CN103381823B - A method and a system for a hybrid electric vehicle - Google Patents

Abstract

The invention provides a system and a method for obtaining torque estimation faults and updating a torque estimation model. In one embodiment, the torque estimation faults are obtained during flame-out of the engine after a disengaging clutch connected between an engine and an electric machine is released. In the following engine operation period, the updated torque estimation module is used for controlling the torque and thus improving the driving feeling and vehicle performance.

Description

For the method and system of hybrid vehicle

Cross-reference to related applications

This application claims the priority of the U.S. Provisional Patent Application the 61/642nd, 877 submitted on May 4th, 2012, Its content is hereby expressly incorporated by reference

Technical field

The present invention relates to be used for the system and method for improving the cornering ability of vehicle and fuel economy.The method is especially right The electromotor for being selectively connected to motor and variator is effective.

Background technology

Hybrid vehicle potentially provides the fuel economy and VMT Vehicle-Miles of Travel better than non-mixed power vehicle.It is mixed An example for closing power vehicle includes being selectively connected to the electromotor of motor and variator according to vehicle operation conditions.Send out Motivation can be selectively connected to motor and variator via the disconnect-type clutch of electric power actuating or hydraulic actuation.Separate type Clutch allows motor to provide moment of torsion to wheel under low torque demand condition, and need not operate electromotor and need not provide torsion Square is rotating the electromotor of unburned air-fuel mixture.Disconnect-type clutch can be additionally used in via motor make electromotor from The state not rotated is restarted.

Selection of Motor is connected to electromotor via disconnect-type clutch to cause in non-mixed power vehicle In the problem that do not occurred.For example, engine start can introduce vibration and torque ripple to vehicle driveline.If Disconnect-type clutch is suddenly used excessively, then noise and vibration can be introduced in vehicle driveline, so that driving Member is interfered.Similarly, if excessively suddenly discharging disconnect-type clutch, driver can equally be interfered.Therefore, It is desirable to improve disconnect-type clutch operation, so as to not using power operation vehicle and using power operation car State between realize a smooth transition.

The content of the invention

Inventors have recognized that disadvantages mentioned above and develop a kind of method of operation hybrid vehicle, bag Include：During engine misses state, release is connected to the separate type between the motor in electromotor and power transmission system of vehicle Clutch；And based on engine torque, engine speed and engine retard degree when clutch discharges relative to which each Designated value deviation come estimate disconnect-type clutch release after torque error.In this way, torque error can be obtained.

In an example, during engine misses state, optionally disable electromotor and release is connected to and sends out Disconnect-type clutch between the remainder (including motor, variator and wheel) of motivation and power transmission system of vehicle.It is based on Speed and pedal position when flame-out, it may be desirable to roll and stop.Engine controller is specified before can determine that clutch release Engine torque so that maintain substantially zeroed moment of torsion at clutch two ends after clutch release.There is no electromotor In the case of moment of torsion estimation error, after clutch release, electromotor can follow the rotating speed/acceleration based on specified moment of torsion Curve.Therefore, moment of torsion can be obtained and crosses estimation relative to the deviation of expected value based on practical engine speeds and engine retard degree Error and low estimation error.Error can be obtained with the function that engine speed and executor set.Then, the error for being obtained Can be used to update torque estimation model, and engine torque is controlled when clutch is applied during subsequent engine is restarted.

In this way, moment of torsion estimation error can be obtained and improves moment of torsion control.By obtaining torque error and updating Torque estimation model, can reduce the powertrain torque disturbance of hybrid vehicle.Additionally, the method can improve vehicle drive Performance.Additionally, the method can reduce PWTN abrasion, so as to increase the working life of PWTN.

In another embodiment, a kind of method for hybrid electric vehicle power power train includes：In response to idling Stop condition, optionally disables the disconnect-type clutch that electromotor release are connected between electromotor and CISG, and CISG connects It is connected to the variator and wheel of PWTN；While engine retard, engine torque designated value is maintained；And be based on When disconnect-type clutch discharges, the rotating speed response of electromotor obtains engine torque error.

In another embodiment, select engine torque designated value so that when disconnect-type clutch is discharged expecting The rate of deceleration make engine retard.

In another embodiment, the rotating speed response based on electromotor obtains engine torque error and includes：If started Machine is slower than expectation deceleration to slow down, then obtain engine torque and cross estimation error；If electromotor is faster than expectation, deceleration is come Slow down, then obtain the low estimation error of engine torque.

In another embodiment, disconnect-type clutch release is based further on while when maintaining engine torque designated value CISG speed responsive obtaining engine torque error.

In another embodiment, discharge disconnect-type clutch speed is included in higher than release separation while threshold velocity Formula clutch.

In another embodiment, the method further includes with the function of engine speed to obtain engine torque mistake Difference.

In another embodiment, the method is further included：Update engine torque using the torque error for obtaining to estimate Model is calculated, and is specified based on the engine torque appraising model control engine torque for updating during subsequent engine is restarted Value.

In another embodiment, a kind of hybrid vehicle method includes：After clutch release, it is intended to separating Formula clutch two ends provide zero moment of torsion, and electromotor is mechanically connected to motor by the clutch；And after clutch release A period of time in based on electromotor and/or the rate curve of motor, the air and fuel error provided needed for zero moment of torsion is provided.

In another embodiment, it is intended to which providing zero moment of torsion at clutch two ends includes：It is determined that providing substantially zeroed torsion The engine torque designated value of square, and moment of torsion designated value determined by specifying before clutch release.

In another embodiment, the speed curves based on electromotor obtain error and include：If practical engine speeds Curve is higher than desired engine speed graph within this period of time, then obtain the mistake that estimation is crossed corresponding to engine torque Difference；If practical engine speeds curve this period of time in be less than desired engine speed graph, obtain corresponding to Engine torque underestimates the error of calculation, wherein desired engine speed graph is based on engine torque designated value.

In another embodiment, with the function of engine speed and the setting of one or more engine actuators obtaining Error.

In another embodiment, obtaining error includes：During engine idle stops, obtaining when speed is higher than threshold value Obtain error.

It is by referring solely to specific embodiment or combining accompanying drawing with reference to specific embodiment, of the present utility model above-mentioned Advantage and other advantages and feature will become apparent.

It should be understood that, there is provided summary above will be entered in following detail specificationss to be introduced in simplified form The set of the concept of one step description.This is not meant to the crucial or essential feature for recognizing claimed theme, and its scope is by institute Attached claim is uniquely limiting.In addition, theme required for protection be not limited to solve it is above-mentioned or in the disclosure The embodiment of any shortcoming mentioned in any part.

Description of the drawings

By referring solely to specific embodiment or combine accompanying drawing with reference to specific embodiment read embodiment example, Will become more apparent that ground understands advantage as herein described, wherein：

Fig. 1 is the schematic diagram of electromotor；

Fig. 2 shows the structure of first example vehicle power drive system；

Fig. 3 shows the structure of second example vehicle power drive system；

Fig. 4 is moment of torsion estimation error to be obtained during engine misses state and is based on during follow-up power operation The flow chart of the error control engine torque for being obtained；

Fig. 5 is relative to the inclined of its respective designated value based on engine speed, engine acceleration and engine torque The flow chart that difference obtains the method for torque error；

Fig. 6 is accelerated based on engine speed graph at one or more selected engine speed setpoints and electromotor Write music line relative to its respective expectation curve deviation obtain torque error method flow chart；

Fig. 7 is to illustrate that the method based on Fig. 5 obtains the exemplary curve of torque error；

Fig. 8 and Fig. 9 are to illustrate that the method based on Fig. 6 obtains the exemplary curve of torque error.

Specific embodiment

The present invention relates to control the power drive system of hybrid vehicle.Hybrid vehicle may include Fig. 1 to Fig. 3 institutes The electromotor for showing and motor.In vehicle run duration, regardless of whether with the bent axle (CISG) for being integrated with starter/generator, Electromotor can be operated.Additionally, regardless of whether operation electromotor, can operate the CISG.In the engine misses selected During state, when the clutch that electromotor was closed and connected the engine to vehicle driveline remainder is released When putting, can be responded relative to its respective expectation based on engine speed response and/or motor speed after discharging in clutch The deviation of value is obtaining engine torque estimation error.Engine controller can be configured to perform control after clutch discharges Processing procedure sequence (exemplary process of such as Fig. 4 to Fig. 6), with based on the engine speed graph deviation in a period of time, electromotor Projectile deceleration history deviation etc. or based on speed window (window) obtaining torque deviation.Fig. 7 to Fig. 9 shows that clutch is released The example of torque error is obtained after putting based on deviation.Torque error can be obtained with the function of electromotor setting and actuator set , and can be used to update torque estimation model.In this way, during follow-up power operation, can be preferably Control engine torque is disturbed with reducing power drive system.

With reference to Fig. 1, the internal combustion engine 10 of multiple cylinders is included by the control of engine electronic control 12, is shown in Fig. 1 One of cylinder.Electromotor 10 includes cylinder 30 and cylinder wall 32, and piston 36 is located therein and is connected with bent axle 40.Flywheel 97 Bent axle 40 is connected to ring gear 99.Starter 96 includes pinion shaft 98 and little gear 95.Pinion shaft 98 is alternative Ground promotes little gear 95 to engage with ring gear 99.Shown cylinder 30 is via respective intake valve 52 and air bleeding valve 54 and air inlet discrimination Pipe 44 and exhaust manifold 48 connect.Each intake valve and air bleeding valve can be operated by admission cam 51 and exhaust cam 53.Air inlet The position of cam 51 can be determined by admission cam sensor 55.The position of exhaust cam 53 can pass through exhaust cam sensor 57 It is determined that.

Fuel injector 66 is illustrated to inject fuel directly into combustor 30, and this is known to those skilled in the art Directly to spray.Alternatively, fuel can be ejected into air inlet, and this is known as air inlet spray to those skilled in the art Penetrate.Fuel injector 66 proportionally conveys liquid fuel with the pulsewidth of the FPW signals from controller 12.By including fuel The fuel system (not shown) of case, petrolift and fuel rail (not shown) delivers fuel to fuel injector 66.In response to control Device processed 12 provides operating current from driver 68 to fuel injector 66.Additionally, inlet manifold 44 is illustrated and optional electronics section Stream valve 62 is connected, and the position of the choke valve 62 adjustment choke block 64 is controlling the air-flow from air inlet 42 to inlet manifold 44. In one example, low pressure direct injection system can be used, now fuel pressure can be promoted to about 20-30bar.Alternatively, also Higher fuel pressure can be produced using high-pressure double-stage fuel system.

In response to controller 12, DIS 88 provides pilot spark to cylinder 30 via spark plug 92.It is wide Domain aerofluxuss oxygen (UEGO) sensor 126 is illustrated the exhaust manifold 48 for being connected to 70 upstream of catalyst.Alternatively, two state Exhaust gas oxygen sensor can substitute UEGO sensor 126.

In an example, transducer 70 may include multiple catalyst bricks.In another example, it is possible to use Duo Gepai Control device is put, each is respectively provided with multiple bricks.In an example, transducer 70 can be three-way type catalyst.

Controller 12 is illustrated as conventional microcomputer in FIG, and which includes microprocessor unit 102, input/output The data/address bus of port 104, read only memory 106, random access memory 108, keep-alive memorizer 110 and routine.Controller 12 are illustrated to receive the multi-signal from the sensor being connected with electromotor 10, in addition to those signals for being discussed before, Also include the ECT (ECT) from the temperature sensor 112 being connected with cooling jacket 114, be connected to acceleration Pedal 130 is for sensing the signal of the position sensor 134 of the power applied by foot 132, from the pressure for being connected to inlet manifold 44 The measured value of the engine manifold pressure (accompanying drawing) of force transducer 122, the hall effect sensor for coming 40 position of self-inductance measurement bent axle The signal of 118 engine position sensor, from sensor 120 entrance electromotor air mass measured value and from The measured value of the throttle valve position of sensor 58.(not shown sensor) atmospheric pressure can also be sensed to come for controller 12 Process.In this preferred aspect for illustrating, bent axle each rotation, engine position sensor 118 just produce predetermined quantity etc. Interval pulse, thus determining engine speed (RPM).

In some instances, electromotor may be connected to the motor/battery system in hybrid vehicle shown in Fig. 2 and Fig. 3 System.Additionally, in some instances, other engine structures, such as Diesel engine can also be used.

Each cylinder in run duration, electromotor 10 generally goes through four-stroke cycle, and the circulation includes that air inlet is rushed Journey, compression stroke, expansion stroke and exhaust stroke.Generally, during induction stroke, air bleeding valve 54 is closed and intake valve 52 is opened Open.Air enters combustor 30 via inlet manifold 44, and then piston 36 is moved to the bottom of cylinder so that in combustor 30 Volume increases.Piston 36 generally (for example, is worked as combustion near the position that the bottom of cylinder and the stroke terminate by those skilled in the art When burning room 30 is in its maximum volume) it is referred to as lower dead center (BDC).During compression stroke, intake valve 52 and air bleeding valve 54 are closed Close.Piston 36 moves the air compression so that in combustor 30 to cylinder head.Piston 36 is generally in by those skilled in the art The stroke terminates and near point (for example, when cylinder 30 is in its minimum volume) the referred to as top dead centre (TDC) of cylinder head.With During lower referred to as injection, fuel enters combustor.During hereinafter being referred to as igniting, the fuel of injection is by such as fire The known ignition method igniting of flower plug 92, so as to cause burning.During expansion stroke, piston 36 is pushed back to by the gas of expansion BDC.Bent axle 40 makes the movement of piston be changed into the rotation torque of rotary shaft.Finally, during exhaust stroke, air bleeding valve 54 is opened To discharge burned air-fuel mixture and piston return TDC to exhaust manifold 48.Note, it is illustrated above only to make For an example, thus it is possible to vary the unlatching of intake valve and air bleeding valve and/or timeing closing, for example, provide positive valve lap or negative valve weight Folded, intake valve time-delay closing or various other examples.

Fig. 2 is the block diagram of vehicle driveline 200.Power drive system 200 can be driven by electromotor 10.Start Machine 10 can start system by electromotor shown in Fig. 1 and start or by CISG240 startings.Additionally, electromotor 10 can be caused via moment of torsion Dynamic device 204 (fuel injector, choke valve etc.) is produced or adjusts moment of torsion.

Engine output torque is can transmit to the input side of double mass flywheel 232.Engine speed and double mass flywheel Input side position and speed can be determined via engine position sensor 118.Double mass flywheel 232 is may include for suppressing power The spring and disintegrate-quality block (mass) (not shown) of driveline torque disturbance.The outlet side of double mass flywheel 232 is illustrated It is mechanically attached to the input side of disconnect-type clutch 236.Disconnect-type clutch 236 can be by electric actuation or hydraulic actuation.Position Sensor 234 is located at the disconnect-type clutch side of double mass flywheel 232, to sense the outgoing position and speed of double mass flywheel 232 Degree.The downstream of disconnect-type clutch 236 is illustrated to be mechanically attached to CISG input shafts 237.

CISG can be operated to provide moment of torsion to power drive system 200 or driveline torque is converted into electric energy It is stored in apparatus for storing electrical energy 275.Apparatus for storing electrical energy 275 can be battery, capacitor or inducer.Under CISG240 Trip side is mechanically attached to the impeller 285 of fluid torque-converter 206 via axle 241.The upstream side of CISG be mechanically attached to separate type from Clutch 236.Fluid torque-converter 206 includes the turbine 286 to 270 output torque of axle.Axle 270 will be fluid torque-converter 206 mechanical It is connected to automatic transmission 208.Fluid torque-converter 206 also includes fluid torque-converter bypass lock-up clutch 212 (TCC).Work as TCC During locking, moment of torsion is shown delivered directly to turbine 286 from impeller 285.TCC is by 12 electric operating of controller.Alternatively, TCC can To be hydraulically locked.In an example, fluid torque-converter is considered the part of variator.Can be via position sensor 239 rotating speeds for determining transformer turbine machine and position.In some instances, 238 and/or 239 can be torque sensor Or can be the coalition of position sensor and torque sensor.

When lockup clutch of converter 212 is completely segregated, fluid torque-converter 206 can be via fluid torque-converter whirlpool Engine torque is sent to automatic transmission 208 by the fluid conveying between turbine 286 and fluid torque-converter impeller 285, so as to Realize multiple torque.Conversely, when lockup clutch of converter 212 is fully engaged, engine output torque can be via liquid Power converter clutch is conveyed directly to the input shaft (not shown) of variator 208.Alternatively, lockup clutch of converter 212 partly can engage, so as to realize the adjustment of the torque capacity to being directly delivered to variator.Controller 12 can be configured to ring Should ask in various engine operating conditions or according to the power operation based on driver, by adjusting hydraulic torque converter lockout Clutch is adjusting the torque capacity transmitted by fluid torque-converter 206.

Automatic transmission 208 includes engagement sleeve (for example, gear 1-6) 211 and forward gear clutch 210.Gear from Clutch 211 and forward gear clutch 210 optionally can be engaged to advance vehicle.The torque output of automatic transmission 208 Can transfer to be transferred to wheel 216 to advance vehicle via output shaft 260.Specifically, automatic transmission 208 can be in response to vehicle Input driving torque of the transport condition at the front transfer input shaft 270 that output driving moment of torsion is transmitted to wheel 216.

Furthermore, it is possible to frictional force is applied on wheel 216 by engaging wheel drag 218.In an example, Wheel drag 218 can be engaged in response to driver's foot press brake pedal (not shown).In other instances, controller 12 or the engageable wheel drag of controller that associates with controller 12.Similarly, in response to driver by foot from brake pedal Upper release, can pass through release wheel drag 218 and reduce the frictional force being applied on wheel 216.Additionally, automatic as electromotor A part for parking procedure, vehicle brake can apply frictional force to wheel 216 via controller 12.

Mechanical oil pump 214 can be fluidly connected to automatic transmission 208 to provide hydraulic pressure to engage multiple clutches, such as before Enter to keep off clutch 210, engagement sleeve 211 and/or lockup clutch of converter 212.For example, mechanical oil pump 214 can be according to Operated according to fluid torque-converter 206, and can be driven by the rotation of electromotor or CISG via input shaft 241. Therefore, the hydraulic pressure for generating in mechanical oil pump 214 can increase with the increase of engine speed and/or CISG speed, and can To reduce with the reduction of engine speed and/or CISG speed.

As Fig. 1 is shown in further detail, controller 12 is can be configured to from 10 receives input of electromotor, so as to control electromotor Torque output and/or fluid torque-converter, variator, CISG, clutch and/or brake operation.As an example, lead to Cross the liter that control choke valve opens timing and/or valve timing, valve lift and turbocharged engine or mechanically-sapercharged engine Pressure, adjusts the combination of spark timing, fuel pulse width, fuel impulse timing and/or air inlet, can control engine torque defeated Go out.In the example of Diesel engine, by the combination for controlling fuel pulse width, fuel impulse timing and air inlet, controller 12 controllable engine torque outputs.In all cases, electromotor control can perform electromotor control by cylinder, to control Engine torque is exported.As it is known by the man skilled in the art, controller 12 can be exported with control mode, and reached by being adjusted to Or from the magnetic field of CSIG and/or armature winding operating current come control by CISG produce electric energy.

When idling-stopping condition is met, controller 12 can make to start by cutting out to electromotor supply fuel and igniting Machine stops working.However, in some instances, electromotor can also continue to rotation.Additionally, to maintain a certain amount of torsion in the transmission Square, controller 12 can make the revolving part of variator 208 be grounded to the casing 259 of variator, so as to be grounded to vehicle frame.Tool Body ground, engageable one or more transmission clutch of controller 12 (such as forward gear clutch 210), and it is such as entitled " METHOD FOR CONTROLLING AN ENGINE THAT MAY BE AUTOMATICALLY STOPPED " (which is all interior Appearance be hereby expressly incorporated by reference) U.S. Patent application 12/833,788 described in by engagement transmission clutch locking to speed change Device casing 259 and vehicle frame.Transmission clutch pressure can change (for example, increase) to adjust connecing for transmission clutch Conjunction state, and the transmission torque of desired amount is provided.

During engine misses, it is also possible to adjust wheel brake pressure based on transmission clutch pressure, to subtract Locking (tying up) variator is aided in while the moment of torsion for transmitting by wheel less.Specifically, by locking one or many Wheel drag 218 is applied while the transmission clutch of individual engagement, contrary power can be applied to variator, and be applied then It is added on power transmission, so as to keep transmission gear to have the initiative engagement state simultaneously in the case of without the need for mobile wheel Torsional-energy in maintenance transmission gear train.In an example, during engine misses, by the speed change being engaged by locking Device clutch, can adjust wheel brake pressure to coordinate the application of wheel drag.Thus, by adjusting wheel drag Pressure and clutch pressure, keep torque capacity in the transmission when can adjust engine misses.

When satisfaction restarts condition and/or when vehicle driver wants to start vehicle, controller 12 can be by recovering cylinder Burn and restart electromotor.As further described with reference to Fig. 4 to Fig. 9, electromotor can be started using various ways.

Referring now to Fig. 3, the structure of second example vehicle power drive system is shown.Power drive system 300 In many elements it is similar with the element in power drive system 200 and adopt identical label.Therefore, for simplicity's sake, save Explanation slightly to having element between Fig. 2 and Fig. 3.The explanation of Fig. 3 is limited to the elements different from the element of Fig. 2.

Power drive system 300 includes double clutch-twin countershaft transmission 308.Variator 308 is substantially to be grasped automatically The manual transmission of work.The operation first clutch 310 of controller 12, second clutch 314 and gearshift 315 are with gear Selected between (for example, the first to the 5th gear) 317.First clutch 310 and second clutch 314 can be by selectivitys Open or close between gear 317 switch.Moment of torsion is sent to wheel 216 from variator 308 by output shaft 260.

Applicants have realized that separating for the engine output between electromotor and motor (or CISG) has For the hybrid power system of formula clutch (being shown in Figure 2 for 236), not only quickly but also smoothly can be connected and disconnected from starting Machine is particularly important.Specifically, response is for connection during the requirement accelerating vehicle being input into according to driver in electromotor Motivation is particularly important.Similarly, it is desired to smooth transition is promoting smoothly (transparent) patten transformation.To realize Above-mentioned purpose, in the whole range of speeds of electromotor, power train is required to effectively activate the engine torque for being close to zero.

For example, when engage or discharge disconnect-type clutch when, from clutch to dynamical system and power drive system torsion Square (referred to herein as T_clutch) change with to maintain the clutch torque capacity (torque of engine speed and motor speed Capacity, peak torque) proportional (because when clutch lock timing, the speed of its both sides is equal).Do not considering high frequency resistance In the case of Buddhist nun's device and flywheel power, following parameter and its respective unit definition are：

T_eng：Engine output torque, frictional force and thrust (pumping) sum (not including I α effects) of instruction, Nm

I_eng：With the inertia of all parts of engine rotation, Nm (rpm/sec)

N_eng：Engine speed, rpm

N_em：Motor speed, rpm

α_eng：Engine acceleration=d N_eng/ dt, rpm/sec

α_em：Motor acceleration=d N_em/ dt, rpm/sec

T_cap：Disconnect-type clutch capacity, Nm

T_clutch：Disconnect-type clutch moment of torsion (actually applied value), Nm

The input of the output of clutch, motor and fluid torque-converter

When clutch makes engine stop, the moment of torsion is negative

T_net：" net " engine torque (which is measured by the torque sensor)=T of clutch input side_eng-I_eng.α_eng

If slipping of clutch, equation below is suitable for：

T_clutch=T_cap·sign(N_eng-N_em)

T_net=T_clutch

If clutch is locked, equation below is suitable for：

α_eng=α_em, N_eng=N_em

T_clutch=T_net=T_eng-I_eng.α_eng, it is limited to | T_clutch|≤T_cap

Once releasing disconnect-type clutch, clutch capacity will remain a certain value of locking from which is high enough that It is decreased to zero.If regulation aims of systems is to make T due to releasing clutch_clutchProduced change minimum (works as T_capIt is zero When, T_clutchTo be reduced to zero), then need before releasing clutch and during releasing clutch, below equation is set up：

T_net=0

T_eng=I_eng·α_eng=I_eng·α_em

In other words, engine torque (not including I α effects) should be proportional to motor acceleration.If in clutch Deenergized period motor speed is constant, then engine torque should be zero.

As a comparison, once applying clutch, clutch capacity just increases from zero to guarantee for clutch to keep locking High value.If regulation aims of systems is due to making T using clutch_clutchProduced change is minimum, then need in application Before clutch and during clutch application, below equation is set up：

N_eng=N_emSo as to need the engine acceleration of lock-up clutch minimum

T_eng=I_eng·α_eng=I_eng·α_em

In other words, engine torque (not including I α effects) should be proportional to motor acceleration.If application from During clutch, motor speed is constant, then engine torque should be zero.

For using clutch and releasing clutch, it is desirable to motor acceleration proportionally to expect water It is flat stably to encourage engine torque.The motivation needs of this engine torque can overcome (robust) noise factor, such as Engine speed (for example, in the range of 600～3000rpm), green when variation between part, application or releasing clutch (green) engine friction, the engine friction that produced by engine scuffing over time, the change of engine oil viscosity (by Temperature, machine oil type, aeronautic ATE and cause), air pressure change (based on its impact to engine pumping losses), air inlet estimation Error.

Therefore, when applying or discharge disconnect-type clutch, to make torque disturbances minimum, need rightly to encourage electromotor Moment of torsion.If be achieved, engine acceleration will not be changed due to the release of clutch.If however, release from During clutch, engine torque is higher or lower than delivery value, then engine acceleration can change or different from based on estimation The desired acceleration of engine torque.This shows there is moment of torsion estimation (or transmission) error.

Therefore, the desired engine speed response after present applicant is had realized that by clutch is discharged (including engine speed or acceleration/deceleration curve) is compared with practical engine speeds response, can be obtained moment of torsion and be estimated Calculate error and for updating engine torque appraising model.This allows to obtain torque error and be applied to subsequent engine to operate In, using the releasing clutch during clutch and in subsequent engine quenching operations such as in subsequent engine reboot operation Period.

Referring now to Fig. 4, show operation vehicle driveline and use the method for Fig. 5 to Fig. 6 to obtain moment of torsion mistake The flow chart of poor illustrative methods.The method of Fig. 4 can be stored in controller 12 shown in Fig. 1 to Fig. 3 as executable instruction In non-transitory memory.

In step 402, method 400 determines running status.Running status may include but be not limited to torque demand, electromotor Rotating speed, engine torque, motor or CISG speed and moment of torsion, speed, ambient temperature and pressure and battery charging state.Turn round Square demand can be drawn from accelerator pedal 130 shown in Fig. 1 and controller 12.Method 400 running status determination after carry out to Step 404.

In step 404, it may be determined that whether meet engine stop condition.Can pass through with request engine start The operated key or key-press input of unique function is asking engine stop.It is alternatively possible to be based on running status by controller 12 To ask automatically engine stop.As an example, may be in response to expect that driveline torque is low less than threshold value, speed In threshold velocity or engine torque less than threshold torque asking engine stop.Used as another example, controller 12 can Vehicle brake pedal is jammed in response to driver or engine stop is asked in response to battery charging state (higher than threshold value).Cause This, by the executable engine stop request of input not only with this function of request engine stop.In other examples In, in response to meeting following arbitrary idling-stopping condition, engine stop can be asked automatically.For example, these conditions may include to send out Motivation perform burning, battery charging state higher than threshold value (for example, higher than threshold value 30%), speed higher than threshold value, be not carried out air-conditioning Request, engine temperature are needed higher than threshold value (for example, higher than firing temperature), driver higher than threshold value, emission control system temperature Ask moment of torsion less than threshold value, vehicle electrical loads less than threshold value etc..If not meeting engine stop condition, electromotor fortune is being kept Terminate program in the case of row.I.e., it is possible to not close electromotor.

Once it is determined that meet engine stop condition, just in a step 406, it may be determined that whether expect that electromotor is rolled and stop Only (rolling stop).In an example, when non-depression of brake pedal and accelerator pedal and vehicle are moved, it is contemplated that real Existing electromotor is rolled and is stopped or vehicle sliding.In another example, expected based on the instruction to electromotor stops completely Persistent period, it is contemplated that carry out electromotor and roll stopping.For example, speed when meeting engine stop condition and can be estimated To determine the speed whether higher than threshold velocity.Threshold velocity may correspond to the vehicle for being not enough to maintain the vehicle sliding some time Inertia values, now will appear from vehicle stagnation.Therefore, if speed is higher than threshold value, electromotor can be performed and rolls stopping, this Fuel economy benefit can be provided.In another example, can be (all based on the traffic with regard to vehicle local environment and geography information Such as determine from Vehicular navigation system) expect that carrying out electromotor rolls stopping.For example, if vehicle starts and stops frequently occurring City in travel, then do not expect carry out electromotor roll stop.

If it is desire to carry out rolling stopping, then in a step 408, it may be determined that roll and stop torque error estimation condition.This Can include determining that：Speed be higher than minimum threshold velocity but less than maximum threshold velocity, battery charging state less than threshold value (so as to Roll stop during regenerating braking energy can enter battery from motor), motor torque less than threshold value (so as to motor relative to Roll the negative torque that produces during stopping and there is enough torque capacities), the fuel height in vehicle fuel tank higher than threshold value, become Fast device is in (additionally, needing change gear) in required gear etc. before it can be evaluated whether torque error.

If be unsatisfactory for rolling stopping moment of torsion estimation condition, in step 412, program is included by stopping to electromotor Supply fuel selectively closes off electromotor with igniting, and it is (all with the motor in vehicle driveline to discharge electromotor Such as motor or CISG) between the disconnect-type clutch that connects.Then, controller makes electromotor roll stopping, but stops in rolling Torque error will not be estimated after clutch release during only.In an example, DECEL ENLEAN (DFSO) behaviour can be performed Make to supply to stop the fuel to electromotor, while electromotor continues rotation.Specifically, once performing DFSO operations, just stop To cylinder injection fuel.Then, electromotor is gradually rotated to static.

Stop moment of torsion estimation condition if meeting and rolling, in step 414, program includes selectively closing off starts Machine.Additionally, what is be releasably connected between electromotor and the motor (such as motor or CISG) in vehicle driveline divides From formula clutch.Alternatively, it is to keep moment of torsion constant at wheel, motor torque can be increased.As Fig. 5 to Fig. 6 is described in detail , controller (but stopping to before electromotor supply fuel) can be discharged based on clutch after disconnect-type clutch release One or more at point in engine torque, engine speed and engine acceleration/deceleration are relative to its respective finger The deviation of definite value is estimating torque error.Electromotor can be assessed to turn at each set point of multiple engine speed setpoints Speed response.

Additionally, for example, can be added based on motor speed at each set point of multiple engine speed setpoints and motor Speed relative to expectation curve deviation estimating torque error.In an example, machine is CISG.In another example In, machine is the motor in hybrid electric vehicle power drive system.Additionally, as Fig. 5 to Fig. 6 is described in detail, estimation is missed Difference can (such as throttle angle, supercharging value, cam be just with electromotor setting (such as engine speed) and actuator set When, valve timing etc.) function obtaining.The error for being obtained can be used to update torque estimation model.

Return to step 406, if undesirable carry out rolling stopping, in step 410, it may be determined that non-rolling stops moment of torsion Error estimation condition.These conditions may include to determine undesirable or ask that what is changed mind to restart.If it is desire to driver changes Idea is restarted, then can not perform and be estimated using the torque error of Fig. 6 methods.Thus, if driver changes mind and starting After machine halted state, request is restarted immediately, then controller can be configured to not perform engine torque error estimation (or, such as Fruit is changed mind during torque error is estimated and restarts, then stop immediately) and accelerate to make electromotor stop completely, with response to driving The person of sailing changes mind and accelerates follow-up engine restarting process.

If being unsatisfactory for non-rolling stops moment of torsion estimation condition, program is carried out to step 412.Here, program includes leading to Cross stopping to supply fuel and igniting to electromotor and selectively close off electromotor and discharge electromotor and power transmission system of vehicle The disconnect-type clutch connected between motor (such as motor or CISG) in system.Then, controller can make the non-rolling of electromotor It is dynamic to stop (for example, quick to stop), but during non-rolling stops, not carrying out estimating that torque error enters after clutch release Journey.

If meeting the non-stopping moment of torsion that rolls estimates condition, program is carried out to the step of selectivity closing electromotor 414. Furthermore, it is possible to discharge the separation connected between the motor (such as motor or CISG) in electromotor and vehicle driveline Formula clutch.Alternatively, it is to maintain moment of torsion constant at wheel, motor torque can be improved.As Fig. 5 to Fig. 6 is described in detail, Controller based on the engine torque at clutch point of release, engine speed and can start after disconnect-type clutch release One or more in machine acceleration/deceleration relative to its respective designated value deviation estimating torque error.Specifically, Controller can be based on the practical engine speeds curve at each set point of multiple engine speed setpoints relative to finger Determine the deviation of engine speed graph to estimate torque error.

Thus, the quantity for studying the engine speed setpoint of engine speed response can be to roll based on engine stop Stopping be also it is non-roll stop and it is different.Specifically, electromotor experience to be rolled and assess more for torque error when stopping Engine speed setpoint (as the relatively long persistent period can be experienced until electromotor is totally stationary), and in electromotor Jing Go through non-rolling less engine speed setpoint is assessed (due to until the totally stationary meeting Jing of electromotor for torque error when stopping Go through the relatively short persistent period).

Program is carried out to step 416 from step 414, and method 400 judges whether to meet engine restarting condition and whether Expect to start electromotor.Can ask to start by the operated key of the unique function with request engine start or key-press input Machine starts.It is alternatively possible to engine restarting automatically be asked based on running status by controller 12.For example, controller 12 can ring Vehicle brake pedal should be discharged in driver or engine start is asked in response to battery charging state.Therefore, can be by not only Only there is the input of request engine start this function to ask to restart electromotor.If method 400 judges request weight New to start electromotor, then method 400 is carried out to step 420.Otherwise, method 400 is carried out to maintaining engine misses state (or idle Fast halted state) 418 the step of meeting engine restarting condition.

At step 420, in response to meeting engine restarting condition, can optionally restart electromotor and (for example, pass through Recover igniting and fuel is supplied).In certain embodiments, electromotor can starter (be such as compared to CISG with compared with Low torque output starter) auxiliary under rotating crank.In another example, electromotor can start via CISG, and Starter with relatively low torque capacity is remained off.Once restart electromotor, it is possible to apply disconnect-type clutch.This Outward, when using clutch or before using clutch, it is possible to specify engine torque to realize a smooth transition, its In, engine torque designated value is based on the torque error for being obtained and the torque estimation model of renewal.

In this way, moment of torsion estimation error can be obtained so that torque error reduced with the time.This especially can be Using and release hybrid electric vehicle power drive system in disconnect-type clutch during improve moment of torsion control.

Referring now to Fig. 5, during showing engine misses, engine speed is based on after disconnect-type clutch release The method 500 of moment of torsion estimation error is obtained with acceleration bias.The method of Fig. 5 can be used as a part for method shown in Fig. 4 (such as In step 414).Figure 7 illustrates and describe the exemplary curve that torque error is obtained via the method for Fig. 5 in detail.

In step 501, the method comprises determining whether that asking electromotor to roll stops.Thus, the method for Fig. 5 is only being sent out Motivation is rolled during stopping and is performed.Once after confirming, the method just includes attempting in disconnect-type clutch two in step 502 End (after clutch release) provides zero moment of torsion, and electromotor is mechanically connected to motor by disconnect-type clutch.In an example, The program includes determining the engine torque after clutch release in the substantially zeroed moment of torsion of disconnect-type clutch two ends offer Designated value, the method be additionally included in engine stop-state during immediately preceding clutch release before specify determined by moment of torsion refer to Definite value.

Next, in step 504, the program includes selectively closing off electromotor and subtracts while engine retard Few disconnect-type clutch capacity (gradually to discharge disconnect-type clutch), while engine torque designated value determined by maintaining. Next, in step 506, can confirm that disconnect-type clutch has discharged.For example, can confirm that disconnect-type clutch from Clutch capacity is less than threshold value or is minimum capacity.After confirming that disconnect-type clutch has discharged, in step 508, the method Estimating engine rotating speed, engine acceleration/deceleration and motor speed in a period of time for starting is discharged including from clutch With one or more in motor acceleration/deceleration.

In step 510, can be determined from disconnect-type clutch based on specified engine torque and discharge a section for starting Desired engine speed, engine acceleration/deceleration and motor speed and motor acceleration/deceleration in time. In one example, disconnect-type clutch release after, can select determined by engine torque designated value, so as to desired The rate of deceleration makes engine retard or responds with desired engine speed.Similarly, after disconnect-type clutch release, can be with Engine torque designated value determined by selection, so as to provide desired machine speed curve or rate of acceleration.

In step 512, by actual engine speed and machine speed response (estimation in step 508 is obtained) and phase Prestige value (determining in step 510) is compared.If actual value is matched with expected value, in the step 514, it may be determined that do not have There is engine torque error.On the other hand, if actual value is mismatched with expected value, in step 516, the program is based on real Actual value determines engine torque error relative to the deviation of estimated value.Specifically, engine controller is based on engine speed, sends out One or more in motivation acceleration/deceleration, machine speed, machine acceleration/deceleration and engine torque from Clutch discharge when relative to its respective expected value or designated value deviation come estimate disconnect-type clutch release after moment of torsion Error.In this way, the program is included in when disconnect-type clutch discharges based on electromotor and/or the speed responsive of motor Obtain engine torque error.

Controller can based on the directivity of deviation determine estimation error be whether due to engine torque cross estimation or Underestimate calculation and cause.In an example, obtaining torque error based on engine speed response includes：Based on sending out for slowing down The actual deceleration rate of motivation carrys out estimating engine torque error relative to the deviation for expecting the rate of deceleration.Thus, if in separate type Engine torque designated value is maintained after clutch release, and if the moment of torsion designated value suitably corresponds to separate type clutch Zero moment of torsion on device, then, after clutch release, motor speed should remain constant (or in the range of its previous rotating speed, all Such as in the range of 10RPM), while from before clutch release, electromotor should maintain its current rotating speed or with a certain constant Low rate is slowed down.Accordingly, in response to the change and the change of engine speed or the rate of deceleration of machine speed after clutch release Change (before compared to clutch release), it may be determined that engine torque error.The acquisition process can also include：If electromotor Slow down in the way of less than the rate of deceleration is expected (or engine speed is higher than expectation rotating speed), then obtain engine torque and cross estimation Error；And if electromotor slows down in the way of higher than the rate of deceleration is expected (or engine speed is less than expectation rotating speed), then Obtain the low estimation error of engine torque.

In step 518, torque error can be obtained with the function of electromotor setting and actuator set.For example, moment of torsion Error can be used as the function of engine speed.As another example, torque error can as throttle angle, valve timing, The function of spark timing, cam timing, supercharging value, manifold air flow etc..In an example, in the renewable look-up table of controller Error, estimation torque error of the look-up table storage as electromotor and the function of actuator set.

In step 520, the program includes updating engine torque appraising model using the torque error for obtaining.This permission Improve moment of torsion control during subsequent engine is operated.For example, during subsequent engine reboot operation, controller can be based on The torque error that the engine torque appraising model control of renewal is specified during restarting.Specifically, in follow-up engine restarting Period, more accurately moment of torsion designated value can be sent when using disconnect-type clutch.

As an example, during engine misses state, controller releasable connection is in electromotor and vehicle power The disconnect-type clutch between motor in drive system.Motor can be CISG or be other motor, the motor will send out Motivation is connected to the variator in vehicle driveline and wheel.Before release disconnect-type clutch, controller can refer to The fixed engine torque for maintaining to expect engine retard degree.Then, controller can adjust one or more engine operation parameters To maintain the engine torque specified.Subsequently, releasable disconnect-type clutch.After release disconnect-type clutch, controller Moment of torsion estimation error can be determined relative to the deviation for expecting engine retard degree based on real engine deceleration, while maintaining to refer to Fixed engine torque.

In this way, after disconnect-type clutch release, can be discharged based on clutch during engine misses Engine speed afterwards obtains torque error, while electromotor keeps rotation.By obtaining the function as electromotor setting Torque error simultaneously applies obtained error, provides more accurately moment of torsion control, can reduce during follow-up power operation Using with releasing clutch during power drive system disturbance increase and more stably transition can be realized.

Fig. 7 to show and obtain moment of torsion using Fig. 5 methods describeds during the engine misses state in hybrid vehicle The example of error.Specifically, accompanying drawing 700 shows the change of engine speed with curve 702, is shown with curve 704 and is started The change of machine moment of torsion, shows the change of disconnect-type clutch capacity with curve 706.Before t1, electromotor can be used and is based on The engine torque operation that operation torque demand (for example, based on pedal position) is specified.Thus, during this period of time, Ke Yiyou Electromotor provides at least part of required torque.For example, all torsion torque demand can be met by electromotor.It is alternatively possible to by send out Motivation and system battery meet all torsion torque demand.

At t1, engine stop-state can be confirmed.For example, idle stop state can be confirmed.Therefore, at t1, start Machine moment of torsion can be designed to (curve 704, solid line) and can provide substantially zeroed moment of torsion, the separate type at disconnect-type clutch two ends The electromotor of rotation is mechanically attached to clutch the motor of rotation, and be thus connected to vehicle driveline variator and Wheel.The engine torque specified can be identified as expecting engine acceleration (or being deceleration in this case) and start The function of machine inertia.Between t1 and t2, engine controller can adjust one or more engine operation parameters so that estimation Engine torque (curve 705, dotted line) closer to the engine torque (curve 704, solid line) expecting/specify.

At t2, the engine torque of estimation can be set close to target torque.Therefore, at t2, controller can be opened Begin to reduce the clutch capacity (curve 706) of disconnect-type clutch with releasing clutch, while maintaining engine torque designated value (curve 704) is constant.Thus, controller is attempted by determining sending out for offer substantially zeroed (in the threshold range near zero) Motivation moment of torsion designated value and clutch discharge before (for example, immediately before release) specify the determination moment of torsion be specified to Zero moment of torsion is provided for disconnect-type clutch after clutch release.

Thus, if the engine torque designated value for being transmitted is correct, rear engine rotating speed is discharged in clutch Will not change substantially (that is, the velocity variations of threshold value are not above, for example, 10rpm higher than speed before), and start Before discharging with clutch, in the way of (that is, along curve 702) basic simlarity, (that is, the little speed to be similar to) continues to accelerate chance Or slow down.If however, there is error in moment of torsion estimated value, and therefore there is error in the moment of torsion specified, then after clutch release Engine speed response can relative to expected value deviate.

At t3, clutch capacity can be decreased to minimum capacity.Once clutch capacity declines and disconnect-type clutch It is released, then engine controller can discharge (that is, the time period between t3 and t4) prison in a period of time for starting from clutch Survey and estimating engine parameter.The parameter estimated within the time period for limiting may include electromotor average acceleration (accel_ Ave), electromotor mean speed (rpm_ave) and the average estimated value of engine torque (tq_ave).Then, controller can be calculated And it is as follows to obtain engine torque error (tq_error)：

Tq_error=tq_ave-accel_ave* engine inertias

In this way, the rate curve based on a period of time intrinsic motivation and/or motor after clutch release, control Device processed can obtain the error for providing air and fuel needed for zero moment of torsion.

For example, obtaining error based on engine speed graph includes：If a period of time intrinsic motivation actual speed curve Higher than desired engine speed graph, then obtain and corresponding error is estimated with the mistake of engine torque.708 (dot-dash of curve Line) show that exemplary torque is crossed estimation or crosses transmission error.Used as another example, the speed curves based on electromotor are obtained Error includes：If a period of time intrinsic motivation actual speed curve is less than desired engine speed graph, obtains and send out Motivation moment of torsion underestimates corresponding error.Curve 709 (dotted line) shows that exemplary torque underestimates calculation or low transmission error. In each case, desired engine speed graph is based on engine torque designated value (curve 706).

Torque error can be obtained with the function of engine speed and one or more engine actuators settings.For example, Confirm that the error can be set as choke valve, EGR, supercharging value, MAF, MAP, cam timing and valve timing at point in torque error In the function of one or more obtaining.Then, the error of acquisition is used to update engine torque appraising model.Specifically, Engine torque appraising model can estimate friction torque using many kinds of parameters, such as torque error, air pressure, oil temperature, send out Motivation mean speed etc..During engine restarting, the torque error used in torque estimation model is referred to immediately preceding front The torque error obtained during the engine misses in face is updated.

As it was previously stated, the torque error preparation method described in Fig. 5 and Fig. 7 can be held during electromotor rolls halted state OK.That is, as described above, during engine idle halted state, torque error can be obtained when speed is higher than threshold velocity, together When speed be higher than threshold velocity when discharge disconnect-type clutch.

Referring now to Fig. 6, in selected electromotor after being discharged based on disconnect-type clutch during showing engine misses Engine speed and acceleration bias at speed setpoint is obtaining the illustrative methods 600 of moment of torsion estimation error.The side of Fig. 6 Method can be used as a part for the program of Fig. 4, such as step 414.Illustrate that detailed description is obtained by the method for Fig. 6 in figures 7 and 8 Obtain the exemplary curve of torque error.It should be appreciated that release disconnect-type clutch after and stop to engine oil with Before closing electromotor, perform following methods to obtain torque error.

In step 602, the method comprises determining whether that requiring or expect that electromotor is rolled stops.As in the diagram previously (step 406) is described in detail, when engine cut-off is required, can be based at least one pedal position and speed (relative to Threshold value) determine that electromotor rolls stopping, and there is difference in its rolling stopping non-with electromotor.If it is confirmed that electromotor is rolled stopping Only, then the program is carried out to step 604.Otherwise, program is carried out to step 606 to determine the need for or expect the non-rolling of electromotor It is dynamic to stop.If it is determined that non-rolling of electromotor stops, then program is carried out to step 608.Thus, the method 600 of Fig. 6 can sent out Perform during motivation rolls stopping and during the non-rolling of electromotor stops, however, monitoring and assessment electromotor and/or motor are fast Degree response can be changed based on the property of engine stop with the quantity for obtaining the engine speed setpoint of torque deviation.

In step 604 and step 608, select multiple by for determining the engine speed setting of moment of torsion estimation error Point.In both cases, multiple engine speed setpoints can be selected based on engine torque error history.For example, can be based on The passing information related to engine torque transmission error being stored in the memorizer of controller selects engine speed setting Point.That what is can experienced based on engine acceleration data and/or based on application and during and after discharging disconnect-type clutch is dynamic Power driveline disturbance comes in those engine torque transmission errors indicated at selected engine speed setpoint.

As it appears from the above, electromotor is rolled stopping compared with the non-rolling stopping of electromotor, the quantity of engine speed setpoint Can be different.Specifically, in step 604, when electromotor slides into it is static when (that is, for electromotor roll stop shape State), more engine speed setpoint is selected during engine misses state；And in step 608, when electromotor it is quick When (i.e., substantially immediately) stops (such as the non-rolling halted state of electromotor), less engine speed may be selected and sets Fixed point.Here, reaching the static expected duration of electromotor to select engine speed during based on engine misses state The quantity of set point, the increase of the quantity of the selected engine speed setpoint expected duration static as electromotor reaches And increase (as rolled situation about stopping).In another example, the quantity for obtaining the engine speed setpoint of error can be with The increasing of the difference between engine speed when engine speed and electromotor static (that is, speed is zero) when clutch discharges Plus and increase.

Program is carried out to step 610 from step 604 and step 608, based on the selected electromotor with torque disturbances history Speed setpoint determines error estimation window.The window may correspond to the rotating speed window around selected engine speed setpoint, based on this Electromotor (or machine) rotating speed response in a little windows is performing error estimation.Next, in step 612, it may be determined that from Clutch provides the engine torque designated value of substantially zeroed moment of torsion for disconnect-type clutch when discharging, the clutch is by electromotor It is mechanically attached to the variator and wheel of motor and vehicle driveline.Determined by engine torque designated value can be Specified before clutch release, specifically, specified before clutch release.In an example, in separate type Clutch release after, determined by engine torque designated value can with desired engine speed respond or engine speed Curvilinear correlation.Similarly, disconnect-type clutch release after, determined by engine torque designated value can be with desired machine Device rotating speed response or machine rotational speed curvilinear correlation.

Next, in step 614, can confirm that whether disconnect-type clutch has discharged.For example, can confirm that separation The clutch capacity of formula clutch is less than threshold capacity or is minimum capacity.After confirming that disconnect-type clutch has discharged, In step 616, the method is included in and determines the engine speed estimated in window at each selected engine speed setpoint Curve and engine acceleration/projectile deceleration history.Alternatively, can be with it is determined that each selected engine speed be estimated in window Motor speed profile and motor acceleration/projectile deceleration history at set point.In addition to engine speed is responded, can be with true Determine to estimate in window and determine the actuator set at each selected engine speed setpoint.

In step 618, it may be determined that desired engine speed curve at each selected engine speed setpoint and Engine acceleration/projectile deceleration history.Alternatively, desired electricity can also be determined for each selected engine speed setpoint Motor speed curve and motor acceleration/projectile deceleration history.In an example, desired engine speed graph can be based on instruction The hypothesis of zero moment of torsion (step 612).For example, disconnect-type clutch release after, engine torque can be selected to be specified to Desired speed makes electromotor acceleration/deceleration or responds with desired engine speed.Similarly, in disconnect-type clutch After release, the engine torque designated value for determining can be selected, to provide desired machine rotational speed curve or acceleration.

In step 620, can be by actual engine speed response/curve and machine speed response/curve (in step Estimation in 616 is obtained) it is compared with expected value (determining in step 618).If actual value is matched with expected value, In step 622, it may be determined that there is no engine torque error.On the other hand, in step 624, if actual value and expectation Value is mismatched, then deviation of the program based on actual value relative to estimated value determines engine torque error.Specifically, controller (or expected with specified based on the actual engine speed curve at each set point of multiple engine speed setpoints ) torque error after the release of the Error estimation disconnect-type clutch of engine speed graph.In this way, the program It is included in the speed curves after disconnect-type clutch discharges based on electromotor and/or motor and obtains engine torque error.

If it should be appreciated that be unsatisfactory for torque error estimation condition (as previously the step of Fig. 4 408 and step 410 in detail Describe in detail bright), then do not perform torque error estimation.For example, if the fuel height in vehicle fuel tank is less than threshold value, control Device can not estimate torque error.Used as another example, the expectation if driver changes mind is restarted, and can not perform makes With the torque error estimation of the method for Fig. 6.If additionally, during estimating and obtaining torque error, driver suddenly change master Meaning expectation is restarted, then can interrupt the estimation to torque error and acquisition process immediately, while controller makes electromotor accelerate rotation Go to resting state (restarting with acceleration motor).

Whether controller can determine institute's estimation error as crossing for engine torque is estimated still based on the directivity of deviation Underestimate calculation.Thus, if moment of torsion specified before clutch release is still maintained after clutch release, and if turn round Square designated value suitably corresponds to moment of torsion substantially zeroed on disconnect-type clutch, then after clutch release, engine speed Curve should keep constant (for example, in the threshold range of such as 10RPM) relative to the speed curves before clutch release.Cause This, in response to the change of engine speed graph (or engine acceleration) after clutch release, in specific rotation speeds set point Place, it may be determined that engine torque error.Acquisition process can be further included：If the electromotor reality in engine speed window Speed curves are higher than desired engine speed graph, then obtain engine torque and cross estimation error；If engine speed window In actual engine speed curve be less than desired engine speed graph, then obtain the low estimation error of engine torque.

Such as the example in detail with reference to Fig. 8 to Fig. 9, can perform in many ways and be set based on specified engine speed Engine speed graph deviation at point obtains error.In a kind of method shown in Fig. 8, controller may specify engine speed Target (correspond to selected engine speed setpoint) simultaneously enables to closed loop controller adjustment actuator set with by electromotor Rotating speed is maintained engine speed target.Then, torque model error can be obtained and/or engine speed is maintained into target speed Actuator set change needed for degree (from the beginning of initial setting).Can be for weight at each selected engine speed setpoint Multiple above-mentioned process.In the alternative method shown in Fig. 9, controller could dictate that or specify smooth engine speed graph, and Engine speed, engine acceleration and engine torque can be gathered at the specified engine speed set point selected (to refer to Definite value and estimated value) while engine retard.Controller can make closed loop controller adjust actuator set to realize what is specified Smooth engine speed graph.It is then possible at each target velocity set point obtain or gather torque model error and/or The change (from the beginning of initial setting) of actuator set.

In step 626, torque error can be obtained and corresponding engine speed setpoint is stored as and (obtains torque error Point) function.The torque error of estimation can be further used as the function of one or more actuator sets, including throttle valve angle Degree, spark timing, cam timing, supercharging value, manifold air flow etc..In an example, the mistake in the renewable look-up table of controller The torque error of estimation is stored as the function of electromotor and actuator set for difference, look-up table.

In step 628, the program includes updating engine torque appraising model with the torque error of the estimation for obtaining.This Allow to improve moment of torsion control during subsequent engine is operated.For example, in subsequent engine reboot operation, controller can be applied Disconnect-type clutch is simultaneously supplied for giving fuel based on the torque error adjustment engine air for obtaining during restarting, to control The engine torque specified during using clutch.In this way, can transmit more accurate during subsequent engine is restarted Moment of torsion designated value, reduce using during clutch power drive system disturb.The torque error of acquisition can be with follow-up Tail-off quenching operations restart during for adjust engine air supply and fuel for give control clutch release The engine torque of Shi Zhiding.In this way, more accurately moment of torsion can be transmitted to specify during subsequent engine is flame-out Value, reduces power drive system disturbance when clutch discharges.

Fig. 8 is shown The first example of torque error is obtained at fixed point.Specifically, accompanying drawing 800 describes the change of motor speed with curve 802, with song Line 804 describes the change of engine speed, describes the change of engine torque with curve 806 and is described with curve 808 The change of disconnect-type clutch capacity.Curve 805 (dotted line) shows that the expectation with discrete engine speed setpoint (does not connect It is continuous) engine speed graph, wherein progressively estimating torque error at discrete set point.It should be appreciated that in release separate type After clutch but fuel is supplied to electromotor in stopping moment of torsion mistake is obtained before closing electromotor, to perform subsequent processes Difference.

Before t1, the engine torque specified based on operator torque demands' (for example, based on pedal position) can be used To run electromotor.Thus, during this period, at least part of required torque can be provided by electromotor.For example, Ke Yiyou Electromotor meets all torsion torque demand.It is alternatively possible to meet all torsion torque demand by electromotor and system battery.

At t1, it may be determined that engine stop-state.For example, it may be determined that engine idle halted state.Therefore, in t1 Place, may specify engine torque (curve 806).In an example, it is intended that engine torque can realize separate type from Clutch two ends provide substantially zeroed moment of torsion, and the electromotor of rotation is mechanically attached to the disconnect-type clutch motor of rotation, And thus place is connected to the variator and wheel of vehicle driveline.The engine torque specified can be confirmed as electromotor The function of inertia, so as to obtain specific engine speed graph (curve 805).Specific engine speed graph is (bent 805) line can be discontinuous engine speed graph, and which includes from disconnect-type clutch release starting to obtain in special time Discrete target engine speed (810 to 813).Specifically, target engine speed set point can be obtained for self adaptation The speed setpoint of torque error.The release separate type clutch that target engine speed set point can be operated based on previous engine The adjustable setting experienced during device (or applying disconnect-type clutch) or power drive system disturbance.Additionally, at t1, control Device processed can start the clutch capacity (curve 808) for reducing disconnect-type clutch, to discharge disconnect-type clutch.Thus, once Disconnect-type clutch is released, variator is at neutral gear position.

Thus, controller attempts to provide the engine torque designated value of substantially zeroed moment of torsion and in clutch by determination Before release (immediately before release) specify determined by moment of torsion be specified to disconnect-type clutch discharge after separate type from Clutch two ends provide zero moment of torsion.Thus, if the engine torque designated value for being transmitted is correct, should when clutch discharges Will not occur engine speed or machine speed (curve 802) material alterationses (for example, be not above the change of threshold quantity, The 10RPM such as more than preceding value), and electromotor can continue acceleration/deceleration, wherein rate curve with less and constant speed Based on the curve before clutch release.If however, there is error in moment of torsion estimation, correspondingly existed in specified moment of torsion Error, the engine speed response after clutch release will deviate from expected value.

At t2, releasable engine clutch.Then, controller can set the first expectation engine speed setpoint 810, while realizing closed loop control.Accordingly, it is desired to provide the engine torque designated value to engine speed setpoint 810 can be Deviate at t2.Then, controller may wait for engine speed and be set close to expectation target engine speed setpoint (for example, In its threshold range).Similarly, controller also waits for actual engine torque designated value and is set close to required torque (example Such as, in its threshold range).At t3, after engine speed and moment of torsion is set, controller can be estimated and be set around rotating speed of target Electromotor average acceleration (accel_ave), electromotor mean speed (rpm_ave) in the window of fixed point and estimated average send out Motivation moment of torsion designated value (tq_ave).Specifically, can be by between the t2 and t3 around first object speed setpoint 810 Estimated value is determined in the window that time period limits.

Between t 2 and ts, engine controller can adjust one or more engine operation parameters to adjust electromotor torsion Square simultaneously makes practical engine speeds closer to rotating speed of target set point.Then, collection in the window that controller can be between t 2 and ts Set by the real actuator used by closed loop control, set with keeping engine speed and making which reach target engine speed Fixed point 810.

At t3, controller also calculates and obtains the engine torque error occurred at engine speed setpoint 810 820(tq_error)：

Tq_error ≡ tq_ave-accel_ave* electromotor inertia

In this way, controller can obtain torque error 820 at selected engine speed setpoint 810, including Air supplies error and fuel supply error.Controller can also be obtained and be updated and realize and maintain engine speed setpoint The actuator set needed for engine speed at 810.

Then, at t3, controller can set the second expectation engine speed setpoint 811 while continuing closed loop control. Accordingly, it would be desirable to the engine torque designated value for providing engine speed setpoint 811 can deviate at t3.Then, controller May wait for engine speed and be set close to required target engine speed set point (for example, in its threshold range).It is similar Ground, controller also wait for actual engine torque designated value and are set close to required torque (for example, in its threshold range). At t4, when engine speed and moment of torsion is set, controller can be put down in estimating engine in the window around rotating speed of target set point The mean engine moment of torsion designated value (tq_ of acceleration (accel_ave), electromotor mean speed (rpm_ave) and estimation ave).Specifically, in the window that the time period between t3 that can be near by first object speed setpoint 811 and t4 limits really Determine estimated value.

Between t3 and t4, engine controller can adjust one or more engine operation parameters to adjust electromotor torsion Square simultaneously makes practical engine speeds closer to rotating speed of target set point.Then, gather in the window that controller can be between t3 and t4 Set by the real actuator used by closed loop control, set with keeping engine speed and reaching target engine speed Fixed point 811.At t4, controller further can calculate and obtain to go out at engine speed setpoint 811 using above-mentioned equation Existing engine torque error 821 (tq_error).In this way, controller can be in the engine speed setpoint selected Torque error 821 is obtained at 811, error and fuel supply error is supplied including air.Controller can also be obtained and update reality Now and maintain at engine speed setpoint 811 engine speed needed for actuator set.

Controller can continue sequentially target setting engine speed setpoint in the corresponding window of t4 to t5 and t5 to t6 812 and 813 and obtain corresponding torque error 822 and 823.

For example, turn based on the electromotor that (namely be based on selected engine speed setpoint) in engine speed window is actual With electromotor, fast curve expects that the deviation of speed curves obtains error and includes：If selecting the window near engine speed setpoint Interior practical engine speeds curve is higher than desired engine speed graph, then obtain relative with the estimation excessively of engine torque The error answered.Similarly, if the practical engine speeds curve selected in the window near engine speed setpoint is less than the phase The engine speed graph of prestige, then obtain and underestimate corresponding error with engine torque.

One or more electromotors that torque error can be gathered with corresponding engine speed setpoint and in correspondence window The function of actuator set is obtaining.For example, error can with torque error confirm point at choke valve, EGR, supercharging value, MAF, The function of one or more in MAP, cam timing and valve timing setting is obtaining.In this way, air supply and combustion The error of material can be obtained as the function of corresponding engine speed setpoint.Then, the error of acquisition can be used to update and send out Motivation torque estimation model.Specifically, engine torque appraising model can estimate friction torque using many kinds of parameters, such as turn round Square error, air pressure, oil temperature, electromotor average speed etc..Torsion during engine restarting used in torque estimation model The torque error that square error is obtained during being referred to close to engine misses before is updated.In this way, control Device processed can restart the engine torque specified by period based on the engine torque error control subsequent engine for obtaining.

Fig. 9 is shown to be obtained during the engine misses state of hybrid vehicle using the method for Fig. 6 and selectes rotating speed Second example of the torque error at set point.Specifically, accompanying drawing 900 describes the change of motor speed with curve 902, with song Line 904 (solid line) describes the change of engine speed, describes the change of engine torque and with curve 908 with curve 906 Describe the change of disconnect-type clutch capacity.Curve 905 (dotted line) is shown with discrete engine speed setpoint Expect (smooth and continuous) engine speed graph, wherein torque error is progressively estimated at discrete set point.It should be appreciated that After disconnect-type clutch release but stopping supplying fuel with before closing electromotor to electromotor, perform subsequent processes with Obtain torque error.

Before t1, the engine torque operation that operator torque demands' (for example, based on pedal position) specify can be based on Electromotor.Thus, during this period of time, at least part of required torque can be provided by electromotor.For example, can be full by electromotor Sufficient all torsion torque demand.It is alternatively possible to meet all torsion torque demand by electromotor and system battery.

At t1, it may be determined that engine stop-state.For example, it may be determined that engine idle halted state.Therefore, in t1 Place, may specify engine torque (curve 906).In an example, it is intended that engine torque can be in disconnect-type clutch Two ends provide substantially zeroed moment of torsion, and the electromotor of rotation is mechanically attached to the disconnect-type clutch motor of rotation, and by This is connected to the variator and wheel of vehicle driveline.The engine torque specified can be confirmed as electromotor inertia Function, so as to obtain specific engine speed graph (curve 905).Specific engine speed graph (curve 905) Can be smooth and continuous engine speed graph, which includes from disconnect-type clutch discharging starting what is obtained in special time Discrete target engine speed set point (910 to 913).Specifically, target engine speed set point can be self adaptation Obtain the speed setpoint of torque error.Target engine speed set point 910 to 913 can be based on dividing that previous engine is operated The adjustable setting or power drive system disturbance experienced during (or applying clutch) is discharged from formula clutch.Additionally, At t1, controller can start the clutch capacity (curve 908) for reducing disconnect-type clutch, to discharge disconnect-type clutch.By This, once disconnect-type clutch discharges, variator is at neutral gear position.

Thus, controller attempts to provide the engine torque designated value of substantially zeroed moment of torsion and in clutch by determination Before release (immediately before release) specify determined by moment of torsion be specified to clutch discharge after in disconnect-type clutch two End provides zero moment of torsion.Thus, if the engine torque designated value for being transmitted is correct, the engine speed when clutch discharges Material alterationses should be unable to occur and (for example, be not greater than the change of threshold velocity.The 10RPM of all such as larger than preceding values), and And electromotor can be less and constant speed continue acceleration/deceleration, wherein rate curve based on clutch release before song Line.If however, there is error in moment of torsion estimation, correspondingly there is error in specific torsion, after clutch release Engine speed graph will deviate expectation curve.

At t2, releasable engine clutch.Then, controller can monitor desired engine speed graph while reality Existing closed loop control, and select self adaptation to obtain the first engine speed setpoint 910 of torque error.Then, controller can be waited Engine speed to be measured is set close to target engine speed set point 910 (for example, in its threshold range).In t3 Place, when actual engine speed curve is with the speed setting intersected with prescribed point 910, controller can be in rotating speed of target Estimating engine average acceleration (accel_ave) in window near set point 910, electromotor mean speed (rpm_ave) and Mean engine moment of torsion designated value (tq_ave) estimated.Specifically, can be near by first object speed setpoint 910 T2 and t3 between time period limit window in determine estimated value.

Between t 2 and ts, engine controller can adjust one or more engine operation parameters to adjust electromotor torsion Square simultaneously makes practical engine speeds closer to rotating speed of target set point.Then, collection in the window that controller can be between t 2 and ts The real actuator setting used by closed loop control, to keep engine speed or reach target engine speed set point 910。

At t3, controller can further be calculated and obtain the engine torque error 920 of appearance at speed setpoint 910 So that practical engine speeds curve (curve 904) reaches desired engine speed graph (curve 905)：

Tq_error ≡ tq_ave-accel_ave* electromotor inertia

In this way, controller can obtain torque error 920 at selected engine speed setpoint 910, including Air and fuel error.Controller can also obtain and update the electromotor realizing and maintain at engine speed setpoint 910 Actuator set needed for rotating speed.

Between t3 and t4, controller can continue monitoring engine speed graph using closed loop control, while waiting starting Machine rotating speed is close to the second rotating speed of target set point 911.At t4, when actual engine speed curve with aforementioned speed setting During 911 intersecting speed setting of point, controller can averagely accelerate in estimating engine in the window near rotating speed of target set point 911 Degree (accel_ave), electromotor mean speed (rpm_ave) and mean engine moment of torsion designated value (tq_ave) estimated. Specifically, estimation is determined in the window that the time period between t3 that can be near by first object speed setpoint 911 and t4 limits Value.

Between t3 and t4, engine controller can adjust one or more engine operation parameters to adjust electromotor torsion Square simultaneously makes practical engine speeds closer to rotating speed of target set point.Then, gather in the window that controller can be between t3 and t4 The real actuator setting used by closed loop control, to keep engine speed or reach target engine speed set point 911.Controller can further be calculated and obtain the engine torque error 921 occurred at speed setpoint 911 so that actual send out Motivation speed curves (curve 904) reach desired engine speed graph (curve 905).Controller can be in t4 to t5 and t5 extremely Engine speed in the corresponding window of t6 at continuation sequentially monitoring institute selected target engine speed setpoint 912 and 913 is bent Line deviation simultaneously obtains corresponding torque error 922 and 923.

In this way, in response to idle stop state, controller is releasably in electromotor and motor (such as CISG) Between the disconnect-type clutch that connects, while engine retard, but stopping to before engine spray fuel, controller can Engine torque error is obtained in engine speed window.Once clutch discharges, so that it may is based in engine speed window and sends out Motivation actual speed curve expects the obtained error of Error estimation of speed curves with electromotor.For example, controller attempt from Provide substantially zeroed moment of torsion (by zero moment of torsion being specified before clutch release) at disconnect-type clutch two ends when clutch discharges, While the electromotor in engine retard, in window of the controller based on each set point of multiple engine speed setpoints Speed curves obtain the air and fuel error provided needed for zero moment of torsion.As described by above example, controller can be 910 to 913 place of corresponding engine speed setpoint obtains torque error 920 to 923, including air and fuel error.Control Device can also be obtained and update the actuator needed for the engine speed realizing and maintain at corresponding engine speed setpoint Setting.

As it was previously stated, torque error preparation method described in Fig. 6, Fig. 8 and Fig. 9 can electromotor roll stop condition with And electromotor non-rolling perform under stop condition, wherein electromotor rolls stop condition compared to the non-rolling stop condition of electromotor Select more engine speed setpoints.Thus, obtain at different rotating speeds set point during stopping if electromotor is rolled Torque error, then can discharge disconnect-type clutch when speed is higher than threshold value speed.

In this way, moment of torsion estimation error can be obtained based on engine speed response after clutch release, Wherein clutch connects the engine to the remainder of motor and vehicle driveline.By acquisition torque error and more New torque estimation model, can reduce the driveline torque disturbance experienced during applying with releasing clutch.By changing Kind moment of torsion control, can lift vehicle drive performance.Additionally, the method can reduce power drive system abrasion, so as to increase power The working life of drive system.

It will be appreciated by those skilled in the art that method described herein can represent any number of processed in strategy Or multiple, event-driven, interruption driving, multitask, multithreading etc..Thus, various actions, operation or the function for illustrating can To perform, executed in parallel or omit in some cases in shown order.Similarly, processing sequence is not necessarily required to realize this Target, function and advantage described in text, but provide with description for convenience of description.Although not clearly stating, this Art personnel are it should be recognized that one or more in the behavior and function can be weighed according to the specific policy for using It is multiple to perform.

In this summary description.Those skilled in the art will recognize that after explanation is read it is many substitute and retrofit without departing from The spirit and scope of this explanation.For example, with the I3 of natural gas, gasoline, diesel oil or alternative fuel plant running, I4, I5, v6, v8, V10 and V12 electromotors can use the invention to make a profit.

Claims (10)

1. a kind of method for hybrid vehicle, including：

During engine misses state,

Release is connected to the disconnect-type clutch between electromotor and the motor of power transmission system of vehicle；And

Based on one or more in engine torque, engine speed and engine retard degree when clutch discharges relative to The deviation of respective designated value is estimating the torque error after disconnect-type clutch release.

2. method according to claim 1, wherein, the motor is the starter/generator (CISG) integrated with bent axle, The speed change that the electromotor is connected to the power transmission system of vehicle with the integrated starter/generator of bent axle (CISG) Device and wheel.

3. method according to claim 1, wherein, the torque error of estimation is stored as the function of engine speed, and And and stopping the torsion of the estimation is obtained to before the engine spray fuel after the disconnect-type clutch is discharged Square error.

4. method according to claim 1, also includes：Engine torque estimation is updated using the torque error of the estimation Model.

5. method according to claim 4, also includes：Based on the engine torque appraising model for updating, subsequently starting Machine controls the electromotor during restarting.

6. method according to claim 1, wherein, estimate that the torque error includes：

Before the disconnect-type clutch is discharged,

Specify the engine torque for maintaining to expect engine retard degree；And

Adjust one or more engine operation parameters to maintain the engine torque specified；And discharge the separate type from After clutch,

Maintain it is described specify engine torque while, based on real engine deceleration relative to the expectation electromotor The deviation of deceleration is determining the torque error.

7. a kind of method for hybrid electric vehicle power power train, including：

In response to idling-stopping condition,

Optionally disable electromotor and release is connected between electromotor and the starter/generator (CISG) integrated with bent axle Disconnect-type clutch, the variator that PWTN is connected to the integrated starter/generator of bent axle (CISG) and Wheel；And

While the engine retard,

Maintain engine torque designated value；And

Engine torque error is obtained based on the rotating speed response of the electromotor after disconnect-type clutch release.

8. method according to claim 7, wherein, the engine torque designated value is selected with the separate type clutch Device two ends provide substantially zeroed moment of torsion.

9. method according to claim 7, wherein, the engine torque designated value is selected, so as in described point of release The engine retard is made with the desired rate of deceleration after formula clutch.

10. method according to claim 9, wherein, based on the rotating speed response of the electromotor obtain described in start Machine torque error includes：Based on the electromotor for slowing down actual deceleration rate relative to expect the rate of deceleration deviation to estimate State engine torque error.