CN105774808B - A kind of control method and device of hybrid vehicle - Google Patents
A kind of control method and device of hybrid vehicle Download PDFInfo
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- CN105774808B CN105774808B CN201410805349.2A CN201410805349A CN105774808B CN 105774808 B CN105774808 B CN 105774808B CN 201410805349 A CN201410805349 A CN 201410805349A CN 105774808 B CN105774808 B CN 105774808B
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Abstract
A kind of control method and device of the hybrid vehicle of the present invention make engine work in minimum specific fuel consumption operating point as far as possible in real time by logical gear, engine and direct torque in a variety of possible gears and torque distribution combination；And by rationally designing functions of modules, the mutual call relation of intermodule and the data flow of intermodule, it is ensured that control reliability.
Description
Technical field
The present invention relates to a kind of control technology fields of electric vehicle, more particularly to a kind of control of hybrid vehicle
Method and device.
Background technology
With the high speed development of human society, environmental pollution and energy crisis have become the two of increasingly puzzlement human survival
Hang-up.In recent years, what new-energy automobile industry became world car industry gives priority to field, with electric vehicle, mixing
Power vehicle, which is the new-energy automobile of representative, can reduce oil consumption, reduce exhaust gas discharge, the sustainable development for human environment
It is of great significance.
Method for controlling hybrid power vehicle is tool during the core of hybrid electric vehicle complete vehicle control, including control
The data flow etc. of module and function, the mutual call relation of intermodule and intermodule.Method for controlling hybrid power vehicle
It is one of the principal element for determining control reliability and integrality.Existing method for controlling hybrid power vehicle form has series connection
It is formula, parallel and three kinds hybrid, wherein being only at present portion for the control targe of parallel hybrid electric vehicle control method
The operating point for dividing optimization engine, cannot make engine work in minimum specific fuel consumption operating point, this to use this control
The hybrid vehicle fuel consumption of method processed is larger, higher operating costs.
Invention content
The technical problem to be solved by the present invention is to existing parallel hybrid electric vehicle control methods cannot make to start
Machine works in minimum specific fuel consumption operating point, and providing one kind can make engine real-time working as much as possible in minimum fuel oil
The control method and device of the hybrid vehicle of consumption rate operating point.
In order to solve the above technical problems, technical scheme is as follows：
A kind of control method of hybrid vehicle, including：
S1. real-time parameter is obtained, the real-time parameter includes current shift and current operation mode；
S2. under the premise of vehicle runs fault-free, vehicle demand torque is obtained according to the real-time parameter, judges current vehicle
Should locate operating mode；
S3. according to the real-time parameter, motor peak value driving torque and motor peak value at wheel under each gear are calculated
Charge torque；
S4. according to current operation mode and it is described should locate operating mode, determine whether to switching working mode, if switching
S5 is thened follow the steps, it is no to then follow the steps S6；
S5. by current operation mode be switched to it is described should locate operating mode, execute step S6；
S6. judge whether current operation mode is power generation, parallel drive or pure engine mode in parallel, is if it is executed
Step S7, it is no to then follow the steps S11；
S7. according to the real-time parameter, currently available gear is calculated, and according to the motor under each gear at wheel
Peak value driving torque and the motor peak value charge torque calculate each corresponding gear and meet and start under the premise of vehicle demand torque
Machine and the motor output torque at wheel compare the corresponding fuel consumption rate of each gear engine working point, by fuel consumption rate
Minimum gear is set as first object gear；
S8. according to the gear shift interval time of the first object gear, current shift and the two, judge whether to need to change
Gear, it is no to then follow the steps S10 if it is thening follow the steps S9；
S9. it shifts gears, and output engine and the instruction of motor target torque, executes step S1；
S10. torque, output engine and motor mesh are corresponded to according to the vehicle demand torque and engine optimal economic line
Torque is marked, step S1 is executed；
S11. according to the real-time parameter, currently available gear is calculated, and according to the electricity under each gear at wheel
Machine peak value driving torque and the motor peak value charge torque calculate under the premise of corresponding gear meets the vehicle demand torque
Motor output torque at wheel compares the corresponding working efficiency in each gear motor operating point, the gear that work efficiency is high is set
For the second target gear；
S12. according to the gear shift interval time of second target gear, current shift and the two, judge whether to need to change
Gear, it is no to then follow the steps S14 if it is thening follow the steps S13；
S13. it shifts gears, and output motor target torque instructs, executes step S1；
S14. output engine and motor target torque execute step S1.
In above-mentioned control method, further comprise between the step S1 and S2：S15. according to the real-time parameter, judge
Vehicle operation whether there is failure, and S16 is thened follow the steps if there is failure, no to then follow the steps S2；
The step S16 is to carry out troubleshooting, and step S2 is executed after the completion of processing.
In above-mentioned control method, further comprise before executing the step S16:S17. it is filtered smoothing processing,
Step S6 is executed after the completion of processing.
In above-mentioned control method, the step S16 further comprises：
S161. alerted and limited power operation；
S162. it is filtered smoothing processing, step S2 is executed, step S2 is executed after the completion of processing.
In above-mentioned control method, the current operation mode in the step S1 should locate Working mould for a upper period
Formula.
In above-mentioned control method, the real-time parameter in the step S1 further comprise diagnostic signal, speed, SOC,
Pedal aperture, battery maximum charge-discharge electric power, high-low pressure accessory power, cell potential, engine are minimum and maximum speed limits
Condition and motor is minimum and maximum speed restrictive condition.
In above-mentioned control method, the step S2 includes：
S21. according to speed and pedal aperture, vehicle demand torque is obtained；
S22. according to vehicle demand torque and SOC, judge vehicle should locate operating mode.
In above-mentioned control method, it is described should locate operating mode include parallel drive, it is power generation in parallel, pure engine driving, pure
Electronic and braking mode.
In above-mentioned control method, the step S3 includes：
S31. it is calculated according to speed, SOC, battery maximum charge-discharge electric power, high-low pressure accessory power and cell potential
Motor peak value driving torque and motor peak value charge torque；
S32. the motor peak value driving torque and motor peak value charge torque are multiplied by each gear speed ratio respectively and transmission is imitated
Rate obtains the motor peak value driving torque under each gear at wheel and motor peak value charge torque.
In above-mentioned control method, the step S7 includes：
S71. according to speed, engine is minimum and maximum speed restrictive condition, calculate currently available gear, and according to each gear
The motor peak value driving torque at wheel and the motor peak value charge torque under position calculate each corresponding gear and meet vehicle
Engine and the motor output torque at wheel under the premise of demand torque；
S72. meet engine and motor under the premise of vehicle demand torque according to each corresponding gear and export torsion at wheel
Square obtains the corresponding fuel consumption rate of each gear engine working point；
S73. the corresponding fuel consumption rate of each gear engine working point is compared, the gear of fuel consumption rate minimum is set as
First object gear.
In above-mentioned control method, the step S8 includes：
S81. according to the first object gear and current shift, the gear shift interval time of the two is calculated；
S82. according to the gear shift interval time of the first object gear, current shift and the two, judge whether to need to change
Gear.
In above-mentioned control method, the step S11 includes：
S111. according to speed, motor is minimum and maximum speed restrictive condition, calculate currently available gear, and according to each gear
The motor peak value driving torque at wheel and the motor peak value charge torque under position calculate each corresponding gear and meet vehicle
Motor under the premise of the demand torque output torque at wheel；
S112. meet motor output torque, acquisition at wheel under the premise of vehicle demand torque according to each corresponding gear
The corresponding working efficiency in each gear motor operating point；
S113. the corresponding working efficiency in each gear motor operating point is compared, the gear that work efficiency is high is set as the second mesh
Mark gear.
In above-mentioned control method, the step S12 includes：
S121. according to second target gear and current shift, the gear shift interval time of the two is calculated；
S122. according to the gear shift interval time of second target gear, current shift and the two, judge whether to need to change
Gear.
In above-mentioned control method, the step S9 and the step S13 include by drop turn round, pluck gear, block selecting, speed governing,
It puts into gear and shifts gears with torque recovery.
A kind of control device of hybrid vehicle, including：
Acquisition module, for obtaining real-time parameter, the real-time parameter includes current shift and current operation mode；
It should locate operating mode judgment module, under the premise of vehicle runs fault-free, being obtained according to the real-time parameter
Vehicle demand torque, judge current vehicle should locate operating mode；
First computing module, for according to the real-time parameter, calculating the motor peak value driving under each gear at wheel
Torque and motor peak value charge torque；
Operating mode switching judging module, for according to current operation mode and it is described should locate operating mode, judge whether
Switching working mode is wanted, handover module is executed if switching, otherwise executes operating mode type judging module；
Handover module, for by current operation mode be switched to it is described should locate operating mode, execute operating mode type and sentence
Disconnected module；For
Operating mode type judging module, judges whether current operation mode is in parallel power generation, parallel drive or pure starts
Machine pattern if it is executes first object gear acquisition module, otherwise executes the second target gear acquisition module；
First object gear acquisition module, for according to the real-time parameter, calculating currently available gear, and according to each gear
The motor peak value driving torque at wheel and the motor peak value charge torque under position calculate each corresponding gear and meet vehicle
Engine and the motor output torque at wheel under the premise of demand torque, compares the corresponding combustion of each gear engine working point
The gear of fuel consumption rate minimum is set as first object gear by specific oil consumption；
First shift judgment module, when being used for the gear shift interval according to the first object gear, current shift and the two
Between, judge whether to need to shift gears, if it is execute the first shift module, otherwise executes the first steady-state module；
First shift module, for shifting gears, and output engine and the instruction of motor target torque, execute acquisition module；
First steady-state module is exported for corresponding to torque according to the vehicle demand torque and engine optimal economic line
Engine and motor target torque execute acquisition module；
Second target gear acquisition module, for according to the real-time parameter, calculating currently available gear, and according to each gear
The motor peak value driving torque at wheel and the motor peak value charge torque under position calculate described in corresponding gear satisfaction
Motor under the premise of the vehicle demand torque output torque at wheel, compares the corresponding working efficiency in each gear motor operating point,
The gear that work efficiency is high is set as the second target gear；
Second shift judgment module, when being used for the gear shift interval according to second target gear, current shift and the two
Between, judge whether to need to shift gears, if it is execute the second shift module, otherwise executes the second steady-state module；
Second shift module, for shifting gears, and output motor target torque instructs, and executes acquisition module；
Second steady-state module is used for output engine and motor target torque, executes acquisition module.
In above-mentioned control device, further comprise breakdown judge module, for according to the real-time parameter, judging that vehicle is transported
Row whether there is failure, and fault processing module is then executed if there is failure, and operating mode judgment module should be located by otherwise executing；
For the fault processing module for carrying out troubleshooting, operating mode judgment module should be located by being executed after the completion of processing.
In above-mentioned control device, further comprise filtering processing module, for being filtered smoothing processing, has handled
At rear execution fault processing module.
In above-mentioned control device, the fault processing module includes：
Warning and limit power modules, for being alerted and being limited power operation；
Filtering handles submodule, and for being filtered smoothing processing, operating mode should be located by, which being executed after the completion of processing, sentences
Disconnected module.
In above-mentioned control device, the current operation mode in the acquisition module should locate Working mould for a upper period
Formula.
In above-mentioned control device, the real-time parameter in the acquisition module further comprise diagnostic signal, speed,
SOC, pedal aperture, battery maximum charge-discharge electric power, high-low pressure accessory power, cell potential, engine be minimum and maximum speed
Restrictive condition and motor is minimum and maximum speed restrictive condition.
In above-mentioned control device, the operating mode judgment module that should locate includes：
Vehicle demand torque acquisition submodule, for according to speed and pedal aperture, obtaining vehicle demand torque；
It should locate operating mode judging submodule, for according to vehicle demand torque and SOC, judge vehicle should to locate Working mould
Formula.
In above-mentioned control device, it is described should locate operating mode include parallel drive, it is power generation in parallel, pure engine driving, pure
Electronic and braking mode.
In above-mentioned control device, first computing module includes：
Motor peak value driving/charge torque acquisition submodule, for according to speed, SOC, battery maximum charge-discharge electric power,
Motor peak value driving torque and motor peak value charge torque is calculated in high-low pressure accessory power and cell potential；
Under each gear at wheel motor peak value driving/charge torque acquisition submodule, for by the motor peak value drive
Dynamic torque and motor peak value charge torque are multiplied by each gear speed ratio and transmission efficiency respectively, obtain the motor at wheel under each gear
Peak value driving torque and motor peak value charge torque.
In above-mentioned control device, the first object gear acquisition module includes：
Engine and motor the output torque acquisition submodule at wheel, for according to speed, engine is minimum and highest
Rotating speed restrictive condition, calculates currently available gear, and according under each gear at wheel the motor peak value driving torque and
The motor peak value charge torque calculates each corresponding gear and meets engine under the premise of vehicle demand torque and motor in wheel
Locate output torque；
Each gear engine working point fuel consumption rate acquisition submodule, for meeting vehicle demand according to each corresponding gear
Engine and motor under the premise of the torque output torque at wheel, obtain the corresponding fuel consumption of each gear engine working point
Rate；
First object gear acquisition submodule will for comparing the corresponding fuel consumption rate of each gear engine working point
The gear of fuel consumption rate minimum is set as first object gear.
In above-mentioned control device, the first shift judgment module includes：
First gear shift interval time acquisition submodule, for according to the first object gear and current shift, calculating two
The gear shift interval time of person；
First shift judging submodule, for the gear shift interval according to the first object gear, current shift and the two
Time judges whether to need to shift gears.
In above-mentioned control device, the second target gear acquisition module includes：
Motor output torque acquisition submodule at wheel is used for according to speed, motor is minimum and maximum speed limits item
Part, calculates currently available gear, and according under each gear at wheel the motor peak value driving torque and the motor peak
It is worth charge torque, calculates each corresponding gear and meet motor under the premise of the vehicle demand torque output torque at wheel；
Each gear motor operating point working efficiency acquisition submodule, for meeting vehicle demand torque according to each corresponding gear
Under the premise of motor at wheel output torque, obtain the corresponding working efficiency in each gear motor operating point；
Second target gear acquisition submodule, for comparing the corresponding working efficiency in each gear motor operating point, by work
Efficient gear is set as the second target gear.
In above-mentioned control device, the second shift judgment module includes：
Second gear shift interval time acquisition submodule, for according to second target gear and current shift, calculating two
The gear shift interval time of person；
Second shift judging submodule, for the gear shift interval according to second target gear, current shift and the two
Time judges whether to need to shift gears.
In above-mentioned control device, first shift module and second shift module include by drop turn round, pluck gear,
Block selecting, speed governing put into gear and shift gears with torque recovery.
The above technical solution of the present invention has the following advantages over the prior art：The control of the hybrid vehicle of the present invention
Method and device processed makes hair by shift, engine and direct torque in a variety of possible gears and torque distribution combination
Motivation works in minimum specific fuel consumption operating point as far as possible in real time；And by rationally design functions of modules, intermodule it is mutual
The data flow of call relation and intermodule, it is ensured that control reliability.
Description of the drawings
In order to make the content of the present invention more clearly understood, it below according to specific embodiments of the present invention and combines
Attached drawing, the present invention is described in further detail, wherein
Fig. 1 is the structure diagram of parallel hybrid electric vehicle dynamical system of the present invention；
Fig. 2 is the flow chart of the control method of one embodiment of the invention hybrid vehicle；
Fig. 3 is the flow chart of the control method of one embodiment of the invention hybrid vehicle；
Fig. 4 is the flow chart of the control method step S2 of one embodiment of the invention hybrid vehicle；
Fig. 5 is the flow chart of the control method step S3 of one embodiment of the invention hybrid vehicle；
Fig. 6 is the flow chart of the control method step S7 of one embodiment of the invention hybrid vehicle；
Fig. 7 is the flow chart of the control method step S8 of one embodiment of the invention hybrid vehicle；
Fig. 8 is the flow chart of the control method step S11 of one embodiment of the invention hybrid vehicle；
Fig. 9 is the flow chart of the control method step S12 of one embodiment of the invention hybrid vehicle；
Figure 10 is the flow chart of the control method step S16 of one embodiment of the invention hybrid vehicle；
Figure 11 is the schematic diagram of the control device of one embodiment of the invention hybrid vehicle.
Reference numeral is in figure：1- acquisition modules, 2- should locate operating mode judgment module, and 21- vehicle demand torques obtain
Submodule, 22- should locate operating mode judging submodule, the first computing modules of 3-, and 31- motors peak value driving/charge torque obtains
Submodule, under each gears of 32- at wheel motor peak value driving/charge torque acquisition submodule, 4- operating mode switching judgings
Module, 5- handover modules, 6- operating mode type judging modules, 7- first object gear acquisition modules, 71- engines and motor
The output torque acquisition submodule at wheel, each gear engine working point fuel consumption rate acquisition submodules of 72-, 73- first
Target gear acquisition submodule, the shift judgment modules of 8- first, 81- the first gear shift interval time acquisition submodules, 82- first are changed
Keep off judging submodule, the first shift modules of 9-, the first steady-state modules of 10-, 11- the second target gear acquisition modules, 111- motors
The output torque acquisition submodule at wheel, each gear motors of 112- operating point working efficiency acquisition submodule, the second mesh of 113-
Mark gear acquisition submodule, the shift judgment modules of 12- second, 121- the second gear shift interval time acquisition submodules, 122- second
Shift judging submodule, the second shift modules of 13-, the second steady-state modules of 14-, 15- breakdown judge modules, 16- troubleshooting moulds
Block, 161- warnings and limit power modules, 162- filterings handle submodule, 17- filtering processing modules；100- starts
Machine, 200-TM motors, 300- electric control mechanical type automatic speed variators (AMT), 400- clutches.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The control method of the hybrid vehicle of the present invention is directed to parallel hybrid electric vehicle, and the control targe of proposition is
By shift, engine and direct torque, in a variety of possible gears and torque distribution combination, make engine in real time as far as possible
Minimum specific fuel consumption operating point is worked in, the fuel consumption of vehicle operation is reduced.
If Fig. 1 is the structure diagram of parallel hybrid electric vehicle dynamical system, the dynamical system include engine 100,
Automatic clutch 400, TM motors (direct current torque motor) 200, electric control mechanical type automatic speed variator (AMT) 200 and main reducing gear
Deng.
As shown in Fig. 2, the control method of the hybrid vehicle of the present embodiment, including：
S1. real-time parameter is obtained, the real-time parameter includes current shift and current operation mode；
S2. under the premise of vehicle runs fault-free, vehicle demand torque is obtained according to the real-time parameter, judges current vehicle
Should locate operating mode；
S3. according to the real-time parameter, motor peak value driving torque and motor peak value at wheel under each gear are calculated
Charge torque；Wherein, the maximum exportable torque of the motor peak value driving torque, as motor, the motor peak value charging are turned round
Maximum generates torque when square, as motor recycle electric energy；
S4. according to current operation mode and it is described should locate operating mode, determine whether to switching working mode, if switching
S5 is thened follow the steps, it is no to then follow the steps S6；
S5. by current operation mode be switched to it is described should locate operating mode, execute step S6；
S6. judge whether current operation mode is power generation, parallel drive or pure engine mode in parallel, is if it is executed
Step S7, it is no to then follow the steps S11；
S7. according to the real-time parameter, currently available gear is calculated, and according to the motor under each gear at wheel
Peak value driving torque and the motor peak value charge torque calculate each corresponding gear and meet and start under the premise of vehicle demand torque
Machine and the motor output torque at wheel compare the corresponding fuel consumption rate of each gear engine working point, by fuel consumption rate
Minimum gear is set as first object gear；
S8. according to the gear shift interval time of the first object gear, current shift and the two, judge whether to need to change
Gear, it is no to then follow the steps S10 if it is thening follow the steps S9；
S9. it shifts gears, and output engine and the instruction of motor target torque, executes step S1；
S10. torque, output engine and motor mesh are corresponded to according to the vehicle demand torque and engine optimal economic line
Torque is marked, step S1 is executed；
S11. according to the real-time parameter, currently available gear is calculated, and according to the electricity under each gear at wheel
Machine peak value driving torque and the motor peak value charge torque calculate under the premise of corresponding gear meets the vehicle demand torque
Motor output torque at wheel compares the corresponding working efficiency in each gear motor operating point, the gear that work efficiency is high is set
For the second target gear；
S12. according to the gear shift interval time of second target gear, current shift and the two, judge whether to need to change
Gear, it is no to then follow the steps S14 if it is thening follow the steps S13；
S13. it shifts gears, and output motor target torque instructs, executes step S1；
S14. output engine and motor target torque execute step S1.
In the present embodiment, the current operation mode in the step S1 should locate operating mode for a upper period.
Real-time parameter in the step S1 specifically includes the data that number, simulation and CAN signal processing obtain, and further comprises diagnosing
Signal, speed, SOC (storage battery charge state value, State of charge), pedal aperture, battery maximum charge-discharge electric power,
High-low pressure accessory power, cell potential, engine be minimum and maximum speed restrictive condition and motor is minimum and maximum speed limit
Condition processed.Wherein, according to the difference of vehicle running state, pedal aperture includes driving pedal aperture and brake pedal aperture.Its
In, the cell potential, as power of battery fan-out capability.
In the present embodiment, switching working mode includes carrying out engine during front and back pattern changes in the step S4
Start and stop, clutch separation and combination action.In the step S5, switching working mode is a kind of dynamic process, the dynamic process
It can carry out the actions such as drop torsion, speed governing and torque recovery.
In the present embodiment, it in order to carry out subsequent control, needs to ensure that vehicle operation, can under non-failure conditions first
Vehicle operation failure that may be present is ensured or excluded using prior art means, then implements the follow-up step of this control method again
Suddenly.
As shown in figure 3, in one embodiment of the invention, further comprising between the step S1 and S2：S15. root
According to the real-time parameter, judges that vehicle operation whether there is failure, then follow the steps S16 if there is failure, otherwise execute step
Rapid S2.The step S16 is to carry out troubleshooting, and step S2 is executed after the completion of processing.That is the control method of the present embodiment includes
Breakdown judge and processing procedure.
Signal interference in order to prevent further comprises before executing the step S16:S17. it is filtered smooth place
Reason executes step S6 after the completion of processing.Determining there are in the case of vehicle trouble, then carry out troubleshooting.
As shown in Figure 10, the step S16 further comprises：
S161. alerted and limited power operation；
S162. it is filtered smoothing processing, executes step S2.
Setting above-mentioned steps S162 is signal interference in order to prevent, the exit step S16 again after determining that failure has been excluded.
Specifically, as shown in figure 4, the step S2 includes：
S21. according to speed and pedal aperture, vehicle demand torque is obtained；
S22. according to vehicle demand torque and SOC, judge vehicle should locate operating mode.
According to the difference of vehicle running state, pedal aperture includes driving pedal aperture and brake pedal aperture, accordingly
Vehicle demand torque also includes driving and braking two kinds of situations.It is described should locate operating mode include parallel drive, it is power generation in parallel, pure
Engine driving, pure electric vehicle and braking mode.
Specifically, as shown in figure 5, the step S3 includes：
S31. it is calculated according to speed, SOC, battery maximum charge-discharge electric power, high-low pressure accessory power and cell potential
Motor peak value driving torque and motor peak value charge torque；
S32. the motor peak value driving torque and motor peak value charge torque are multiplied by each gear speed ratio respectively and transmission is imitated
Rate obtains the motor peak value driving torque under each gear at wheel and motor peak value charge torque.
If current operation mode is power generation, parallel drive and pure engine mode in parallel, clutch is closed state.
Specifically, as shown in fig. 6, the step S7 includes：
S71. according to speed, engine is minimum and maximum speed restrictive condition, calculate currently available gear, and according to each gear
The motor peak value driving torque at wheel and the motor peak value charge torque under position calculate each corresponding gear and meet vehicle
Engine and the motor output torque at wheel under the premise of demand torque；
S72. meet engine and motor under the premise of vehicle demand torque according to each corresponding gear and export torsion at wheel
Square obtains the corresponding fuel consumption rate of each gear engine working point；
S73. the corresponding fuel consumption rate of each gear engine working point is compared, the gear of fuel consumption rate minimum is set as
First object gear.
Specifically, as shown in fig. 7, the step S8 includes：
S81. according to the first object gear and current shift, the gear shift interval time of the two is calculated；
S82. according to the gear shift interval time of the first object gear, current shift and the two, judge whether to need to change
Gear.
Specifically, as shown in figure 8, the step S11 includes：
S111. according to speed, motor is minimum and maximum speed restrictive condition, calculate currently available gear, and according to each gear
The motor peak value driving torque at wheel and the motor peak value charge torque under position calculate each corresponding gear and meet vehicle
Motor under the premise of the demand torque output torque at wheel；
S112. meet motor output torque, acquisition at wheel under the premise of vehicle demand torque according to each corresponding gear
The corresponding working efficiency in each gear motor operating point；
S113. the corresponding working efficiency in each gear motor operating point is compared, the gear that work efficiency is high is set as the second mesh
Mark gear.
Specifically, as shown in figure 9, the step S12 includes：
S121. according to second target gear and current shift, the gear shift interval time of the two is calculated；
S122. according to the gear shift interval time of second target gear, current shift and the two, judge whether to need to change
Gear.
In the present embodiment, the step S9 and the step 13 are a dynamic shifting process, the step 9 and institute
It includes being turned round by drop, plucking gear, block selecting, speed governing, put into gear and shift gears with processes such as torque recoveries to state step 13.
The control method of the present invention is distributed by shift, engine and direct torque in a variety of possible gears and torque
In combination, engine can be made to work in minimum specific fuel consumption operating point as far as possible in real time.Moreover, the control method of the present invention
The input signal processing since executing the period is contained, to gear instruction, engine and motor target when executing period completion
The overall process that torque determines；Pattern change and the dynamic process of shift and the processing links of fault mode are considered simultaneously；
There is determining operating mode at each moment and corresponding executes action, it is ensured that controls the reliability of process.
The present invention also provides a kind of control devices of hybrid vehicle, as shown in figure 11, including：
Acquisition module 1, for obtaining real-time parameter, the real-time parameter includes current shift and current operation mode；
It should locate operating mode judgment module 2, under the premise of vehicle runs fault-free, being obtained according to the real-time parameter
Vehicle demand torque, judge current vehicle should locate operating mode；
First computing module 3, for according to the real-time parameter, calculating the motor peak value driving under each gear at wheel
Torque and motor peak value charge torque；
Operating mode switching judging module 4, for according to current operation mode and it is described should locate operating mode, judge whether
Switching working mode is wanted, handover module 5 is executed if switching, otherwise executes operating mode type judging module 6；
Handover module 5, for by current operation mode be switched to it is described should locate operating mode, execute operating mode type and sentence
Disconnected module 6；For
Operating mode type judging module 6, judges whether current operation mode is in parallel power generation, parallel drive or pure starts
Machine pattern if it is executes first object gear acquisition module 7, otherwise executes the second target gear acquisition module 11；
First object gear acquisition module 7, for according to the real-time parameter, calculating currently available gear, and according to each
The motor peak value driving torque at wheel and the motor peak value charge torque under gear calculate each corresponding gear and meet
Engine and motor under the premise of vehicle the demand torque output torque at wheel, it is corresponding to compare each gear engine working point
The gear of fuel consumption rate minimum is set as first object gear by fuel consumption rate；
First shift judgment module 8, when being used for the gear shift interval according to the first object gear, current shift and the two
Between, judge whether to need to shift gears, if it is execute the first shift module 9, otherwise executes the first steady-state module 10；
First shift module 9, for shifting gears, and output engine and the instruction of motor target torque, execute acquisition module 1；
First steady-state module 10, it is defeated for corresponding to torque according to the vehicle demand torque and engine optimal economic line
Go out engine and motor target torque, executes acquisition module 1；
Second target gear acquisition module 11, for according to the real-time parameter, calculating currently available gear, and according to each
The motor peak value driving torque at wheel and the motor peak value charge torque, calculate corresponding gear and meet institute under gear
The output torque at wheel of the motor under the premise of vehicle demand torque is stated, the corresponding work effect in each gear motor operating point is compared
The gear that work efficiency is high is set as the second target gear by rate；
Second shift judgment module 12, for the gear shift interval according to second target gear, current shift and the two
Time judges whether to need to shift gears, and if it is executes the second shift module 13, otherwise executes the second steady-state module 14；
Second shift module 13, for shifting gears, and output motor target torque instructs, and executes acquisition module 1；
Second steady-state module 14 is used for output engine and motor target torque, executes acquisition module 1.
The control device of the hybrid vehicle further comprises breakdown judge module 15, for according to the real-time ginseng
Number judges that vehicle operation whether there is failure, fault processing module 16 is then executed if there is failure, and work should be located by otherwise executing
Mode deciding module 2；For carrying out troubleshooting, operating mode should be located by being executed after the completion of processing sentences the fault processing module 16
Disconnected module 2.
The control device of the hybrid vehicle further comprises filtering processing module 17, flat for being filtered
Sliding processing executes fault processing module 16 after the completion of processing.
Specifically, the fault processing module 16 includes：
Warning and limit power modules 161, for being alerted and being limited power operation；
Filtering handles submodule 162, and for being filtered smoothing processing, operating mode should be located by being executed after the completion of processing
Judgment module 2.
In the present embodiment, the current operation mode in the acquisition module 1 should locate Working mould for a upper period
Formula.The real-time parameter in the acquisition module 1 further comprises that diagnostic signal, speed, SOC, pedal aperture, battery are maximum
Charge-discharge electric power, high-low pressure accessory power, cell potential, engine be minimum and maximum speed restrictive condition and motor it is minimum and
Maximum speed restrictive condition.
Specifically, the operating mode judgment module 2 that should locate includes：
Vehicle demand torque acquisition submodule 21, for according to speed and pedal aperture, obtaining vehicle demand torque；
It should locate operating mode judging submodule 22, for according to vehicle demand torque and SOC, judge vehicle should to locate work
Pattern.
Wherein, the operating mode that should locate that should locate in operating mode judgment module 2 includes parallel drive, power generation in parallel, pure hair
Motivation driving, pure electric vehicle and braking mode.
Specifically, first computing module 3 includes：
Motor peak value driving/charge torque acquisition submodule 31, for according to speed, SOC, battery maximum charge and discharge electric work
Motor peak value driving torque and motor peak value charge torque is calculated in rate, high-low pressure accessory power and cell potential；
Under each gear at wheel motor peak value driving/charge torque acquisition submodule 32, for by the motor peak value
Driving torque and motor peak value charge torque are multiplied by each gear speed ratio and transmission efficiency respectively, obtain the electricity at wheel under each gear
Machine peak value driving torque and motor peak value charge torque.
Specifically, the first object gear acquisition module 7 includes：
Engine and motor the output torque acquisition submodule 71 at wheel, for according to speed, engine it is minimum and most
High rotating speed restrictive condition calculates currently available gear, and according to the motor peak value driving torque under each gear at wheel
With the motor peak value charge torque, calculates each corresponding gear and meet engine under the premise of vehicle demand torque and motor in vehicle
Output torque at wheel；
Each gear engine working point fuel consumption rate acquisition submodule 72, for meeting vehicle need according to each corresponding gear
Engine and the motor output torque at wheel under the premise of torque are sought, the corresponding fuel oil of each gear engine working point is obtained and disappears
Consumption rate；
First object gear acquisition submodule 73, for comparing the corresponding fuel consumption rate of each gear engine working point,
The gear of fuel consumption rate minimum is set as first object gear.
Specifically, the first shift judgment module 8 includes：
First gear shift interval time acquisition submodule 81, for according to the first object gear and current shift, calculating
The gear shift interval time of the two；
First shift judging submodule 82, for according between the first object gear, current shift and the shift of the two
Every the time, judge whether to need to shift gears.
Specifically, the second target gear acquisition module 11 includes：
Motor output torque acquisition submodule 111 at wheel is used for according to speed, motor is minimum and maximum speed limits
Condition, calculates currently available gear, and according under each gear at wheel the motor peak value driving torque and the motor
Peak value charge torque calculates each corresponding gear and meets motor under the premise of the vehicle demand torque output torque at wheel；
Each gear motor operating point working efficiency acquisition submodule 112, for meeting vehicle demand according to each corresponding gear
Motor under the premise of the torque output torque at wheel, obtains the corresponding working efficiency in each gear motor operating point；
Second target gear acquisition submodule 113, for comparing the corresponding working efficiency in each gear motor operating point, by work
Make efficient gear and is set as the second target gear.
Specifically, the second shift judgment module 12 includes：
Second gear shift interval time acquisition submodule 121, for according to second target gear and current shift, calculating
The gear shift interval time of the two；
Second shift judging submodule 122, for according between second target gear, current shift and the shift of the two
Every the time, judge whether to need to shift gears.
In the present embodiment, first shift module 9 and second shift module 13 include by drop turn round, pluck gear,
Block selecting, speed governing put into gear and shift gears with processes such as torque recoveries.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes still within the protection scope of the invention.
Claims (28)
1. a kind of control method of hybrid vehicle, which is characterized in that including：
S1. real-time parameter is obtained, the real-time parameter includes current shift and current operation mode；
S2. under the premise of vehicle runs fault-free, vehicle demand torque is obtained according to the real-time parameter, judges current vehicle
It should locate operating mode；
S3. according to the real-time parameter, the motor peak value driving torque under each gear at wheel and the charging of motor peak value are calculated
Torque；
S4. according to current operation mode and it is described should locate operating mode, determine whether to switching working mode, if switching if hold
Row step S5, it is no to then follow the steps S6；
S5. by current operation mode be switched to it is described should locate operating mode, execute step S6；
S6. judge whether current operation mode is in parallel power generation, parallel drive or pure engine mode, if it is thening follow the steps
S7, it is no to then follow the steps S11；
S7. according to the real-time parameter, currently available gear is calculated, and according to the motor peak value under each gear at wheel
Driving torque and the motor peak value charge torque, calculate each corresponding gear meet engine under the premise of vehicle demand torque and
Motor output torque at wheel compares the corresponding fuel consumption rate of each gear engine working point, by fuel consumption rate minimum
Gear be set as first object gear；
S8. according to the gear shift interval time of the first object gear, current shift and the two, judge whether to need to shift gears, such as
Fruit is to then follow the steps S9, no to then follow the steps S10；
S9. it shifts gears, and output engine and the instruction of motor target torque, executes step S1；
S10. torque is corresponded to according to the vehicle demand torque and engine optimal economic line, output engine and motor target are turned round
Square executes step S1；
S11. according to the real-time parameter, currently available gear is calculated, and according to the motor peak under each gear at wheel
It is worth driving torque and the motor peak value charge torque, calculates corresponding gear and meet motor under the premise of the vehicle demand torque
The output torque at wheel compares the corresponding working efficiency in each gear motor operating point, and the gear that work efficiency is high is set as
Two target gears；
S12. according to the gear shift interval time of second target gear, current shift and the two, judge whether to need to shift gears, such as
Fruit is to then follow the steps S13, no to then follow the steps S14；
S13. it shifts gears, and output motor target torque instructs, executes step S1；
S14. output engine and motor target torque execute step S1.
2. control method according to claim 1, which is characterized in that further comprise between the step S1 and S2：
S15. according to the real-time parameter, judge that vehicle operation whether there is failure, then follow the steps S16 if there is failure, otherwise
Execute step S2；
The step S16 is to carry out troubleshooting, and step S2 is executed after the completion of processing.
3. control method according to claim 2, which is characterized in that further comprise before executing the step S16:
S17. it is filtered smoothing processing, step S16 is executed after the completion of processing.
4. control method according to claim 2, which is characterized in that the step S16 further comprises：
S161. alerted and limited power operation；
S162. it is filtered smoothing processing, step S2 is executed, step S2 is executed after the completion of processing.
5. control method according to claim 1, which is characterized in that the current operation mode in the step S1 is
A upper period should locate operating mode.
6. according to any control methods of claim 1-5, which is characterized in that the real-time parameter in the step S1
Further comprise diagnostic signal, speed, SOC, pedal aperture, battery maximum charge-discharge electric power, high-low pressure accessory power, battery energy
Power, engine be minimum and maximum speed restrictive condition and motor is minimum and maximum speed restrictive condition.
7. control method according to claim 6, which is characterized in that the step S2 includes：
S21. according to speed and pedal aperture, vehicle demand torque is obtained；
S22. according to vehicle demand torque and SOC, judge vehicle should locate operating mode.
8. control method according to claim 7, which is characterized in that the operating mode that should locate includes parallel drive, simultaneously
Join power generation, pure engine driving, pure electric vehicle and braking mode.
9. control method according to claim 6, which is characterized in that the step S3 includes：
S31. motor is calculated according to speed, SOC, battery maximum charge-discharge electric power, high-low pressure accessory power and cell potential
Peak value driving torque and motor peak value charge torque；
S32. the motor peak value driving torque and motor peak value charge torque are multiplied by each gear speed ratio and transmission efficiency respectively, obtained
Motor peak value driving torque under to each gear at wheel and motor peak value charge torque.
10. control method according to claim 6, which is characterized in that the step S7 includes：
S71. according to speed, engine is minimum and maximum speed restrictive condition, calculate currently available gear, and according under each gear
The motor peak value driving torque at wheel and the motor peak value charge torque calculate each corresponding gear and meet vehicle need
Seek engine and the motor output torque at wheel under the premise of torque；
S72. meet engine and the motor output torque at wheel under the premise of vehicle demand torque according to each corresponding gear, obtain
Obtain the corresponding fuel consumption rate of each gear engine working point；
S73. the corresponding fuel consumption rate of each gear engine working point is compared, the gear of fuel consumption rate minimum is set as first
Target gear.
11. according to any control methods of claim 1-5, which is characterized in that the step S8 includes：
S81. according to the first object gear and current shift, the gear shift interval time of the two is calculated；
S82. according to the gear shift interval time of the first object gear, current shift and the two, judge whether to need to shift gears.
12. control method according to claim 6, which is characterized in that the step S11 includes：
S111. according to speed, motor is minimum and maximum speed restrictive condition, calculate currently available gear, and according under each gear
The motor peak value driving torque at wheel and the motor peak value charge torque calculate each corresponding gear and meet vehicle need
Seek the output torque at wheel of the motor under the premise of torque；
S112. meet the output torque at wheel of the motor under the premise of vehicle demand torque according to each corresponding gear, obtain each gear
The corresponding working efficiency in position motor operating point；
S113. the corresponding working efficiency in each gear motor operating point is compared, the gear that work efficiency is high is set as the second targeted gear
Position.
13. control method according to claim 6, which is characterized in that the step S12 includes：
S121. according to second target gear and current shift, the gear shift interval time of the two is calculated；
S122. according to the gear shift interval time of second target gear, current shift and the two, judge whether to need to shift gears.
14. according to any control methods of claim 1-5, which is characterized in that the step S9 and the step S13 are equal
Including gear is turned round, plucked by drop, block selecting, speed governing, puts into gear and shifts gears with torque recovery.
15. a kind of control device of hybrid vehicle, which is characterized in that including：
Acquisition module (1), for obtaining real-time parameter, the real-time parameter includes current shift and current operation mode；
It should locate operating mode judgment module (2), under the premise of vehicle runs fault-free, vehicle to be obtained according to the real-time parameter
Demand torque, judge current vehicle should locate operating mode；
First computing module (3) is turned round for according to the real-time parameter, calculating the motor peak value driving under each gear at wheel
Square and motor peak value charge torque；
Operating mode switching judging module (4), for according to current operation mode and it is described should locate operating mode, determine whether to
Switching working mode executes handover module (5) if switching, otherwise executes operating mode type judging module (6)；
Handover module (5), for by current operation mode be switched to it is described should locate operating mode, execute operating mode type and judge
Module (6)；
Operating mode type judging module (6) judges whether current operation mode is power generation, parallel drive or pure engine in parallel
Pattern if it is executes first object gear acquisition module (7), otherwise executes the second target gear acquisition module (11)；
First object gear acquisition module (7), for according to the real-time parameter, calculating currently available gear, and according to each gear
The motor peak value driving torque at wheel and the motor peak value charge torque under position calculate each corresponding gear and meet vehicle
Engine and the motor output torque at wheel under the premise of demand torque, compares the corresponding combustion of each gear engine working point
The gear of fuel consumption rate minimum is set as first object gear by specific oil consumption；
First shift judgment module (8), when being used for the gear shift interval according to the first object gear, current shift and the two
Between, judge whether to need to shift gears, if it is execute the first shift module (9), otherwise executes the first steady-state module (10)；
First shift module (9), for shifting gears, and output engine and the instruction of motor target torque, the control device execute
Acquisition module (1)；
First steady-state module (10) is exported for corresponding to torque according to the vehicle demand torque and engine optimal economic line
Engine and motor target torque, the control device execute acquisition module (1)；
Second target gear acquisition module (11), for according to the real-time parameter, calculating currently available gear, and according to each gear
The motor peak value driving torque at wheel and the motor peak value charge torque under position calculate described in corresponding gear satisfaction
Motor under the premise of the vehicle demand torque output torque at wheel, compares the corresponding working efficiency in each gear motor operating point,
The gear that work efficiency is high is set as the second target gear；
Second shift judgment module (12), when being used for the gear shift interval according to second target gear, current shift and the two
Between, judge whether to need to shift gears, if it is execute the second shift module (13), otherwise executes the second steady-state module (14)；
Second shift module (13), for shifting gears, and output motor target torque instructs, and the control device executes acquisition module
(1)；
Second steady-state module (14), is used for output engine and motor target torque, and the control device executes acquisition module
(1)。
16. control device according to claim 15, which is characterized in that further comprise breakdown judge module (15), use
According to the real-time parameter, judges that vehicle operation whether there is failure, fault processing module is then executed if there is failure
(16), operating mode judgment module (2) should be located by otherwise executing；
For the fault processing module (16) for carrying out troubleshooting, operating mode judgment module should be located by being executed after the completion of processing
(2)。
17. control device according to claim 16, which is characterized in that further comprise filtering processing module
(17), for being filtered smoothing processing, fault processing module (16) is executed after the completion of processing.
18. control device according to claim 16, which is characterized in that the fault processing module (16) includes：
Warning and limit power modules (161), for being alerted and being limited power operation；
Filtering handles submodule (162), and for being filtered smoothing processing, operating mode should be located by, which being executed after the completion of processing, sentences
Disconnected module (2).
19. control device according to claim 15, which is characterized in that the current work in the acquisition module (1)
Operation mode should locate operating mode for a upper period.
20. according to any control devices of claim 15-19, which is characterized in that described in the acquisition module (1)
Real-time parameter further comprises diagnostic signal, speed, SOC, pedal aperture, battery maximum charge-discharge electric power, high-low pressure attachment work(
Rate, cell potential, engine be minimum and maximum speed restrictive condition and motor is minimum and maximum speed restrictive condition.
21. control device according to claim 20, which is characterized in that described to locate operating mode judgment module (2) packet
It includes：
Vehicle demand torque acquisition submodule (21), for according to speed and pedal aperture, obtaining vehicle demand torque；
It should locate operating mode judging submodule (22), for according to vehicle demand torque and SOC, judge vehicle should to locate Working mould
Formula.
22. control device according to claim 21, which is characterized in that it is described should locate operating mode include parallel drive,
Parallel connection power generation, pure engine driving, pure electric vehicle and braking mode.
23. control device according to claim 20, which is characterized in that first computing module (3) includes：
Motor peak value driving/charge torque acquisition submodule (31), for according to speed, SOC, battery maximum charge-discharge electric power,
Motor peak value driving torque and motor peak value charge torque is calculated in high-low pressure accessory power and cell potential；
Under each gear at wheel motor peak value driving/charge torque acquisition submodule (32), for by the motor peak value drive
Dynamic torque and motor peak value charge torque are multiplied by each gear speed ratio and transmission efficiency respectively, obtain the motor at wheel under each gear
Peak value driving torque and motor peak value charge torque.
24. control device according to claim 20, which is characterized in that first object gear acquisition module (7) packet
It includes：
Engine and motor output torque acquisition submodule (71) at wheel, for according to speed, engine is minimum and highest
Rotating speed restrictive condition, calculates currently available gear, and according under each gear at wheel the motor peak value driving torque and
The motor peak value charge torque calculates each corresponding gear and meets engine under the premise of vehicle demand torque and motor in wheel
Locate output torque；
Each gear engine working point fuel consumption rate acquisition submodule (72), for meeting vehicle demand according to each corresponding gear
Engine and motor under the premise of the torque output torque at wheel, obtain the corresponding fuel consumption of each gear engine working point
Rate；
First object gear acquisition submodule (73) will for comparing the corresponding fuel consumption rate of each gear engine working point
The gear of fuel consumption rate minimum is set as first object gear.
25. according to any control devices of claim 15-19, which is characterized in that the first shift judgment module (8)
Including：
First gear shift interval time acquisition submodule (81), for according to the first object gear and current shift, calculating two
The gear shift interval time of person；
First shift judging submodule (82), for the gear shift interval according to the first object gear, current shift and the two
Time judges whether to need to shift gears.
26. control device according to claim 20, which is characterized in that the second target gear acquisition module (11) packet
It includes：
Motor output torque acquisition submodule (111) at wheel are used for according to speed, motor is minimum and maximum speed limits item
Part, calculates currently available gear, and according under each gear at wheel the motor peak value driving torque and the motor peak
It is worth charge torque, calculates each corresponding gear and meet motor under the premise of the vehicle demand torque output torque at wheel；
Each gear motor operating point working efficiency acquisition submodule (112) is turned round for meeting vehicle demand according to each corresponding gear
Motor under the premise of the square output torque at wheel, obtains the corresponding working efficiency in each gear motor operating point；
Second target gear acquisition submodule (113), for comparing the corresponding working efficiency in each gear motor operating point, by work
Efficient gear is set as the second target gear.
27. control device according to claim 20, which is characterized in that it is described second shift judgment module (12) include：
Second gear shift interval time acquisition submodule (121), for according to second target gear and current shift, calculating two
The gear shift interval time of person；
Second shift judging submodule (122), for the gear shift interval according to second target gear, current shift and the two
Time judges whether to need to shift gears.
28. according to any control devices of claim 15-19, which is characterized in that first shift module (9) and institute
It includes being turned round by drop, plucking gear, block selecting, speed governing, put into gear and shift gears with torque recovery to state the second shift module (13).
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| JP2010116108A (en) * | 2008-11-14 | 2010-05-27 | Toyota Motor Corp | Controller of vehicle power transmission |
| CN102371998A (en) * | 2010-08-24 | 2012-03-14 | 北汽福田汽车股份有限公司 | Distribution and control method for gears and torques of parallel hybrid vehicle |
| CN102616239A (en) * | 2012-04-11 | 2012-08-01 | 清华大学 | Dynamic coordinated control method for gear-shifting process of hybrid electrical vehicle |
| CN104002802A (en) * | 2014-05-22 | 2014-08-27 | 合肥工业大学 | Energy management and control method and device for plug-in four-wheel drive hybrid car |
| CN104139778A (en) * | 2014-06-26 | 2014-11-12 | 武汉理工大学 | Hybrid power automobile work mode control method |
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| JP2010116108A (en) * | 2008-11-14 | 2010-05-27 | Toyota Motor Corp | Controller of vehicle power transmission |
| CN102371998A (en) * | 2010-08-24 | 2012-03-14 | 北汽福田汽车股份有限公司 | Distribution and control method for gears and torques of parallel hybrid vehicle |
| CN102616239A (en) * | 2012-04-11 | 2012-08-01 | 清华大学 | Dynamic coordinated control method for gear-shifting process of hybrid electrical vehicle |
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