according to actual vehicle speed and accelerator open degree, comprising:
First judge whether automobile gears is in forward gear or reverse gear:
When automobile gears is in reverse gear (R shelves), if the speed of a motor vehicle≤reverse gear wriggling speed of a motor vehicle irreducible minimum value and accelerator open degree≤minimum limit value of reverse gear wriggling accelerator open degree, activate reverse gear wriggling controlling functions; If the speed of a motor vehicle >=reverse gear wriggling speed of a motor vehicle threshold limit value or accelerator open degree >=reverse gear wriggling accelerator open degree threshold limit value, close reverse gear wriggling controlling functions;
When automobile gears is in forward gear (D shelves), the target gear judging automobile is namely needed to be 1 grade or 2 grades:
When the target gear of automobile is 1 grade: if the speed of a motor vehicle≤1 grade wriggling speed of a motor vehicle irreducible minimum value and the accelerator open degree≤1 grade minimum limit value of wriggling accelerator open degree, activate 1 grade of wriggling controlling functions; If the speed of a motor vehicle >=1 grade wriggling speed of a motor vehicle threshold limit value or accelerator open degree >=1 grade wriggling accelerator open degree threshold limit value, close 1 grade of wriggling controlling functions;
When the target gear of automobile is 2 grades: if the speed of a motor vehicle≤2 grade wriggling speed of a motor vehicle irreducible minimum value and the accelerator open degree≤2 grade minimum limit value of wriggling accelerator open degree, activate 2 grades of wriggling controlling functions; If the speed of a motor vehicle >=2 grade wriggling speed of a motor vehicle threshold limit value or accelerator open degree >=2 grade wriggling accelerator open degree threshold limit value, close 2 grades of wriggling controlling functions.
The present invention is provided with maxim and minimum value Rule of judgment in wriggling function activation/closing process, its concrete meaning illustrates by two examples: 1) automobile enters into wriggling state from quiescence: suppose that current gear level is in forward gear position, chaufeur steps on brake pedal makes vehicle remain static, generally target gear is 1 grade, current vehicle condition meets " speed of a motor vehicle≤1 grade wriggling speed of a motor vehicle irreducible minimum value and the accelerator open degree≤1 grade minimum limit value of wriggling accelerator open degree ", therefore activate 1 grade of wriggling controlling functions, vehicle starts to wriggle.After 1 grade of wriggling controlling functions is activated, even if the speed of a motor vehicle reaches and exceeds 1 grade of wriggling speed of a motor vehicle irreducible minimum value, as long as the speed of a motor vehicle does not reach 1 grade of wriggling speed of a motor vehicle threshold limit value and accelerator open degree does not reach 1 grade of wriggling accelerator open degree threshold limit value, and do not need the situation switching to other gears to wriggle 1 grade of wriggling, under vehicle will maintain 1 grade of wriggling controlled load case yet.Until meet " speed of a motor vehicle >=1 grade wriggling speed of a motor vehicle maximum limit system or accelerator open degree >=1 grade wriggling accelerator open degree threshold limit value ", automobile just can leave 1 grade of control of wriggling.2) automobile enters into wriggling state from other states of driving process: suppose that current gear level is in forward gear position, current gear is assumed to be 1 grade, vehicle-state is assumed to be " speed of a motor vehicle >=1 grade wriggling speed of a motor vehicle maximum limit system and accelerator open degree >=1 grade wriggling accelerator open degree threshold limit value ", now do not meet wriggling condition, therefore not activating wriggles controls.When chaufeur unclamps throttle and the speed of a motor vehicle reduces until meet " speed of a motor vehicle≤1 grade wriggling speed of a motor vehicle minimum limit and the accelerator open degree≤1 grade minimum limit value of wriggling accelerator open degree " gradually gradually, just entering into wriggles controls.
Reverse gear wriggle and 2 grades wrigglings activation/closing control and above-mentioned 1 grade wriggle similar, repeat no more herein.From above content, automobile wriggling function activation/closing control provided by the present invention, minimax two groups of limit values of setting, can effectively prevent from frequently switching between wriggling pattern and other driving models, thus the problem of ride comfort is driven in impact.
In wriggling control method of the present invention, 1 grade of wriggling, 2 grades wriggle and reverse gear wriggle three kinds wriggle control in there are two kinds of wriggling switching controls:
Be 1 grade wriggle and reverse gear wriggle between switching: be generally used in and move a storehouse operating mode, can simplify the operation to brake pedal and gear level of chaufeur, after this kind of switching controls, extended meeting composition graphs 5 is described further.
Another kind be 1 grade wriggle and 2 grades wriggles between switching: in order to improve driver comfort, to differ greatly the impact caused due to speed ratio when eliminating 1 grade and 2 grades of switchings, also need 1 grade of wriggling and 2 grades wriggle between switching.Shown in figure 5, when automobile is in 1 grade of wriggling control, if meet the activation condition of 2 grades of wriggling controlling functions, namely meet " the target gear of automobile is 2 grades; the speed of a motor vehicle≤2 grade wriggling speed of a motor vehicle irreducible minimum value and the accelerator open degree≤2 grade minimum limit value of wriggling accelerator open degree ", just close 1 grade of wriggling controlling functions and activate 2 grades of wriggling controlling functions, and power-transfer clutch being expected the numerical value of moment of torsion is adjusted to the numerical value switching moment of torsion; When automobile is in 2 grades of wriggling control, if meet the activation condition of 1 grade of wriggling controlling functions, namely meet " the target gear of automobile is 1 grade; the speed of a motor vehicle≤1 grade wriggling speed of a motor vehicle irreducible minimum value and the accelerator open degree≤1 grade minimum limit value of wriggling accelerator open degree ", just close 2 grades of wriggling controlling functions and activate 1 grade of wriggling controlling functions, and power-transfer clutch being expected the numerical value of moment of torsion is adjusted to the numerical value switching moment of torsion.After this kind of switching controls, extended meeting composition graphs 6 is described further.
Shown in figure 4,5,6, control of wriggling activates unit and activates/close wriggling controlling functions according to actual vehicle speed and accelerator open degree; After wriggling controlling functions activates, wriggling control system checks driving engine desired idle, engine speed, actual vehicle speed, brake pedal position, actual vehicle speed and works as front clutch expects moment of torsion, calculate power-transfer clutch through wriggling control algorithm and expect moment of torsion, expect the pressure change of torque control clutch according to power-transfer clutch, thus reach the control to the car load speed of a motor vehicle.This wriggling control process can be divided into four parts:
Whether Part I is in state of activation for detecting wriggling controlling functions in real time, only when wriggling controlling functions is in state of activation, carries out subsequent step;
Part II is the calculation expectation speed of a motor vehicle: based on engine speed, driving engine desired idle and brake pedal position determination desired speed;
Speed discrepancy between calculation engine desired idle and engine speed, determines the first desired speed according to described speed discrepancy; Being the mode by tabling look-up in the present embodiment, finding the first corresponding desired speed according to speed discrepancy.Described first desired speed is in wriggling process, and power-transfer clutch load torque changes and causes the speed of a motor vehicle corresponding to engine speed change, and speed discrepancy is larger, then the first desired speed is larger, otherwise then the first desired speed is less.
The second desired speed is determined according to brake pedal position; Being the mode by tabling look-up in the present invention, finding the second corresponding desired speed according to brake pedal position.Described second desired speed is in wriggling process, the numerical value causing the speed of a motor vehicle to change because brake pedal position is different, make chaufeur can be changed the size of the wriggling speed of a motor vehicle by the pressure of adjustable brake pedal, less then the second desired speed of brake-pedal load is larger.
Calculate the difference of the first desired speed and the second desired speed as desired speed.Certain contact is there is between first desired speed and the second desired speed, when brake pedal position is 0%, namely brake pedal is not stepped on, when vehicle will start, in order to make the larger moment of torsion of power-transfer clutch transmission to overcome resistive torque, can need comparatively fast to increase with larger desired speed request clutch pressure; Now engine speed because the combination of power-transfer clutch and the increase of load cause its rotating speed to decline, can be considered vehicle smooth starting simultaneously, causes desired speed can reduce along with the decline of engine speed; When after vehicle launch, along with the increase of the speed of a motor vehicle, clutch driven disc rotating speed increases gradually, and engine speed compares pulsation-free state because the reduction of load torque can rise to gradually, and desired speed also can be increased to the stable speed of a motor vehicle thereupon gradually; If engine speed and desired idle speed discrepancy constant, and vehicle is when reaching highest stabilizing speed, step on brake pedal to certain position (reaching brake pedal threshold value), vehicle can slow down because of the impact of braking, based on the consideration of vehicle stability, desired speed also can reduce, thus control car load steadily reaches current desired speed.Based on above-mentioned consideration, two desired speeds are carried out subtraction.
Then speed limit is carried out to desired speed: if desired speed < desired speed minimum value, the numerical value of desired speed is adjusted to desired speed minimum value; If desired speed > desired speed maxim, is adjusted to desired speed maxim by the numerical value of desired speed.Can make desired speed like this in the scope expected, ensure the stationarity of wriggling process.
Also vehicle speed variation rate restriction is carried out to desired speed further: if the rate of change < vehicle speed variation rate minimum value of desired speed, then according to vehicle speed variation rate minimum value adjustment desired speed; If the rate of change > vehicle speed variation rate maxim of desired speed, then according to vehicle speed variation rate maxim adjustment desired speed.Limiting the rate of change of desired speed is to consider its impact changed clutch transmission torque, if rate of change is too fast, causing clutch transmission torque to change also can be too fast, and chaufeur can be felt and to impact and uncomfortable, and therefore arranging rate of change limit value is ride comfort in order to improve driving.
Part III expects moment of torsion for calculating power-transfer clutch: adopt PI controller (pi controller) to expect that moment of torsion carries out proportional plus integral control to power-transfer clutch based on described speed discrepancy.
Speed of a motor vehicle difference between the calculation expectation speed of a motor vehicle and actual vehicle speed is as the incoming signal of PI controller; Adopt the mode of tabling look-up, find corresponding Proportional coefficient K p and integral coefficient Ki according to actual vehicle speed.
The process of proportional control is: calculate described speed of a motor vehicle difference and expect moment of torsion with the product of Proportional coefficient K p as first;
The process of integration control is: activate/close integration control according to engine speed and brake pedal position: when engine speed >=engine speed lower limit and brake pedal position≤brake pedal thresholding time, activate integration control, the product calculating described speed of a motor vehicle difference and integral coefficient Ki, as integration input value, carries out integral operation to obtain the second expectation moment of torsion;
When engine speed < engine speed lower limit or brake pedal position > brake pedal thresholding, close integration control, export integration initial value and expect moment of torsion as second.
First expect moment of torsion and second expect moment of torsion with value be power-transfer clutch expect moment of torsion.
Wherein, when power-transfer clutch expects that the integration control of moment of torsion enters into state of activation by closed condition, reset integral controller, integration initial value is the difference in torque between front clutch expects the first expectation moment of torsion that moment of torsion and proportional control calculate.Can guarantee that just having entered the power-transfer clutch of wriggling when controlling expects that moment of torsion there will not be larger change, can not affect driver comfort like this.
Wherein, Proportional coefficient K p and integral coefficient Ki can change according to the change of actual vehicle speed, and wriggling can be made to control to possess good adaptivity.In flat road surface, vehicle enters wriggling from quiescence, and in order to ensure that starting and the low speed of a motor vehicle possess good accelerating ability, Kp and Ki value should be larger; When vehicle reaches stabilizing speed gradually in wriggling situation, Kp and Ki value needs to reduce gradually; On upward slope road surface, take into full account the size of integral coefficient Ki, when preventing from going up a slope, vehicle speed declines too many; On descending road surface, consider that actual vehicle speed exceedes the part of desired speed, will engine braking effect be made full use of simultaneously, carry out Set scale COEFFICIENT K p and integral coefficient Ki; Simultaneously, also to consider that the deceleration of vehicle is also toward expecting direction running, if when gear level switches between forward gear and reverse gear, because vehicle is moving forward and switching between traveling backward, actual vehicle speed can be converted between positive and negative, correspond to Proportional coefficient K p and the integral coefficient Ki of plus or minus, do not need extra setting just can realize the switching of 1 grade of wriggling and reverse gear wriggling like this.
After obtain power-transfer clutch expectation moment of torsion through proportional plus integral control, judging whether to wriggle for 1 grade controls and 2 grades of switchings controlled of wriggling, if had, just power-transfer clutch is expected that the numerical value of moment of torsion is adjusted to the numerical value of switching moment of torsion.Wherein, switch the control torque to power-transfer clutch when moment of torsion refers to switching, when being switched to 2 grades of wriggling control from 1 grade of wriggling control, the moment of torsion of power-transfer clutch 1 can be reduced by integral way, increase the moment of torsion of power-transfer clutch 2, complete power-transfer clutch alternately after to wriggle at 2 grades and control to travel, switching moment of torsion can be obtained by integral and calculating.Otherwise it is similar that 2 grades of wrigglings switch to 1 grade of wriggling, repeats no more herein.
In wriggling control process, likely need to carry out separation to control: judge engine speed and brake pedal position: when judging engine speed < engine speed lower limit or brake pedal position > brake pedal thresholding, power-transfer clutch is expected that moment of torsion carries out separation and controls, expects moment of torsion to adjust power-transfer clutch.Described power-transfer clutch is expected that moment of torsion carries out being separated control and comprises: calculate disengaging of clutch slope: disengaging of clutch slope=start to carry out the power-transfer clutch be separated when controlling expects moment of torsion/disengaging time, expects that moment of torsion carries out separations control according to disengaging of clutch slope to power-transfer clutch.
Described disengaging time demarcates in advance according to repeatedly field experiment, if meet in disengaging time and be separated controlled condition " engine speed < engine speed lower limit or brake pedal position > brake pedal thresholding " always, because disengaging of clutch slope=power-transfer clutch started when carrying out separation control expects moment of torsion/disengaging time, at the end of disengaging time, power-transfer clutch can be separated completely.If in disengaging time, find no longer to meet to be separated controlled condition, then expect to re-start proportional plus integral control based on moment of torsion by the power-transfer clutch no longer met when being separated controlled condition.Power-transfer clutch expects that the separation of moment of torsion controls mainly in order to improve driver comfort, when separation condition meets, directly power-transfer clutch is not separated completely, but give system certain delay time, if condition does not meet in disengaging time, then a higher basis can be had to go to re-start proportional plus integral control, improve the response time of wriggling, in addition also eliminate after power-transfer clutch is separated completely, no longer meet when being separated controlled condition, power-transfer clutch combines suddenly and impacts.
Finally, before output clutch expects moment of torsion, also need to expect that moment of torsion limits to power-transfer clutch: if power-transfer clutch expects that moment of torsion >=power-transfer clutch expects upper torque limit, power-transfer clutch is expected the numerical value of moment of torsion is adjusted to power-transfer clutch and expects upper torque limit; If power-transfer clutch expects that moment of torsion≤power-transfer clutch expects lower torque limit, power-transfer clutch is expected the numerical value of moment of torsion is adjusted to power-transfer clutch and expects lower torque limit.After power-transfer clutch being expected the numerical value of moment of torsion is adjusted to the upper limit or lower limit, also need the order returning the zero setting of integration input value, the integration input value of integration control is next time set to zero, namely the expectation torque rating maintaining the output of integration control link is constant, and the change in torque by means of only proportional control link carrys out control clutch.This design can make vehicle when going up a slope wriggling, by vehicle immobilization, prevents from slipping by slope.
Part IV is the control of wriggling process to power-transfer clutch: power-transfer clutch expects that moment of torsion control unit expects moment of torsion to clutch control unit output clutch, power-transfer clutch is expected that moment of torsion is converted into the current signal of Controlling solenoid valve by clutch control unit, and then the change of control clutch pressure, thus cause the change of the signal such as engine speed, actual vehicle speed, then wriggling control system can re-start regulable control according to the parameter state of Current vehicle, forms closed loop control.
Further, keep stable in order to ensure wriggling process engine speed, will, because of power-transfer clutch load variations, cause engine speed too low, affect the stability of the wriggling process speed of a motor vehicle, wriggle control method and system of the present invention also add and start coordinated control function.
Shown in figure 7, under wriggling controls state of activation, employing PI controller (pi controller) to the process that driving engine requested torque controls is:
Speed discrepancy between calculation engine desired idle and engine speed, described speed discrepancy is as the incoming signal of PI controller; Corresponding driving engine cooperation control Proportional coefficient K p ＇ is found and according to engine speed determination driving engine cooperation control integral coefficient Ki ＇ according to engine speed.
The process of proportional control is: calculate the product of described driving engine cooperation control proportionality coefficient and described speed discrepancy as the first requested torque;
The process of integration control is: activate/close integration control according to brake pedal position: when brake pedal position≤brake pedal thresholding, activate integration control, the product of calculation engine cooperation control integral coefficient and described speed discrepancy, as integration input value, carries out integral operation to obtain the second requested torque;
When brake pedal position > brake pedal thresholding, close integration control, export integration initial value as the second requested torque.
First requested torque and the second requested torque be driving engine requested torque with value.Control unit of engine carries out torque responsive control according to driving engine requested torque.
Wherein, when the integration control of driving engine requested torque enters into state of activation by closed condition, can reset integral controller, integration initial value is the difference in torque between the first requested torque of calculating of present engine requested torque and proportional control.The continuity that engine torque controls can be guaranteed like this, there will not be larger change and affect driver comfort.
Wherein, according to engine speed determination driving engine cooperation control Proportional coefficient K p ＇ and driving engine cooperation control integral coefficient Ki ＇, when engine speed differs larger with desired idle rotating speed, namely when power-transfer clutch needs driving engine to provide more moments of torsion to overcome current resistance, Kp ＇ and Ki ＇ numerical value larger, exporting larger driving engine requested torque can provide wriggling control algorithm to calculate to obtain moment of torsion to make driving engine, overcomes vehicle drag, also ensures that engine speed can not reduce a lot simultaneously; When engine speed differs less with desired idle rotating speed, Kp ＇ reduction corresponding to Ki ＇, namely driving engine does not need to provide too much moment of torsion, and vehicle is basicly stable.
In wriggling process, can need to select whether activate engine torque Request Control according to wriggling, so the present invention also comprises activation or the requested torque cooperation control that kills engine: if wriggling controlling functions is in state of activation and brake pedal position≤brake pedal thresholding, activate driving engine coordinated control function, otherwise the coordinated control function that kills engine.When driving engine requested torque cooperation control activates, need driving engine requested torque to be sent to control unit of engine to carry out torque responsive control together with coordinated torque control activation signal.
The present invention has following beneficial effect:
1, automobile wriggling control method of the present invention and system, the proportional plus integral control algorithm utilizing actual vehicle speed to follow the tracks of desired speed carries out wriggling and controls, adopt adaptive PI controller, Proportional coefficient K p and integral coefficient Ki parameter regulate according to actual vehicle speed, cover different driving cycle.
2, automobile wriggling control method of the present invention and system, when the calculation expectation speed of a motor vehicle, limits its scope and rate of change, ensure that the stability of wriggling process vehicle.
3, automobile wriggling control method of the present invention and system, when the calculation expectation speed of a motor vehicle, consider the change of engine speed and the change of brake pedal position simultaneously, consider the change of wriggling process power system and driver's operation intention change factor, effectively improve the accuracy of wriggling and controlling and safety.
4, automobile wriggling control method of the present invention and system, using brake pedal position signal and the engine rotational speed signal control signal as integration control, integral controller is reset after engine speed reaches lower limit or brake pedal exceedes the upper limit, after both come back to normal range, can again from expecting that when front clutch carrying out wriggling based on moment of torsion controls, prevent the larger fluctuation of moment of torsion, effectively improve the traveling comfort of wriggling process.
5, automobile wriggling control method of the present invention and system; wriggling process engine speed lower limit is set; control to open power-transfer clutch; prevent in wriggling process because the combination of power-transfer clutch causes the engine speed flame-out situation of as many as that declined to occur; carried out available protecting to driving engine, making to wriggle, it is safer to control.
6, automobile wriggling control method of the present invention and system; consider the brake operating intention of chaufeur; brake pedal thresholding is provided with in wriggling process; control to open power-transfer clutch; when preventing wriggling process chaufeur brake pedal operation more than a threshold value; still there is sliding wear situation in power-transfer clutch, protection power-transfer clutch.
7, automobile wriggling control method of the present invention and system, considers engine torque coordination and controls, according to the size of engine speed situation of change determination driving engine requested torque, guarantee the stability in wriggling process.
8, automobile wriggling control method of the present invention and system, its wriggling activation condition is provided with two groups of limit values, reasonably considers operation intention and the car load situation of chaufeur, prevents wriggling function activation signal and frequently change, in order to avoid affect the stability of vehicle.
9, automobile wriggling control method of the present invention and system, comprise the switching controls between two kinds of wriggling operating modes, and the operation of chaufeur when 1 grade and reverse gear wriggling easy switching move storehouse operating mode, 1 grade and 2 grades switching of wriggling improves the traveling comfort of driving procedure.
10, automobile wriggling control method of the present invention and system, the power-transfer clutch exported wriggling expects that moment of torsion carries out maximin control, effectively improves the safety wriggled in ramp, prevents the generation slipping by slope phenomenon, simultaneously also available protecting power-transfer clutch.
11, the present invention is applicable to the vehicle with double clutch automatic speed changing case, but its portion of techniques scheme is also applicable to the vehicle with other kind Automatic Transmission, no matter is applied to which kind of vehicle, all should belong in protection scope of the present invention.
One of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment can have been come by hardware, also can be completed by the hardware that programming control is relevant, program when performing, step comprising embodiment of the method one or a combination set of.In addition, each functional unit in embodiments of the present invention can be integrated in a processing module, also can be that the independent physics of unit exists, also can be integrated in a module by two or more unit.Above-mentioned module or unit both can adopt the form of hardware to realize, and the form of software function module also can be adopted to realize.If described module or unit using the form of software function module realize and as independently production marketing or use time, also can be stored in a computer read/write memory medium.
Structure of the present invention, feature and action effect is described in detail above according to graphic shown embodiment; the foregoing is only preferred embodiment of the present invention; but the present invention does not limit practical range with shown in drawing; every change done according to conception of the present invention; or be revised as the Equivalent embodiments of equivalent variations; do not exceed yet specification sheets with diagram contain spiritual time, all should in protection scope of the present invention.
Claims (20)
1. an automobile wriggling control method, is characterized in that, comprising:
Activate/close wriggling controlling functions according to actual vehicle speed and accelerator open degree; Under wriggling controlling functions is in state of activation, carry out following operation:
Based on engine speed, driving engine desired idle and brake pedal position determination desired speed;
Based on the speed of a motor vehicle difference between desired speed and actual vehicle speed, power-transfer clutch is expected that moment of torsion carries out proportional plus integral control, expect moment of torsion to adjust power-transfer clutch;
Expect that moment of torsion controls power-transfer clutch according to power-transfer clutch;
Wherein, before expecting that moment of torsion controls power-transfer clutch according to power-transfer clutch, also comprise and engine speed and brake pedal position are judged: when judging engine speed < engine speed lower limit or brake pedal position > brake pedal thresholding, power-transfer clutch is expected that moment of torsion carries out separation and controls, expects moment of torsion to adjust power-transfer clutch;
Described power-transfer clutch is expected that moment of torsion carries out separations and controls, comprising: calculate disengaging of clutch slope: power-transfer clutch expectation moment of torsion/disengaging time that disengaging of clutch slope=start carries out being separated when controlling; According to disengaging of clutch slope, power-transfer clutch is expected that moment of torsion carries out separation and controls.
2. method according to claim 1, it is characterized in that, before expecting that moment of torsion controls power-transfer clutch according to power-transfer clutch, also comprise and power-transfer clutch is expected that moment of torsion limits: if power-transfer clutch expects that moment of torsion >=power-transfer clutch expects upper torque limit, power-transfer clutch is expected the numerical value of moment of torsion is adjusted to power-transfer clutch and expects upper torque limit; If power-transfer clutch expects that moment of torsion≤power-transfer clutch expects lower torque limit, power-transfer clutch is expected the numerical value of moment of torsion is adjusted to power-transfer clutch and expects lower torque limit.
3. method according to claim 1, is characterized in that, described based on engine speed, driving engine desired idle and brake pedal position determination desired speed, comprising:
Speed discrepancy between calculation engine desired idle and engine speed, determines the first desired speed according to described speed discrepancy;
The second desired speed is determined according to brake pedal position;
Calculate the difference of the first desired speed and the second desired speed as desired speed.
4. method according to claim 3, is characterized in that, described based on engine speed, driving engine desired idle and brake pedal position determination desired speed, also comprises and carries out speed limit to desired speed and/or carry out vehicle speed variation rate restriction;
Described speed limit is carried out to desired speed, comprising: if desired speed < desired speed minimum value, the numerical value of desired speed is adjusted to desired speed minimum value; If desired speed > desired speed maxim, is adjusted to desired speed maxim by the numerical value of desired speed;
Described vehicle speed variation rate restriction is carried out to desired speed, comprising: if the rate of change < desired speed rate of change minimum value of desired speed, then according to desired speed rate of change minimum value adjustment desired speed; If the rate of change > desired speed rate of change maxim of desired speed, then according to desired speed rate of change maxim adjustment desired speed.
5. method according to claim 1, it is characterized in that, described based on the speed of a motor vehicle difference between desired speed and actual vehicle speed to power-transfer clutch expect moment of torsion carry out proportional plus integral control, according to actual vehicle speed determination proportionality coefficient and integral coefficient, and the activation of integration control wherein/closedown condition is: if engine speed >=engine speed lower limit and brake pedal position≤brake pedal thresholding, activate integration control, otherwise close integration control.
6. method according to claim 1, is characterized in that, describedly activates/close wriggling controlling functions according to actual vehicle speed and accelerator open degree, comprising:
Judge whether automobile gears is in forward gear or reverse gear:
When automobile gears is in reverse gear, if the speed of a motor vehicle≤reverse gear wriggling speed of a motor vehicle irreducible minimum value and accelerator open degree≤minimum limit value of reverse gear wriggling accelerator open degree, activate reverse gear wriggling controlling functions; If the speed of a motor vehicle >=reverse gear wriggling speed of a motor vehicle threshold limit value or accelerator open degree >=reverse gear wriggling accelerator open degree threshold limit value, close reverse gear wriggling controlling functions;
When automobile gears is in forward gear, judge that the target gear of automobile is 1 grade or 2 grades:
When the target gear of automobile is 1 grade: if the speed of a motor vehicle≤1 grade wriggling speed of a motor vehicle irreducible minimum value and the accelerator open degree≤1 grade minimum limit value of wriggling accelerator open degree, activate 1 grade of wriggling controlling functions; If the speed of a motor vehicle >=1 grade wriggling speed of a motor vehicle threshold limit value or accelerator open degree >=1 grade wriggling accelerator open degree threshold limit value, close 1 grade of wriggling controlling functions;
When the target gear of automobile is 2 grades: if the speed of a motor vehicle≤2 grade wriggling speed of a motor vehicle irreducible minimum value and the accelerator open degree≤2 grade minimum limit value of wriggling accelerator open degree, activate 2 grades of wriggling controlling functions; If the speed of a motor vehicle >=2 grade wriggling speed of a motor vehicle threshold limit value or accelerator open degree >=2 grade wriggling accelerator open degree threshold limit value, close 2 grades of wriggling controlling functions.
7. method according to claim 6, is characterized in that, before expecting that moment of torsion controls power-transfer clutch according to power-transfer clutch, also comprises 1 grade and wriggles and control and the switching controls of 2 grades of controls of wriggling:
When automobile is in 1 grade of wriggling control, if meet the activation condition of 2 grades of wriggling controlling functions, just closes 1 grade of wriggling controlling functions and activate 2 grades of wriggling controlling functions, and power-transfer clutch being expected the numerical value of moment of torsion is adjusted to the numerical value switching moment of torsion;
When automobile is in 2 grades of wriggling control, if meet the activation condition of 1 grade of wriggling controlling functions, just closes 2 grades of wriggling controlling functions and activate 1 grade of wriggling controlling functions, and power-transfer clutch being expected the numerical value of moment of torsion is adjusted to the numerical value switching moment of torsion.
8. the method according to any one of claim 1-7, is characterized in that, also comprises driving engine cooperation control, comprising:
Under wriggling controlling functions state of activation, based on the speed discrepancy between driving engine desired idle and engine speed, proportional plus integral control is carried out to driving engine requested torque, to adjust driving engine requested torque; According to driving engine requested torque, driving engine is controlled.
9. method according to claim 8, it is characterized in that, also comprise and activate/kill engine cooperation control according to brake pedal position: if brake pedal position≤brake pedal thresholding, just activate driving engine cooperation control, otherwise the cooperation control that kills engine.
10. method according to claim 9, it is characterized in that, describedly based on the speed discrepancy between driving engine desired idle and engine speed, proportional plus integral control is carried out to driving engine requested torque, according to engine speed determination driving engine cooperation control proportionality coefficient and driving engine cooperation control integral coefficient, and the activation of integration control wherein/closedown condition is: if brake pedal position≤brake pedal thresholding, activate integration control, otherwise close integration control.
11. 1 kinds of automobile wriggling control system, is characterized in that, comprising:
Wriggle and control to activate unit, power-transfer clutch expectation moment of torsion control unit and clutch control unit;
Described wriggling controls to activate unit, for activating/closing wriggling function according to actual vehicle speed and accelerator open degree;
Described power-transfer clutch expects moment of torsion control unit, under controlling functions state of activation of wriggling, expects that moment of torsion controls, comprising: based on engine speed, driving engine desired idle and brake pedal position determination desired speed power-transfer clutch; Based on the speed of a motor vehicle difference between desired speed and actual vehicle speed, power-transfer clutch is expected that moment of torsion carries out proportional plus integral control, expect moment of torsion to adjust power-transfer clutch;
According to power-transfer clutch, described clutch control unit, under controlling functions state of activation of wriggling, expects that moment of torsion controls power-transfer clutch;
Wherein, described power-transfer clutch expects that moment of torsion control unit is also for judging engine speed and brake pedal position: when judging engine speed < engine speed lower limit or brake pedal position > brake pedal thresholding, power-transfer clutch is expected that moment of torsion carries out separation and controls, expects moment of torsion to adjust power-transfer clutch;
To power-transfer clutch, described power-transfer clutch expectation moment of torsion control unit expects that moment of torsion carries out separation and controls, comprising: calculate disengaging of clutch slope: disengaging of clutch slope=power-transfer clutch started when carrying out separation control expects moment of torsion/disengaging time; According to disengaging of clutch slope, power-transfer clutch is expected that moment of torsion carries out separation and controls.
12. systems according to claim 11, it is characterized in that, described power-transfer clutch expects moment of torsion control unit also for after expecting that moment of torsion carries out proportional plus integral control to power-transfer clutch, power-transfer clutch is expected that moment of torsion limits: if power-transfer clutch expects that moment of torsion >=power-transfer clutch expects upper torque limit, power-transfer clutch is expected the numerical value of moment of torsion is adjusted to power-transfer clutch and expects upper torque limit; If power-transfer clutch expects that moment of torsion≤power-transfer clutch expects lower torque limit, power-transfer clutch is expected the numerical value of moment of torsion is adjusted to power-transfer clutch and expects lower torque limit.
13. systems according to claim 11, is characterized in that, described power-transfer clutch expects that moment of torsion control unit is based on engine speed, driving engine desired idle and brake pedal position determination desired speed, comprising:
Speed discrepancy between calculation engine desired idle and engine speed, determines the first desired speed according to described speed discrepancy;
The second desired speed is determined according to brake pedal position;
Calculate the difference of the first desired speed and the second desired speed as desired speed.
14. systems according to claim 13, is characterized in that, described power-transfer clutch expects that moment of torsion control unit is also for carrying out speed limit and/or carrying out vehicle speed variation rate restriction to desired speed;
Described speed limit is carried out to desired speed, comprising: if desired speed < desired speed minimum value, the numerical value of desired speed is adjusted to desired speed minimum value; If desired speed > desired speed maxim, is adjusted to desired speed maxim by the numerical value of desired speed;
Described vehicle speed variation rate restriction is carried out to desired speed, comprising: if the rate of change < desired speed rate of change minimum value of desired speed, then according to desired speed rate of change minimum value adjustment desired speed; If the rate of change > desired speed rate of change maxim of desired speed, then according to desired speed rate of change maxim adjustment desired speed.
15. systems according to claim 11, it is characterized in that, described power-transfer clutch expects to power-transfer clutch, moment of torsion control unit expects that moment of torsion carries out proportional plus integral control based on the speed of a motor vehicle difference between desired speed and actual vehicle speed, according to actual vehicle speed determination proportionality coefficient and integral coefficient, and the activation of integration control wherein/closedown condition is: if engine speed >=engine speed lower limit and brake pedal position≤brake pedal thresholding, activate integration control, otherwise close integration control.
16. systems according to claim 11, is characterized in that, described wriggling controls to activate unit and activates/close wriggling controlling functions according to actual vehicle speed and accelerator open degree, comprising:
Judge whether automobile gears is in forward gear or reverse gear:
When automobile gears is in reverse gear, if the speed of a motor vehicle≤reverse gear wriggling speed of a motor vehicle irreducible minimum value and accelerator open degree≤minimum limit value of reverse gear wriggling accelerator open degree, activate reverse gear wriggling controlling functions; If the speed of a motor vehicle >=reverse gear wriggling speed of a motor vehicle threshold limit value or accelerator open degree >=reverse gear wriggling accelerator open degree threshold limit value, close reverse gear wriggling controlling functions;
When automobile gears is in forward gear, judge that the target gear of automobile is 1 grade or 2 grades:
When the target gear of automobile is 1 grade: if the speed of a motor vehicle≤1 grade wriggling speed of a motor vehicle irreducible minimum value and the accelerator open degree≤1 grade minimum limit value of wriggling accelerator open degree, activate 1 grade of wriggling controlling functions; If the speed of a motor vehicle >=1 grade wriggling speed of a motor vehicle threshold limit value or accelerator open degree >=1 grade wriggling accelerator open degree threshold limit value, close 1 grade of wriggling controlling functions;
When the target gear of automobile is 2 grades: if the speed of a motor vehicle≤2 grade wriggling speed of a motor vehicle irreducible minimum value and the accelerator open degree≤2 grade minimum limit value of wriggling accelerator open degree, activate 2 grades of wriggling controlling functions; If the speed of a motor vehicle >=2 grade wriggling speed of a motor vehicle threshold limit value or accelerator open degree >=2 grade wriggling accelerator open degree threshold limit value, close 2 grades of wriggling controlling functions.
17. systems according to claim 16, is characterized in that, described power-transfer clutch is expected that moment of torsion control unit is also wriggled for 1 grade and controlled and 2 grades of switching controls controlled of wriggling:
When automobile is in 1 grade of wriggling control, if meet the activation condition of 2 grades of wriggling controlling functions, just closes 1 grade of wriggling controlling functions and activate 2 grades of wriggling controlling functions, and power-transfer clutch being expected the numerical value of moment of torsion is adjusted to the numerical value switching moment of torsion;
When automobile is in 2 grades of wriggling control, if meet the activation condition of 1 grade of wriggling controlling functions, just closes 2 grades of wriggling controlling functions and activate 1 grade of wriggling controlling functions, and power-transfer clutch being expected the numerical value of moment of torsion is adjusted to the numerical value switching moment of torsion.
18. systems according to any one of claim 11-17, is characterized in that, also comprise driving engine requested torque control unit and control unit of engine;
Described driving engine requested torque control unit, under wriggling controlling functions state of activation, carries out proportional plus integral control based on the speed discrepancy between driving engine desired idle and engine speed to driving engine requested torque, to adjust driving engine requested torque;
Described control unit of engine, for controlling driving engine according to driving engine requested torque.
19. systems according to claim 18, it is characterized in that, also comprise driving engine cooperation control and activate unit: if wriggling controlling functions is in state of activation and brake pedal position≤brake pedal thresholding, activate driving engine coordinated control function, otherwise the coordinated control function that kills engine.
20. systems according to claim 19, it is characterized in that, described driving engine requested torque control unit carries out proportional plus integral control based on the speed discrepancy between driving engine desired idle and engine speed to driving engine requested torque, according to engine speed determination driving engine cooperation control proportionality coefficient and driving engine cooperation control integral coefficient, and the activation of integration control wherein/closedown condition is: if brake pedal position≤brake pedal thresholding, activate integration control, otherwise close integration control.
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