CN104670221B - Hybrid electric vehicle work mode switching process dynamic coordination control method - Google Patents
Hybrid electric vehicle work mode switching process dynamic coordination control method Download PDFInfo
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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
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/40—Controlling the engagement or disengagement of prime movers, e.g. for transition between prime movers
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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
- B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
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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
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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
- B60W10/08—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
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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
- B60W40/08—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 drivers or passengers
- B60W40/09—Driving style or behaviour
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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
- B60W2510/08—Electric propulsion units
- B60W2510/081—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
- B60W2510/24—Energy storage means
- B60W2510/242—Energy storage means for electrical energy
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/02—Clutches
- B60W2710/021—Clutch engagement state
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
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- B60W2710/0605—Throttle position
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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Abstract
The invention discloses a hybrid electric vehicle working mode switching process dynamic coordination control method. Accelerator pedal depth is acquired by an EMS (engine management system) to obtain required vehicle torque, and an HCU (vehicle control unit) can select a work mode under a current working condition to work according to the required vehicle torque or the actual working condition; by controlling change rate from engine throttle percentage to target throttle percentage, the engaging speed of a clutch is reasonably controlled according to speed differences of an engine and a motor, insufficient dynamic output torque of the engine is offset by the quick response ability and the characteristic of accuracy torque control of the motor, and output torques of the motor and the engine are coordinated and allocated in the mode switching process. According to the technical scheme, the torque output of a hybrid power system is controlled, so as to reduce the dynamic process of the engine; oil consumption is reduced, so as to improve the economical efficiency; great fluctuation of the required vehicle torque is not generated in the mode switching process, so as to improve vehicle riding comfort; wear of the clutch is reduced, so as to ensure power transmission smoothness.
Description
Technical field
The invention belongs to the technical field that hybrid vehicle controls, particularly to the switching of hybrid vehicle mode of operation
During dynamic coordinate control method.
Background technology
Hybrid vehicle refers to be made up of the vehicle of drive system two or more power set, combine electromotor and
Both motors advantage, is the new automobile of a kind of low emission, good economy performance and course continuation mileage length.
Hybrid vehicle drive pattern mainly includes electromotor work, motor work, electromotor and motor cooperation
Electromotor can be subdivided into Deng Three models, wherein electromotor and motor cooperation and motor drives the combination drive of vehicle jointly
Pattern and electromotor provide power, the driving charge mode that electric power generation charges the battery.As can be seen here, mode of operation is polynary
Change is the effective means realizing parallel connection type hybrid power system energy-saving and emission-reduction.
Operational mode state switching control problem is one of parallel hybrid electric core control problem.
In vehicle travel process, according to road conditions and drive demand, energy management strategies ensure parallel connection type hybrid power system
Energy reasonably flows, and determines which kind of mode of operation vehicle is in.In change procedure between present mode and target pattern, cut
Change that the time is very short, motor torque lag output presents dynamic characteristic in the change of accelerator open degree, cause torque to export not
Foot or overshoot；Motor then can respond rapidly to torque change, and dynamic characteristic is almost consistent with torque output during stable state.If only pressed
It is controlled according to electromotor during stable state and the respective target torque of motor, electromotor and actual motor torque sum will be made to produce
Larger fluctuation, it is impossible to the change of track demand torque, leads to power transmission to be interrupted, the dynamic property of impact automobile, riding comfort,
Even drive system is impacted, affect service life.
Current is to be turned according to the electromotor of Real-time Feedback with regard to hybrid vehicle mode handover procedure Dynamic coordinated control
Square, in conjunction with operator demand's torque, carries out compensated torque using motor fast response characteristic.In mode handover procedure, such as
The throttle opening change to electromotor does not control effectively fruit, can lead to car load dynamic property and ride comfort in handoff procedure
Not good.
Content of the invention
The present invention provides a kind of hybrid vehicle work-mode switching process dynamic coordinate control method, its objective is to carry
High parallel hybrid electric work-mode switching process car load power performance and ride comfort.
To achieve these goals, the technical scheme that the present invention takes is:
The dynamical system of the hybrid vehicle of the present invention includes electromotor, engine management system, wet clutch, electricity
Mechanical, electrical machine management system, electrokinetic cell, power battery management system, entire car controller, variator, transmission control unit；
Described dynamic coordinate control method, first passes through engine management system collection driver's gas pedal depth, meter
Calculate car load demand torque, car load demand torque is sent to entire car controller by can bus by engine management system；Car load
Controller carries out torque distribution in conjunction with electrokinetic cell electricity and engine steady state efficiency to electromotor and motor, calculates and starts
Machine and the respective target torque of motor, more respectively the target torque of electromotor and motor is passed to engine tube by can bus
Reason system and motor management systems；
Hybrid power system starts pattern switching；
Vehicle operation pattern from no engine driving to during there is engine driving, by control engine air throttle
Aperture, to the rate of change of target aperture, reduces electromotor dynamic response process, by the speed discrepancy of the rotating speed of electromotor and motor
With speed discrepancy rate of change as wet clutch oil pressure regulation parameter, control wet clutch engaging speed；Motor management systems
According to car load demand torque, wet clutch activating pressure and motor speed compensate torque make an immediate response motor output turn
It is ensured that the torque of car load demand is constant in mode handover procedure, motor reaches rotating speed of target to square；
Have engine driving to switch to during another kind has engine driving in vehicle operation pattern from one kind, now from
Clutch, in lockup state, need not control clutch；Engine management system needs to control engine speed and motor speed
Difference within clutch sliding wear rotating speed difference, by control engine air throttle aperture to the rate of change of target aperture, subtract
Puffer dynamic response process is so that motor torque stable state exports；Motor needs to be started according to car load demand compensated torque
Machine output torque it is ensured that in mode handover procedure the torque of car load demand constant；
Driving is started to switch to no during engine driving in vehicle operation pattern from having, for avoiding motor torque to dash forward
Subtract the car load impact causing, motor torque can not be removed immediately, engine management system needs to control engine speed and electricity
The difference of machine rotating speed, within clutch sliding wear speed discrepancy, limits the speed that engine throttle opening reduces, and motor in time supplements
The torque being reduced due to electromotor, after motor torque is reduced to certain value, for avoiding motor drag electromotor, variator
Control unit controls clutch to disconnect, and motor makes an immediate response car load demand torque, and engine management system sends electromotor and shuts down
Order, handoff procedure terminates.
The method takes the Controlling principle of electromotor to be:
Described engine target accelerator open degree is according to engine target torque and electromotor by engine management system
Current rotating speed is tried to achieve by interpolating on sides method；During motor torque increaseds or decreases, by constraining accelerator open degree change
Rate, obtains the engine throttle opening of reality, controls electromotor to export with steady state torque.
The method takes the clutch control principle to be:
When electromotor and motor speed difference are larger, slow down clutch engagement；When electromotor and motor speed difference relatively
Hour, accelerate engaging speed；When speed discrepancy rate of change increases, reduce clutch pressure, to slow down clutch engagement；Rotating speed
When difference rate of change reduces, increase clutch pressure, combine speed to accelerate clutch.
Motor management systems maintain switching front motor angular acceleration constant, are accelerated according to motor angle in mode switch time
Degree calculates the rotating speed of target of motor, obtains motor speed by speed closed loop control and compensates torque, makes motor feedback rotating speed real
When follow motor rotating speed of target.
Entire car controller passes through can bus to engine management system, motor management systems, transmission control unit and electricity
Pond management system coordinates management；Mutually communicated by can bus between each controller.
The present invention adopts above dynamic coordinate control method, in parallel hybrid electric stateful switchover process, fully
Consider electromotor, motor and clutch state, for different handoff procedures, by coordinating to control electromotor, motor and clutch
Device, can effectively reduce electromotor dynamic process, reduce oil consumption, improve economy；Car load demand in implementation pattern handoff procedure
Torque does not produce big fluctuation, improves vehicle ride performance；Reduce clutch abrasion it is ensured that power transmission stationarity.
Brief description
Fig. 1 is the hybrid power automobile power system structural representation of the present invention；
Fig. 2 is hybrid electric vehicle engine and the motor target torque calculation flow chart of the present invention；
Fig. 3 be the present invention hybrid vehicle mode handover procedure in motor torque calculation flow chart；
Fig. 4 be the present invention hybrid vehicle mode handover procedure in Dynamic coordinated control flow chart.
Specific embodiment
Below against accompanying drawing, by the description to embodiment, the specific embodiment of the present invention is made further details of
Illustrate, to help those skilled in the art to have more complete, accurate and deep reason to the inventive concept of the present invention, technical scheme
Solution.
Letter abbreviations in picture and text are respectively:
Mcu motor management systems；
Bms power battery management system；
Hcu entire car controller；
Amt transmission control unit；
Ems engine management system.
The dynamical system of the hybrid vehicle of the present invention as shown in Figure 1, including electromotor, engine management system
(ems), wet clutch, motor, motor management systems (mcu), electrokinetic cell, power battery management system (bms), car load control
Device (hcu) processed, automatic speed changer for machine, transmission control unit (amt) (and controlling wet clutch).In figure does not represent amt
With variator relation, but do not indicate that it doesn't matter, electromotor and motor pass through the coaxial connection of wet clutch, electromotor and motor
Power couples output to variator at wet clutch.
Hybrid vehicle mode of operation can be divided into electromotor to be operated alone, pure electric drive, driving charge mode, combined drive
Dynamic model formula, braking mode.The problem existing for prior art, the control method that the present invention provides is cut from different patterns
The process of changing is set out, and with electromotor, motor and clutch as control object, to solve power performance peace in mode handover procedure
Pliable problem.
The technical method of the present invention is mainly concerned with hybrid vehicle hcu, electromotor and ems, motor and mcu, wet type
Clutch, automatic speed changer for machine and amt (and controlling wet clutch), power battery pack and bms and hcu.Hcu passes through can
Bus coordinates management to ems, mcu, amt and bms, is mutually communicated by can bus between each controller.Ems gathers
Gas pedal depth value, calculates engine target accelerator open degree, monitoring motor torque change, mcu is responsible for responding motor torque
Value, carries out motor speed closed loop control calculating, and amt is responsible for monitoring and changes transmission ratio, controls clutch sliding wear to engage.
The control principle analysis of the present invention:
In order to solve the problems, such as prior art and overcome its defect, realize raising parallel hybrid electric state and cut
Change process car load power performance and the goal of the invention of ride comfort, the technical scheme that the present invention takes is:
First, electromotor and motor each target torque are determined:
For different handoff procedures, formulate different control modes.Gas pedal depth is obtained by ems, obtains whole
Car demand torque, according to car load demand torque or actual condition, hcu can select the mode of operation under current working.?
In work-mode switching process, particularly from no engine driving to during there is engine driving, by controlling electromotor section
Valve opening is to the rate of change of target throttle opening；Poor according to electromotor and motor speed, rationally control clutch to engage
Speed, using the capability of fast response of motor and the feature of torque precise control, makes up electromotor dynamical output torque deficiency, association
Adjust the output torque of electromotor and motor in allocation model handoff procedure, thus it is defeated to efficiently control hybrid power system torque
Go out.
As shown in Fig. 2 the hybrid vehicle work-mode switching process dynamic coordinate control method of the present invention, first pass through
Ems gathers driver's gas pedal depth, calculates car load demand torque, car load demand torque is sent by ems by can bus
To hcu；Hcu carries out torque distribution in conjunction with electrokinetic cell electricity and engine steady state efficiency to electromotor and motor, calculates
Electromotor and the respective target torque of motor, thus carry out hybrid power system to enter pure electronic, engine driving, combination drive
Or driving charging isotype switching.Hcu more respectively by the target torque of electromotor and motor by can bus pass to ems and
mcu.
The present invention is to provide electromotor and motor target torque control method in hybrid vehicle mode handover procedure,
Control principle is as shown in Figure 2.
2nd, mode handover procedure Dynamic coordinated control:
Hybrid power system starts pattern switching；Mode handover procedure Dynamic coordinated control process has following several:
1st, vehicle operation pattern from no engine driving to during there is engine driving, be such as switched to from pure electric drive
Electromotor is operated alone pattern, or switches to combination drive pattern from pure electric drive, or switches to driving from pure electric drive
Charge mode etc., concrete control strategy in this condition is respectively as follows:
(1), engine control strategy:
Ems, according to engine target torque and the current rotating speed of electromotor, tries to achieve engine target oil by interpolating on sides method
Door aperture.Ems passes through to limit the rate of change to target aperture for the engine air throttle aperture, reduces electromotor dynamic response mistake
Journey, it is to avoid the fluctuation that motor torque is mutated and produces, controls electromotor to export with steady state torque.
(2), the control strategy of wet clutch engagement state:
Wet clutch enters the sliding wear stage engaging,
The speed discrepancy of the rotating speed of electromotor and motor and speed discrepancy rate of change are adjusted ginseng as wet clutch oil pressure by amt
Number, controls wet clutch engaging speed；Mcu is according to car load demand torque, wet clutch activating pressure and motor speed
Compensate torque come the motor output torque that to make an immediate response it is ensured that the torque of car load demand is constant in mode handover procedure, motor reaches mesh
Mark rotating speed.
(3), motor control strategy:
It is believed that car load acceleration is constant in mode handover procedure, thus the angular acceleration of driving wheel is constant.According to mould
Operator demand's torque and motor output torque before formula switching, can calculate the angular acceleration of motor.
In mode handover procedure, maintain motor acceleration to keep constant, electricity is determined according to the rotating speed before motor mode switching
The rotating speed of target of machine, determines car load demand speed then.
Motor adopts speed closed loop control method, using the motor rotating speed of target calculating as reference velocity, speed probe
As feed back input, both differences obtain motor speed by pid algorithm and compensate torque measurement real electrical machinery rotating speed, are sent to
mcu.Now mcu compensates torque come immediately according to the demand torque of transmission input, clutch-apply pressure and motor speed
Response motor output torque is it is ensured that in mode handover procedure, the torque of car load demand is constant and car load demand speed.
Until electromotor and motor torque determined by hcu before reaching pattern switching respective target torque, both rotating speeds
When difference is in the range of clutch sliding wear, clutch locking, electromotor and motor smoothly with respective target torque output torque,
Show hybrid power system finishing switching.
Before pattern switching, motor target velocity (motor angular acceleration) can pass through dynamics of vehicle equation solution.With pure electricity
Move as a example switching to engine driving, other handoff procedures are similar to.
Pattern switching front motor angular acceleration meets:
jmαm=tm-treq
Wherein, jmFor motor rotary inertia, αmFor motor angular acceleration, tmFor motor output torque, treqNeed for driver
Ask torque, by road wheel end through gear ratio conversion to transmission input.
The real electrical machinery rotational speed omega being obtained according to pattern switching pre-teste0, keep motor angle in mode handover procedure to accelerate
Degree αmConstant；If t starts for pattern switching, time of being experienced in mode handover procedure, then mode handover procedure can be tried to achieve
The rotating speed of target ω of middle motortarget=ωe0+αmt.
In mode handover procedure, motor torque calculation flow chart is as shown in Figure 3；Dynamic coordinated control in mode handover procedure
Flow process is as shown in Figure 4.
2nd, there is engine driving to switch to during another kind has engine driving in vehicle operation pattern from one kind, such as send out
Motivation is operated alone and is switched to combination drive pattern, or electromotor is operated alone and switches to driving charge mode, or mixing
Drive pattern switches to driving charge mode, or driving charge mode switches to combination drive pattern etc., and now clutch has been
Through in lockup state, there is not engaging process, clutch need not be controlled.Concrete control strategy in this condition is respectively as follows:
(1), engine control strategy:
In handoff procedure, ems needs the difference controlling engine speed and motor speed in clutch sliding wear rotating speed difference
Within, by controlling the rate of change to target aperture for the engine air throttle aperture, reduce electromotor dynamic response process, it is to avoid
The fluctuation that motor torque is mutated and produces, controls electromotor to export with steady state torque.
(2) motor control strategy:
Motor needs according to car load demand compensated torque engine output torque it is ensured that car load demand in mode handover procedure
Torque is constant.
Motor adopts speed closed loop control method, using the motor rotating speed of target calculating as reference velocity, speed probe
As feed back input, both differences obtain motor speed by pid algorithm and compensate torque measurement real electrical machinery rotating speed, are sent to
mcu.Now according to the demand torque of transmission input, electromotor feedback torque and motor speed compensate torque and come immediately mcu
Response motor output torque is it is ensured that in mode handover procedure, the torque of car load demand is constant and car load demand speed.
3rd, driving is started to switch to no during engine driving in vehicle operation pattern from having, such as electromotor is operated alone
Switch to pure electric drive, or combination drive switches to pure electric drive, or driving charging switches to pure electric drive etc., for avoiding
The car load impact that motor torque anticlimax causes, motor torque can not be removed immediately, and ems needs to control engine speed and electricity
The difference of machine rotating speed, within clutch sliding wear speed discrepancy, limits the speed that engine throttle opening reduces, and motor in time compensates
The torque being reduced due to electromotor, after motor torque is reduced to certain value, for avoiding motor drag electromotor, amt is controlled
Clutch processed disconnects, and motor makes an immediate response car load demand torque, and ems sends engine stop command, and handoff procedure terminates.
The present invention adopts above Dynamic coordinated control algorithm, can effectively reduce electromotor dynamic process, reduces oil consumption, carries
High economy；By coordinating to control electromotor, motor and clutch, efficiently solve car load demand torque in mode handover procedure
Do not produce big fluctuation, improve vehicle ride performance；Reduce clutch abrasion it is ensured that power transmission stationarity.
In the entire system, electromotor, motor and clutch collaborative work meet driver's drive demand, and all parts exist
In effective range, normal operation, it is ensured that car load safety, improves vehicle ride comfort.
3rd, electromotor Controlling principle:
Described engine target accelerator open degree is to be passed through according to engine target torque and the current rotating speed of electromotor by ems
Interpolating on sides method is tried to achieve；During motor torque increaseds or decreases, by constraining accelerator open degree rate of change, limit electromotor
Throttle opening, to the rate of change of target aperture, obtains the engine throttle opening of reality, reduces electromotor dynamic response mistake
Journey, it is to avoid the fluctuation that motor torque is mutated and produces, controls electromotor to export with steady state torque.
4th, clutch control principle:
Clutch rotational speed difference refers to electromotor and motor rotating speed difference；When electromotor and motor speed difference are larger
When, reduce clutch pressure, slow down clutch engagement；When electromotor and motor speed difference are less, increase clutch oil
Pressure, accelerates engaging speed；When speed discrepancy rate of change increases, reduce clutch pressure, to slow down clutch engagement；Speed discrepancy
When rate of change reduces, increase clutch pressure, combine speed to accelerate clutch.So, clutch sliding wear can be reduced, improve car
Ride comfort.
Mcu maintains switching front motor angular acceleration constant, is calculated according to motor angular acceleration in mode switch time
The rotating speed of target of motor, obtains motor speed by speed closed loop control and compensates torque, make motor feedback rotating speed follow electricity in real time
Machine rotating speed of target.
Above in conjunction with accompanying drawing, the present invention is exemplarily described it is clear that the present invention implements is not subject to aforesaid way
Restriction, as long as employing the improvement of various unsubstantialities that method of the present invention design and technical scheme are carried out, or without changing
Enter and the design of the present invention and technical scheme are directly applied to other occasions, all within protection scope of the present invention.
Claims (5)
1. hybrid vehicle work-mode switching process dynamic coordinate control method, the dynamical system of described hybrid vehicle
Including electromotor, engine management system, wet clutch, motor, motor management systems, electrokinetic cell, electrokinetic cell management
System, entire car controller, variator, transmission control unit；
It is characterized in that:
Described dynamic coordinate control method, first passes through engine management system collection driver's gas pedal depth, calculates
Car load demand torque, car load demand torque is sent to entire car controller by can bus by engine management system；Full-vehicle control
Device carries out torque distribution in conjunction with electrokinetic cell electricity and engine steady state efficiency to electromotor and motor, calculate electromotor and
The respective target torque of motor, more respectively the target torque of electromotor and motor is passed to engine management system by can bus
System and motor management systems；
Hybrid power system starts pattern switching；
Vehicle operation pattern from no engine driving to during there is engine driving, by control engine air throttle aperture
To the rate of change of engine target throttle opening, reduce electromotor dynamic response process, by the rotating speed of electromotor and motor
Speed discrepancy and speed discrepancy rate of change as wet clutch oil pressure regulation parameter, control wet clutch engaging speed；Motor
Management system compensates torque come the motor that makes an immediate response according to car load demand torque, wet clutch activating pressure and motor speed
It is ensured that the torque of car load demand is constant in mode handover procedure, motor reaches rotating speed of target to output torque；
Have engine driving to switch to during another kind has engine driving in vehicle operation pattern from one kind, now wet type from
Clutch, in lockup state, need not control wet clutch；Engine management system needs to control engine speed and motor
The difference of rotating speed within wet clutch sliding wear rotating speed difference, by control the change to target aperture for the engine air throttle aperture
Speed, reduces electromotor dynamic response process so that motor torque stable state exports；Motor needs to be mended according to car load demand torque
Repay engine output torque it is ensured that in mode handover procedure the torque of car load demand constant；
Driving is started to switch to no during engine driving in vehicle operation pattern from having, for avoiding motor torque anticlimax to make
The car load impact becoming, motor torque can not be removed immediately, and engine management system needs to control engine speed to turn with motor
The difference of speed, within wet clutch sliding wear speed discrepancy, limits the speed that engine air throttle aperture reduces, and motor is in time mended
Fill the torque reducing due to electromotor, after motor torque is reduced to certain value, for avoiding motor drag electromotor, speed change
Device control unit controls wet clutch to disconnect, and motor makes an immediate response car load demand torque, and engine management system starts
Machine halt command, handoff procedure terminates.
2. according to the hybrid vehicle work-mode switching process dynamic coordinate control method described in claim 1, its feature
It is:
Described dynamic coordinate control method takes the Controlling principle of electromotor to be: described engine target throttle opening be by
Engine management system is tried to achieve by interpolating on sides method according to engine target torque and the current rotating speed of electromotor；Turn in electromotor
During square increaseds or decreases, by constraining engine air throttle aperture rate of change, obtain the engine air throttle aperture of reality,
Electromotor is controlled to export with steady state torque.
3. according to the hybrid vehicle work-mode switching process dynamic coordinate control method described in claim 1, its feature
It is:
Described dynamic coordinate control method takes the wet clutch Controlling principle to be: when electromotor and motor speed difference are larger,
Slow down wet clutch engaging speed；When electromotor and motor speed difference are less, accelerate engaging speed；Speed discrepancy rate of change increases
When big, reduce wet clutch oil pressure, to slow down wet clutch engaging speed；When speed discrepancy rate of change reduces, increase wet type
Clutch pressure, combines speed to accelerate wet clutch.
4. according to the hybrid vehicle work-mode switching process dynamic coordinate control method described in claim 1, its feature
It is: motor management systems maintain switching front motor angular acceleration constant, according to motor angular acceleration in mode switch time
Calculate the rotating speed of target of motor, motor speed is obtained by speed closed loop control and compensates torque, make motor feedback rotating speed real-time
Follow motor rotating speed of target.
5. according to the hybrid vehicle work-mode switching process dynamic coordinate control method described in claim 1, its feature
It is: entire car controller passes through can bus to engine management system, motor management systems, transmission control unit and power
Battery management system coordinates management；Mutually communicated by can bus between each controller.
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