CN104002814A - Gear shifting method and device based on AMT parallel hybrid vehicle system and vehicle with same - Google Patents
Gear shifting method and device based on AMT parallel hybrid vehicle system and vehicle with same Download PDFInfo
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- CN104002814A CN104002814A CN201410238790.7A CN201410238790A CN104002814A CN 104002814 A CN104002814 A CN 104002814A CN 201410238790 A CN201410238790 A CN 201410238790A CN 104002814 A CN104002814 A CN 104002814A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/19—Improvement of gear change, e.g. by synchronisation or smoothing gear shift
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/48—Parallel type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/107—Longitudinal acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0638—Engine speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0657—Engine torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/083—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
The invention is applicable to the technical field of vehicles, and provides a gear shifting method and a gear shifting device based on an AMT parallel hybrid vehicle system and a vehicle with the same. The method comprises the steps that: before gear removal, controlling a motor torque and unloading of an engine throttle by the accelerated speed and the impact degree; controlling the accelerated speed to meet gear removal requirements, and controlling the impact degree to meet stability requirements; when the accelerated speed meets the gear removal requirements and the impact degree meets the stability requirements, controlling a gearbox to perform gear removal; obtaining actual rotating speed of the crank of an engine and target rotating speed of the crank of the engine, and generating the speed difference therebetween; judging whether the difference between the actual rotating speed and the target rotating speed of the crank of the engine is within a preset gear engaging permission range, if yes, outputting a gear engaging position according to the speed difference; controlling the gearbox to shift according to the gear engaging position, after gear engaging, controlling the motor torque and rising rate of the engine throttle by the accelerated speed and the impact degree. According to the gear shifting method and device, the stability of the vehicles is improved.
Description
Technical field
The invention belongs to vehicle technology field, relate in particular to a kind of shifting method, device and vehicle based on AMT parallel type hybrid vehicle system.
Background technology
In recent years, AMT parallel type hybrid vehicle system is in order to make gear shift short break period both at home and abroad, and dynamic property has designed by force two class control policies: a class is motor speed of response control policy, and another kind of is non-clutch shift control policy.Motor speed of response control policy mainly focuses on shortening the time of the each link of gear shift, and reducing gear shift total time is main purpose.Non-clutch shift control policy is shortening on shift time basis, simultaneously a large amount of power-transfer clutch work frequent degrees that reduce.This control is taking reliability, dynamic property and the economic performance of system as main purpose.
But, non-clutch shift control policy in existing AMT parallel type hybrid vehicle system, in gearshift procedure, vehicle cannot be held grade opportunity of plucking and engage a gear opportunity, and vehicle is plucked between shelves and engage a gear can not smooth excessiveness, causes stationarity low.For example, when vehicle is in the time going up a slope, the meeting in ramp changes acceleration/accel and the shock extent of vehicle, the complexity on grade opportunity is plucked in increasing, and plucks grade unpowered output of rear vehicle, causes the engage a gear assurance difficulty increasing on opportunity, vehicle is plucked can not smooth excessiveness between shelves and engage a gear, causes stationarity low.
Summary of the invention
The object of the embodiment of the present invention is to provide a kind of shifting method based on AMT parallel type hybrid vehicle system, be intended to solve non-clutch shift control policy in existing AMT parallel type hybrid vehicle system, in gearshift procedure, vehicle cannot be held grade opportunity of plucking and engage a gear opportunity, vehicle is plucked can not smooth excessiveness between shelves and engage a gear, causes the problem that stationarity is low.
The embodiment of the present invention is achieved in that a kind of shifting method based on AMT parallel type hybrid vehicle system, comprising:
Step 1, plucks before shelves, unloading motor target torque and engine throttle;
Step 2, in unloading motor target torque and engine throttle process, obtains acceleration/accel and the shock extent of vehicle;
Step 3, control described acceleration/accel meet pluck a grade requirement, control described shock extent simultaneously and meet stationarity requirement;
Step 4, when described acceleration/accel meet pluck shelves require and described shock extent meet stationarity require time, control change speed gear box pluck shelves;
Step 5, obtains engine crankshaft actual speed and engine crankshaft rotating speed of target, and generates speed discrepancy between the two;
Step 6, according to described speed discrepancy, judge that difference between engine crankshaft actual speed and engine crankshaft rotating speed of target is whether in default engage a gear allowed band, if, according to described speed discrepancy, output engage a gear position, if not, adjusts difference between described engine crankshaft actual speed and described rotating speed of target engine crankshaft rotating speed of target whether in default engage a gear allowed band;
Step 7, according to gearbox gear-shift described in described engage a gear position control;
Step 8, after described gearbox gear-shift, in oil return process, the shock extent of described vehicle after Real-time Obtaining gear shift, the shock extent of the described vehicle that control Real-time Obtaining arrives is within the scope of default shock extent.
Another object of the embodiment of the present invention is to provide a kind of gearshift based on AMT parallel type hybrid vehicle system, comprising:
Unloading unit, for plucking before shelves, unloading motor target torque and engine throttle;
The first acquiring unit, for uninstall process, obtains acceleration/accel and the shock extent of vehicle;
The first control unit, for controlling, described acceleration/accel is satisfied plucks a grade requirement, controls described shock extent simultaneously and meets stationarity requirement;
The second control unit, for when described acceleration/accel meet pluck shelves require and described shock extent meet stationarity require time, control change speed gear box pluck shelves;
Generation unit, for obtaining engine crankshaft actual speed and engine crankshaft rotating speed of target, and generates speed discrepancy between the two;
Output unit, be used for according to described speed discrepancy, judge that difference between engine crankshaft actual speed and engine crankshaft rotating speed of target is whether in default engage a gear allowed band, if, according to described speed discrepancy, output engage a gear position, if not, adjusts difference between described engine crankshaft actual speed and described rotating speed of target engine crankshaft rotating speed of target whether in default engage a gear allowed band;
The 3rd control unit, for according to gearbox gear-shift described in described engage a gear position control;
The 4th control unit, after described gearbox gear-shift, in oil return process, the shock extent of described vehicle after Real-time Obtaining gear shift, the shock extent of the described vehicle that control Real-time Obtaining arrives is within the scope of default shock extent.
In embodiments of the present invention, plucking in grade process, controlling described acceleration/accel meets and plucks a grade requirement, control described shock extent simultaneously and meet stationarity requirement, the moment that both are all met is as plucking a grade opportunity, in gearshift procedure, and the moment using the difference of engine crankshaft actual speed and engine crankshaft rotating speed of target in default engage a gear allowed band as engage a gear opportunity, vehicle is plucked can smooth excessiveness between shelves and engage a gear, has improved the stationarity of vehicle.
Brief description of the drawings
Fig. 1 is AMT parallel type hybrid vehicle system architecture schematic diagram;
Fig. 2 is the realization flow figure of a kind of shifting method based on AMT parallel type hybrid vehicle system of providing of the embodiment of the present invention;
Fig. 3 is grade schematic diagram for front motor target torque control of plucking providing in the embodiment of the present invention;
Fig. 4 is grade schematic diagram for front engine target Throttle Opening Control of plucking providing in the embodiment of the present invention;
Fig. 5 is the schematic diagram of the electric machine speed regulation moment of torsion control that provides in the embodiment of the present invention;
Fig. 6 is the schematic diagram of the motor target torque control that provides in the embodiment of the present invention;
Fig. 7 is the schematic diagram of the oil return engine target Throttle Opening Control that provides in the embodiment of the present invention;
Fig. 8 is the present invention implementing procedure figure preferably in actual applications;
Fig. 9 is the structured flowchart of the gearshift based on AMT parallel type hybrid vehicle system that provides of the embodiment of the present invention.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
With reference to figure 1, Fig. 1 is AMT parallel type hybrid vehicle system architecture schematic diagram.
As shown in Figure 1, AMT automatic shift system structure in parallel is mainly made up of driving engine (comprising ECU), energy management system, power-transfer clutch (clutch actuating mechanism), motor (electric machine controller), Automatic Transmission (selecting gear mechanism) and six parts of change speed gear box control unit (TCU).
Wherein, of the present invention acting in parallel connection type hybrid power system, by the collection to driving engine, motor and sensor signal, grasp in real time the motoring condition of vehicle, realize the optimum matching of driving engine, motor and TCU engage a gear controller, to improve vehicle power, traveling comfort, reach expected result.
With reference to figure 2, Fig. 2 is the realization flow figure of a kind of shifting method based on AMT parallel type hybrid vehicle system of providing of the embodiment of the present invention, and details are as follows:
In step S201, pluck before shelves unloading motor target torque and engine throttle;
In step S202, in uninstall process, obtain acceleration/accel and the shock extent of vehicle;
Obtain the acceleration/accel of vehicle and the process of shock extent is as follows:
Wherein, a is vehicle acceleration,
for the differentiate of the speed of a motor vehicle in the unit time, namely percentage speed variation in the unit time; J is vehicle impact degree,
for the rate of change of acceleration/accel in the unit time.
Wherein, acceleration/accel and shock extent, in non-clutch shift process, determine that vehicle plucks the tractive performance of vehicle in the ride comfort of grade process and oil return process, follow-uply regulate tractive performance by acceleration/accel and shock extent,
By above-mentioned formula, calculate.After engage a gear, set up the three-dimensional lookup table function of driving engine and motor actual torque escalating rate, by the revise goal engine throttle of tabling look-up, motor target torque.
In step S203, control described acceleration/accel meet pluck a grade requirement, control described shock extent simultaneously and meet stationarity requirement;
Wherein, the described shock extent of described control meets stationarity requirement, is specially:
According to described acceleration/accel and described shock extent, adjust the rate of descent of motor actual torque, and by feedback throttle, adjust engine target throttle rate of descent, control described shock extent and meet stationarity requirement.
Engine throttle feedback is to guarantee to pluck smoothly one of grade factor, set up driving engine feedback throttle as input, target throttle rate of descent the two-dimensional interpolation table as output, search engine throttle descending speed by feedback throttle plucking before shelves, make vehicle plucking in grade process steady, fast transition.
With reference to figure 3, Fig. 3 is grade schematic diagram for front motor target torque control of plucking providing in the embodiment of the present invention.
Pluck before shelves, set up using motor actual torque, shock extent as input, motor target torque rate of descent is the three-dimensional interpolation table of output, and by the motor target torque in look-up-table function correction each cycle of motor, motor target torque unloading speed determines the stationarity of vehicle.So keep in real time vehicle steady according to shock extent size, enter fast grade process of plucking.
With reference to figure 4, Fig. 4 is grade schematic diagram for front engine target Throttle Opening Control of plucking providing in the embodiment of the present invention.
Two parameters of engine target Throttle Opening Control major control are respectively engine target throttle escalating rate, engine target throttle rate of descent.
Engine target throttle escalating rate, engine target throttle rate of descent participate in two processes in non-clutch shift process:
Pluck before shelves, in order to pluck a grade smooth transition, eliminate the interaction moment of torsion between change speed gear box transmission gear, so, before shelves, needing engine throttle unloading plucking, throttle unloading rate of descent directly affects the stationarity of vehicle, set up driving engine feedback throttle, shock extent as input, engine target throttle rate of descent the three-dimensional interpolation table as output, by in engine target throttle rate of descent is tabled look-up, the value of looking into is revised engine target throttle, make vehicle fast, smooth transition is to plucking a grade process.
In step S204, when described acceleration/accel meet pluck shelves require and described shock extent meet stationarity require time, control change speed gear box pluck shelves;
Pluck grade preacceleration and shock extent and meet while plucking grade demand, pluck shelves and control, target gear is neutral gear.
In step S205, obtain engine crankshaft actual speed and engine crankshaft rotating speed of target, and generate speed discrepancy between the two;
Wherein, described in obtain engine crankshaft actual speed and engine crankshaft rotating speed of target, and generate speed discrepancy between the two, be specially:
Obtain the real-time rotate speed of engine crankshaft actual speed;
According to described real-time rotate speed and change speed gear box transmitting ratio, generate engine crankshaft rotating speed of target;
According to the absolute value of the difference of described real-time rotate speed and described engine crankshaft rotating speed of target, generate speed discrepancy between the two.
Wherein, described engine crankshaft is engine crankshaft;
Wherein, the actual speed that described engine crankshaft actual speed is engine crankshaft;
Wherein, the rotating speed of target that described engine crankshaft rotating speed of target is engine crankshaft.
Wherein, non-clutch shift process, power-transfer clutch keeps closed condition, and driving engine and motor are on same turning cylinder, so motor bent axle rotating speed of target is consistent with engine start machine crankshaft rotating speed of target, engine start machine crankshaft rotating speed of target changes and changes in real time according to the speed of a motor vehicle.
n
eng＝n
tout*i
g
n
err＝|n
eng-n
tout|
Wherein, n
engfor engine start machine crankshaft rotating speed of target, n
toutfor output shaft rotating speed, i
gfor change speed gear box transmitting ratio,
N
errfor driving engine or motor bent axle rotating speed of target and actual speed Error Absolute Value.
By above-mentioned formula, calculate the error amount of engine crankshaft actual speed and engine crankshaft rotating speed of target, as control inputs condition, two-dimensional interpolation table, as output, is set up in engage a gear position, revises motor target torque and definite target engage a gear and carries out.
In step S206, according to described speed discrepancy, judge that difference between engine crankshaft actual speed and engine crankshaft rotating speed of target is whether in default engage a gear allowed band, if, according to described speed discrepancy, output engage a gear position, if not, adjusts difference between described engine crankshaft actual speed and described rotating speed of target engine crankshaft rotating speed of target whether in default engage a gear allowed band;
Described according to described speed discrepancy, judge that difference between engine crankshaft actual speed and engine crankshaft rotating speed of target is whether in default engage a gear allowed band, if, according to described speed discrepancy, output engage a gear position, if not, adjust difference between described engine crankshaft actual speed and described rotating speed of target engine crankshaft rotating speed of target whether in default engage a gear allowed band, also comprise:
Real-time Obtaining motor actual torque;
The motor actual torque arriving according to described speed discrepancy and Real-time Obtaining, generates motor target torque escalating rate or motor target torque rate of descent;
According to described motor target torque escalating rate or motor target torque rate of descent, adjust difference between described electric engine bent axle actual speed and engine crankshaft rotating speed of target whether in default engage a gear allowed band.
With reference to figure 5, Fig. 5 is the schematic diagram of the electric machine speed regulation moment of torsion control that provides in the embodiment of the present invention.
Wherein, in the difference that judges engine crankshaft actual speed and engine crankshaft rotating speed of target whether in the process in default engage a gear allowed band, also engine crankshaft is carried out to speed governing, in speed regulation process, in motor target torque escalating rate, motor target torque rate of descent are tabled look-up, poor and the motor actual torque by input speed, output motor target torque escalating rate or motor target torque rate of descent, to revise motor target torque, impel quick in speed regulation process and the stable speed error of eliminating.
In speed regulation process, by engine crankshaft engine crankshaft rotating speed of target and real engine crankshaft rotating speed is poor determines target engage a gear position, by the extruding to synchro, auxiliary engine, electric machine speed regulation.
In step S207, according to gearbox gear-shift described in described engage a gear position control;
Vehicle is according to gearbox gear-shift described in described engage a gear position control.
In step S208, after described gearbox gear-shift, the shock extent of described vehicle after Real-time Obtaining gear shift, the shock extent of the described vehicle that control Real-time Obtaining arrives is within the scope of default shock extent;
Wherein, plucking in grade process, controlling described acceleration/accel meets and plucks a grade requirement, control described shock extent simultaneously and meet stationarity requirement, the moment that both are all met is as plucking a grade opportunity, in gearshift procedure, moment using the difference of engine crankshaft actual speed and engine crankshaft rotating speed of target in default engage a gear allowed band as engage a gear opportunity, vehicle is plucked can smooth excessiveness between shelves and engage a gear, improve the stationarity of vehicle, because can know accurately grade opportunity of plucking and engage a gear opportunity, therefore can solving vehicle, to pluck grade time short, traveling comfort is poor, it is long to pluck grade time, have a strong impact on the problem of the tractive performance of vehicle, make vehicle have traveling comfort and dynamic property concurrently.
As a preferred embodiment of the present invention, the shock extent of the described vehicle that shelves control Real-time Obtaining arrives, within the scope of default shock extent, is specially:
Judge that the shock extent of Real-time Obtaining is whether within the scope of default shock extent;
If so, output motor target torque escalating rate and engine target throttle escalating rate;
If not, adjust described motor target torque escalating rate and engine target throttle escalating rate, until the shock extent of the described vehicle that Real-time Obtaining arrives is within the scope of default shock extent.
Wherein, output motor target torque escalating rate and engine target throttle escalating rate, be specially:
In motor target torque is tabled look-up, according to described shock extent and Das Gaspedal percentage size, search motor target torque output, and in engine target throttle is tabled look-up, according to described shock extent and Das Gaspedal percentage size, search engine target throttle escalating rate output.
Wherein, adjust motor target torque, engine target throttle escalating rate, be specially:
In motor target torque is tabled look-up, according to described shock extent and Das Gaspedal percentage size, search motor target torque and adjust, and in engine target throttle is tabled look-up, according to described shock extent and Das Gaspedal percentage size, search engine target throttle escalating rate and adjust, until whether the shock extent obtaining is in default shock extent scope.
With reference to figure 6, Fig. 6 is the schematic diagram of the motor target torque control that provides in the embodiment of the present invention.
After engage a gear, using Das Gaspedal percentage size and shock extent as input, motor target escalating rate, as output, keeps vehicle impact degree within the scope of limit value, revises in real time motor target torque, impels the enough dynamic property of vehicle and traveling comfort.
With reference to figure 7, Fig. 7 is the schematic diagram of the oil return engine target Throttle Opening Control that provides in the embodiment of the present invention.
Further, after engage a gear, driving engine is as propulsion source, power driven vehicle need to be provided, set up using Das Gaspedal percentage size, shock extent as input, driving engine escalating rate is as the three-dimensional interpolation table of output, table look-up and control throttle escalating rate, rapid reaction driver driving intention.
With reference to figure 8, Fig. 8 is the present invention implementing procedure figure preferably in actual applications, and details are as follows:
In step S801, pluck before shelves motor target torque, engine throttle unloading;
In step S802, whether acceleration/accel meets is plucked a grade requirement, and whether shock extent meets stationarity, rapidity requirement, if so, performs step S803, if not, and execution step S808;
In step S803, pluck shelves and control;
In step S804, engine crankshaft actual speed and engine crankshaft rotating speed of target
Difference whether in default engage a gear allowed band, if so, perform step S805, if not, execution step S809;
In step S805, engage a gear control;
In step S806, whether shock extent meets setting value, if so, performs step S807, if not, and execution step S810;
In step S807, motor target torque, the output of engine target throttle;
In step S808, adjust engine throttle, Motor torque rate of descent;
At step S809, revise motor target torque;
In step S810, limiting motor target torque, engine target throttle escalating rate.
Wherein, Integral Control Technology of the present invention is to pluck before shelves, motor actual torque, engine throttle mate with vehicle acceleration, shock extent, in speed regulation process, the difference of engine crankshaft rotating speed of target and engine crankshaft actual speed is mated with electric machine speed regulation moment of torsion, in oil return process, shock extent mates with motor target torque, engine target throttle.
With reference to figure 9, Fig. 9 is the structured flowchart of the gearshift based on AMT parallel type hybrid vehicle system that provides of the embodiment of the present invention, this device can run on the vehicle that possesses AMT parallel type hybrid vehicle system, this vehicle can be the vehicle of no-clutch, also can be for there being the vehicle of power-transfer clutch.For convenience of explanation, only show the part relevant to the present embodiment.
Be somebody's turn to do the gearshift based on AMT parallel type hybrid vehicle system, comprise:
Unloading unit 91, for plucking before shelves, unloading motor target torque and engine throttle;
The first acquiring unit 92, for uninstall process, obtains acceleration/accel and the shock extent of vehicle;
The first control unit 93, for controlling, described acceleration/accel is satisfied plucks a grade requirement, controls described shock extent simultaneously and meets stationarity requirement;
The second control unit 94, for when described acceleration/accel meet pluck shelves require and described shock extent meet stationarity require time, control change speed gear box pluck shelves;
Generation unit 95, for obtaining engine crankshaft actual speed and engine crankshaft rotating speed of target, and generates speed discrepancy between the two;
Output unit 96, be used for according to described speed discrepancy, judge that difference between engine crankshaft actual speed and engine crankshaft rotating speed of target is whether in default engage a gear allowed band, if, according to described speed discrepancy, output engage a gear position, if not, adjusts difference between described engine crankshaft actual speed and described rotating speed of target engine crankshaft rotating speed of target whether in default engage a gear allowed band;
The 3rd control unit 97, for according to gearbox gear-shift described in described engage a gear position control;
The 4th control unit 98, after described gearbox gear-shift, in oil return process, the shock extent of described vehicle after Real-time Obtaining gear shift, the shock extent of the described vehicle that control Real-time Obtaining arrives is within the scope of default shock extent.
Further, in the gearshift based on AMT parallel type hybrid vehicle system, described the first control unit, specifically for according to described acceleration/accel and described shock extent, adjust the rate of descent of motor actual torque, and by feedback throttle, adjust engine target throttle rate of descent, control described shock extent and meet stationarity requirement.
Further, in the gearshift based on AMT parallel type hybrid vehicle system, described generation unit, comprising:
First obtains subelement, for obtaining the real-time rotate speed of engine crankshaft actual speed;
First generates subelement, for according to described real-time rotate speed and change speed gear box transmitting ratio, generates engine crankshaft rotating speed of target;
Second generates subelement, for according to the absolute value of the difference of described real-time rotate speed and described engine crankshaft rotating speed of target, generates speed discrepancy between the two.
Further, in the gearshift based on AMT parallel type hybrid vehicle system, described output unit, comprising:
Second obtains subelement, for Real-time Obtaining motor actual torque;
Second generates subelement, for the motor actual torque arriving according to described speed discrepancy and Real-time Obtaining, generates motor target torque escalating rate or motor target torque rate of descent;
Adjust subelement, for according to described motor target torque escalating rate or motor target torque rate of descent, adjust difference between described electric engine bent axle actual speed and engine crankshaft rotating speed of target whether in default engage a gear allowed band.
The gearshift based on AMT parallel type hybrid vehicle system that the embodiment of the present invention provides can be applied in the embodiment of the method for aforementioned correspondence, and details, referring to the description of above-described embodiment, do not repeat them here.
Through the above description of the embodiments, those skilled in the art can be well understood to the mode that the present invention can add essential common hardware by software and realizes.Based on such understanding, the part that technical scheme of the present invention contributes to prior art in essence in other words can embody with the form of software product, this computer software product is stored in the storage medium can read, as the floppy disk of computing machine, hard disk or CD etc., comprise that some instructions are in order to make a computer equipment (can be Personal Computer, server, or the network equipment etc.) carry out the method described in each embodiment of the present invention.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited to this, any be familiar with those skilled in the art the present invention disclose technical scope in; the variation that can expect easily or replacement, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (10)
1. the shifting method based on AMT parallel type hybrid vehicle system, is characterized in that, comprising:
Step 1, plucks before shelves, unloading motor target torque and engine throttle;
Step 2, in unloading motor target torque and engine throttle process, obtains acceleration/accel and the shock extent of vehicle;
Step 3, control described acceleration/accel meet pluck a grade requirement, control described shock extent simultaneously and meet stationarity requirement;
Step 4, when described acceleration/accel meet pluck shelves require and described shock extent meet stationarity require time, control change speed gear box pluck shelves;
Step 5, obtains engine crankshaft actual speed and engine crankshaft rotating speed of target, and generates speed discrepancy between the two;
Step 6, according to described speed discrepancy, judge that difference between engine crankshaft actual speed and engine crankshaft rotating speed of target is whether in default engage a gear allowed band, if, according to described speed discrepancy, output engage a gear position, if not, adjusts difference between described engine crankshaft actual speed and described rotating speed of target engine crankshaft rotating speed of target whether in default engage a gear allowed band;
Step 7, according to gearbox gear-shift described in described engage a gear position control;
Step 8, after described gearbox gear-shift, in oil return process, the shock extent of described vehicle after Real-time Obtaining gear shift, the shock extent of the described vehicle that control Real-time Obtaining arrives is within the scope of default shock extent.
2. the shifting method based on AMT parallel type hybrid vehicle system according to claim 1, is characterized in that, the described shock extent of described control meets stationarity requirement, is specially:
According to described acceleration/accel and described shock extent, adjust the rate of descent of motor actual torque, and by feedback throttle, adjust engine target throttle rate of descent, control described shock extent and meet stationarity requirement.
3. the shifting method based on AMT parallel type hybrid vehicle system according to claim 1, is characterized in that, described in obtain engine crankshaft actual speed and engine crankshaft rotating speed of target, and generate speed discrepancy between the two, be specially:
Obtain the real-time rotate speed of engine crankshaft actual speed;
According to described real-time rotate speed and change speed gear box transmitting ratio, generate engine crankshaft rotating speed of target;
According to the absolute value of the difference of described real-time rotate speed and described engine crankshaft rotating speed of target, generate speed discrepancy between the two.
4. the shifting method based on AMT parallel type hybrid vehicle system according to claim 1, it is characterized in that, whether the difference between the described engine crankshaft actual speed of described adjustment and described rotating speed of target engine crankshaft rotating speed of target in default engage a gear allowed band, is specially:
Real-time Obtaining motor actual torque;
The motor actual torque arriving according to described speed discrepancy and Real-time Obtaining, generates motor target torque escalating rate or motor target torque rate of descent;
According to described motor target torque escalating rate or motor target torque rate of descent, adjust difference between described electric engine bent axle actual speed and engine crankshaft rotating speed of target whether in default engage a gear allowed band.
5. according to the shifting method based on AMT parallel type hybrid vehicle system described in claim 1 to 4 any one, it is characterized in that, the shock extent of the described vehicle that control Real-time Obtaining arrives, within the scope of default shock extent, is specially:
Judge that the shock extent of Real-time Obtaining is whether within the scope of default shock extent;
If so, output motor target torque escalating rate and engine target throttle escalating rate; If not, adjust described motor target torque escalating rate and engine target throttle escalating rate, until the shock extent of the described vehicle that Real-time Obtaining arrives is within the scope of default shock extent.
6. the gearshift based on AMT parallel type hybrid vehicle system, is characterized in that, comprising:
Unloading unit, for plucking before shelves, unloading motor target torque and engine throttle;
The first acquiring unit, for uninstall process, obtains acceleration/accel and the shock extent of vehicle;
The first control unit, for controlling, described acceleration/accel is satisfied plucks a grade requirement, controls described shock extent simultaneously and meets stationarity requirement;
The second control unit, for when described acceleration/accel meet pluck shelves require and described shock extent meet stationarity require time, control change speed gear box pluck shelves;
Generation unit, for obtaining engine crankshaft actual speed and engine crankshaft rotating speed of target, and generates speed discrepancy between the two;
Output unit, be used for according to described speed discrepancy, judge that difference between engine crankshaft actual speed and engine crankshaft rotating speed of target is whether in default engage a gear allowed band, if, according to described speed discrepancy, output engage a gear position, if not, adjusts difference between described engine crankshaft actual speed and described rotating speed of target engine crankshaft rotating speed of target whether in default engage a gear allowed band;
The 3rd control unit, for according to gearbox gear-shift described in described engage a gear position control;
The 4th control unit, after described gearbox gear-shift, in oil return process, the shock extent of described vehicle after Real-time Obtaining gear shift, the shock extent of the described vehicle that control Real-time Obtaining arrives is within the scope of default shock extent.
7. the gearshift based on AMT parallel type hybrid vehicle system according to claim 6, it is characterized in that, described the first control unit, specifically for according to described acceleration/accel and described shock extent, adjust the rate of descent of motor actual torque, and by feedback throttle, adjust engine target throttle rate of descent, control described shock extent and meet stationarity requirement.
8. the gearshift based on AMT parallel type hybrid vehicle system according to claim 6, is characterized in that, described generation unit, comprising:
First obtains subelement, for obtaining the real-time rotate speed of engine crankshaft actual speed;
First generates subelement, for according to described real-time rotate speed and change speed gear box transmitting ratio, generates engine crankshaft rotating speed of target;
Second generates subelement, for according to the absolute value of the difference of described real-time rotate speed and described engine crankshaft rotating speed of target, generates speed discrepancy between the two.
9. the gearshift based on AMT parallel type hybrid vehicle system according to claim 8, is characterized in that, described output unit, comprising:
Second obtains subelement, for Real-time Obtaining motor actual torque;
Second generates subelement, for the motor actual torque arriving according to described speed discrepancy and Real-time Obtaining, generates motor target torque escalating rate or motor target torque rate of descent;
Adjust subelement, for according to described motor target torque escalating rate or motor target torque rate of descent, adjust difference between described electric engine bent axle actual speed and engine crankshaft rotating speed of target whether in default engage a gear allowed band.
10. a vehicle, is characterized in that, described vehicle comprises the gearshift based on AMT parallel type hybrid vehicle system described in claim 6 to 9 any one.
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| CN201410238790.7A CN104002814B (en) | 2014-05-30 | 2014-05-30 | A kind of shifting method based on AMT parallel type hybrid vehicle system, device and vehicle |
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