CN106696950A - Torque control structure of hybrid vehicle and control system - Google Patents
Torque control structure of hybrid vehicle and control system Download PDFInfo
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- CN106696950A CN106696950A CN201510435734.7A CN201510435734A CN106696950A CN 106696950 A CN106696950 A CN 106696950A CN 201510435734 A CN201510435734 A CN 201510435734A CN 106696950 A CN106696950 A CN 106696950A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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Abstract
The present invention discloses a torque control structure of a hybrid vehicle and a control system of the hybrid vehicle provided with the torque control structure. The torque control structure of the hybrid vehicle executes the following steps of detecting the opening degree of an accelerator pedal of the hybrid vehicle and the speed of the hybrid vehicle; controlling the hybrid vehicle to enter the corresponding operation mode according to the opening degree of the accelerator pedal, the speed of the hybrid vehicle and the mode command inputted by a driver; and determining torques of an engine, a first motor and a second motor according to the current operation mode of the hybrid vehicle, and correcting the determined torques according to the active slip prevention strategy and the handling stability strategy, to output target torques. By applying the control structure, the output torques of the engine and the motors meet the operational requirements of the hybrid vehicle under the condition of meeting demand modes of drivers.
Description
Technical field
The present invention relates to Development of HEV Technology field, the moment of torsion control framework of more particularly to a kind of hybrid vehicle and
A kind of control system of hybrid vehicle.
Background technology
In correlation technique, the moment of torsion framework of hybrid vehicle considers not comprehensively, to only give moment of torsion distribution under normal circumstances
Method, also, this kind of moment of torsion distribution method lacks the consideration to the demand model of driver, and it is not comprehensive enough.Accordingly, it would be desirable to
Torque control strategy to hybrid vehicle is improved.
The content of the invention
It is contemplated that at least solving one of technical problem in correlation technique to a certain extent.Therefore, one of the invention
Purpose is the moment of torsion control framework for proposing a kind of hybrid vehicle, can in the case of the demand model for meeting driver,
So that the output torque of engine and motor meets the service requirement of hybrid vehicle.
It is another object of the present invention to propose a kind of control system of hybrid vehicle.
To reach above-mentioned purpose, one aspect of the present invention embodiment proposes a kind of moment of torsion control framework of hybrid vehicle, institute
Stating the dynamical system of hybrid vehicle includes engine, the first motor and the second motor, the moment of torsion control framework perform with
Lower step：Detect the aperture of the accelerator pedal of the hybrid vehicle and the speed of the hybrid vehicle；According to described
The aperture of accelerator pedal, the speed of the hybrid vehicle and receive driver's input mode instruction control it is described mixed
Close power vehicle and enter corresponding mode of operation, wherein, the mode of operation includes 4 wheel driven pattern, motor pattern, economic mould
Formula, electric-only mode and braking mode；When the hybrid vehicle is in the 4 wheel driven pattern, motor pattern, economic mould
During any operative pattern in formula, electric-only mode and braking mode, according to the current operation mode of the hybrid vehicle
Determine the moment of torsion of the engine, the first motor and the second motor, and according to actively anti-skidding strategy and control stability strategy pair
The moment of torsion of the engine of determination, the first motor and the second motor is modified to export the engine, the first motor and second
The target torque of motor.
The moment of torsion control framework of hybrid vehicle according to embodiments of the present invention, detects that the acceleration of hybrid vehicle is stepped on first
The aperture of plate and the speed of hybrid vehicle, aperture then according to accelerator pedal, the speed of hybrid vehicle and connect
The mode instruction control hybrid vehicle for receiving driver's input enters corresponding mode of operation, such as 4 wheel driven pattern, motion mould
Formula, economic model, electric-only mode and braking mode, when hybrid vehicle is in 4 wheel driven pattern, motor pattern, economy
During any operative pattern in pattern, electric-only mode and braking mode, the current operation mode according to hybrid vehicle is true
Determine the moment of torsion of engine, the first motor and the second motor, and determined according to actively anti-skidding strategy and control stability strategy pair
The moment of torsion of engine, the first motor and the second motor is modified with the target of output engine, the first motor and the second motor
Moment of torsion, so as in the case of the demand model for meeting driver so that it is dynamic that the output torque of engine and motor meets mixing
The service requirement of power automobile, also, by actively anti-skidding strategy and control stability strategy to engine, the first motor and the
The moment of torsion of two motors is modified, and is trackslipped or whipping with preventing hybrid vehicle from occurring, and improves the safety of hybrid vehicle
Property.
According to one embodiment of present invention, when the aperture of the accelerator pedal presets aperture and the pattern for receiving more than first
Instruct for automatic mode instruct when, or when the aperture of the accelerator pedal is more than the second default aperture and pre- less than or equal to first
If the mode instruction that the aperture rate of change of aperture, the accelerator pedal is more than the first preset value and receives is automatic mode instructing
When, or when the mode instruction for receiving is 4 wheel driven mode instruction, control the hybrid vehicle to enter the 4 wheel driven mould
Formula；When the aperture of the accelerator pedal presets aperture and the pattern for receiving more than the second default aperture and less than or equal to first
Instruct for automatic mode instruct when, or when the aperture of the accelerator pedal is more than the 3rd default aperture and pre- less than or equal to second
If the aperture rate of change of aperture, the accelerator pedal and more than the second preset value and less than or equal to the first preset value receive
Mode instruction for automatic mode instruct when, or when the mode instruction for receiving is instructed for motor pattern, control the mixing
Power vehicle enters the motor pattern；When the aperture of the accelerator pedal is more than the 3rd default aperture and pre- less than or equal to second
If aperture, the speed of the hybrid vehicle are more than the first preset vehicle speed and the mode instruction that receives for automatic mode refers to
When making, or when the mode instruction for receiving is instructed for economic model, the hybrid vehicle is controlled to enter the economy
Pattern；When the aperture of the accelerator pedal is more than 0 and less than or equal to the 3rd default aperture, the speed of the hybrid vehicle
Less than or equal to the first preset vehicle speed and the mode instruction that receives for automatic mode instruct when, or when the pattern that receive refers to
Make for electric-only mode instruct when, control the hybrid vehicle to enter the electric-only mode；When the accelerator pedal
Aperture be the 0, hybrid vehicle speed is more than the first preset vehicle speed and the mode instruction that receives is automatic mode
During instruction, or when opening amount signal of the mode instruction for receiving for brake pedal, the hybrid vehicle is controlled to enter
The braking mode.
In some embodiments of the invention, it is described to start according to the current operation mode of the hybrid vehicle determines
The moment of torsion of machine, the first motor and the second motor, specifically includes：When the current operation mode of the hybrid vehicle is described
During 4 wheel driven pattern, the antero posterior axis moment of torsion to the hybrid vehicle is allocated, and calculates the moment of torsion of the engine, institute
State the moment of torsion of the first motor and the moment of torsion of second motor；When the current operation mode of the hybrid vehicle is the fortune
During dynamic model formula, the moment of torsion of moment of torsion and first motor to the engine is allocated；When the hybrid vehicle
When current operation mode is the economic model, the engine is controlled to run on optimal fuel economy curve, and determine institute
Engine is stated to be distributed with the moment of torsion of second motor with the moment of torsion distribution of first motor or the engine；When described mixed
When the current operation mode for closing power vehicle is the electric-only mode, the moment of torsion of second motor is determined；When the mixing
When the current operation mode of power vehicle is the braking mode, antero posterior axis braking torque according to the hybrid vehicle
The ratio of distribution and regenerative braking and mechanical braking calculates the feedback moment of torsion of second motor.
According to one embodiment of present invention, engine, the first motor and second for being determined according to the anti-skidding strategy pair of the active
The moment of torsion of motor is modified, and specifically includes：Speed according to the hybrid vehicle obtains speed variation tendency；Obtain
The slip rate of the hybrid vehicle；Slip rate according to the speed variation tendency and the hybrid vehicle is to described
The antero posterior axis moment of torsion of hybrid vehicle is modified.
According to another embodiment of the invention, according to the control stability strategy pair determine engine, the first motor and
The moment of torsion of the second motor is modified, and specifically includes：Obtain the steering angle of the hybrid vehicle；According to the steering angle
The reared torque of the hybrid vehicle is modified with the speed of the hybrid vehicle.
According to one embodiment of present invention, when the hybrid vehicle receives shifting commands, judge that the mixing is dynamic
Power automobile is in dynamic shifting process, and exchanges moment of torsion, the moment of torsion of the first motor and second electricity of the engine of gear start time
The moment of torsion of machine carries out dropping target torque of the moment of torsion treatment to export the engine, the first motor and the second motor.
According to one embodiment of present invention, when the hybrid vehicle is in fault mode, wherein, if received
Shifting commands, then the moment of torsion of moment of torsion, the moment of torsion of the first motor and the second motor of the engine according to gearshift start time carry out
Limited torque processes to export the target torque of the engine, the first motor and the second motor；If not receiving shifting commands,
The moment of torsion of the engine before then being broken down to hybrid vehicle according to fault level, the moment of torsion of the first motor and the second motor
Moment of torsion limited torque treatment is carried out to export the target torque of the engine, the first motor and the second motor.
According to one embodiment of present invention, when the hybrid vehicle trackslips or during whipping, according to initial time
The moment of torsion of the moment of torsion of engine, the moment of torsion of the first motor and the second motor adjust the antero posterior axis moment of torsion of the hybrid vehicle with
Export the target torque of the engine, the first motor and the second motor.
Additionally, embodiments of the invention also proposed a kind of control system of hybrid vehicle, it includes that above-mentioned mixing is moved
The moment of torsion control framework of power automobile.
The moment of torsion control framework that the control system of the hybrid vehicle passes through above-mentioned hybrid vehicle, can drive in satisfaction
In the case of the demand model of the person of sailing so that the output torque of engine and motor meets hybrid vehicle normal mode and moves
State gearshift, fault mode and it is passive trackslip or the special operation condition such as whipping under service requirement, improve hybrid vehicle
Security.
Brief description of the drawings
Fig. 1 is the implementation procedure figure of the moment of torsion control framework of hybrid vehicle according to embodiments of the present invention.
Fig. 2 is the structural representation of the dynamical system of four-drive hybrid electric vehicle according to an embodiment of the invention.
Fig. 3 is the schematic diagram of the mode of operation of determination hybrid vehicle according to an embodiment of the invention.
Fig. 4 is the schematic diagram of the moment of torsion control framework of hybrid vehicle according to an embodiment of the invention.
Fig. 5 is the schematic diagram of the moment of torsion control framework of hybrid vehicle in accordance with another embodiment of the present invention.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein identical from start to finish
Or similar label represents same or similar element or the element with same or like function.Retouched below with reference to accompanying drawing
The embodiment stated is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
Moment of torsion control framework and mixing with reference to the accompanying drawings to describe the hybrid vehicle of embodiment of the present invention proposition is dynamic
The control system of power automobile.
Fig. 1 is the flow chart of the moment of torsion control framework of hybrid vehicle according to embodiments of the present invention, wherein, hybrid power
The dynamical system of automobile includes engine, the first motor and the second motor.
Specifically, in the four-drive hybrid electric vehicle shown in Fig. 2, the dynamical system of hybrid vehicle is including preceding
Part and rear-guard part are driven, wherein, predecessor portions mainly include engine, the first motor such as BSG (Belt-driven
Starter/Generator, belt transmission startup/generating integrated motor), automatic transmission assembly and first poor
Fast device；Rear-guard part mainly include the second motor, single reduction gear (including first gear ZR1 and second gear ZR2) with
And second differential mechanism, the moment of torsion of the second motor is transferred to two trailing wheels respectively by single reduction gear and the second differential mechanism.
As shown in figure 1, the moment of torsion control framework of hybrid vehicle performs following steps：
S1, detects the aperture and the speed of hybrid vehicle of the accelerator pedal of hybrid vehicle.
S2, the speed of aperture, hybrid vehicle according to accelerator pedal and receive driver input mode instruction control
Hybrid vehicle processed enters corresponding mode of operation, wherein, mode of operation includes 4 wheel driven pattern, motor pattern, economic mould
Formula, electric-only mode and braking mode.
According to one embodiment of present invention, when the aperture of accelerator pedal presets aperture and the mode instruction for receiving more than first
When being instructed for automatic mode, or when accelerator pedal aperture more than the second default aperture and less than or equal to the first default aperture,
The aperture rate of change of accelerator pedal more than the first preset value and the mode instruction that receives for automatic mode instruct when, or ought connect
When the mode instruction for receiving is 4 wheel driven mode instruction, control hybrid vehicle enters 4 wheel driven pattern；When the aperture of accelerator pedal
More than the second default aperture and less than or equal to the first default aperture and the mode instruction that receives for automatic mode instruct when, or
Person is when the aperture of accelerator pedal is more than the 3rd default aperture and less than or equal to the second default aperture, the aperture rate of change of accelerator pedal
More than the second preset value and less than or equal to the first preset value and the mode instruction that receives for automatic mode instruct when, or work as
The mode instruction for receiving for motor pattern instruct when, control hybrid vehicle enter motor pattern；When opening for accelerator pedal
Degree more than the 3rd default aperture and less than or equal to the second default aperture, the speed of hybrid vehicle more than the first preset vehicle speed,
And the mode instruction for receiving for automatic mode instruct when, or when the mode instruction for receiving is instructed for economic model, control
Hybrid vehicle processed enters economic model；When the aperture of accelerator pedal is more than 0 and less than or equal to the 3rd default aperture, mixing
The speed of power vehicle less than or equal to the first preset vehicle speed and the mode instruction that receives for automatic mode instruct when, or ought
The mode instruction for receiving for electric-only mode instruct when, control hybrid vehicle enter electric-only mode；Work as accelerator pedal
Aperture be 0, hybrid vehicle speed more than the first preset vehicle speed and the mode instruction that receives for automatic mode refers to
When making, or when opening amount signal of the mode instruction for receiving for brake pedal, control hybrid vehicle enters braking mould
Formula.Wherein, the first default aperture, the second default aperture, the 3rd default aperture, the first preset value, the second preset value, the
One preset vehicle speed can be demarcated according to actual conditions.
It should be noted that working as according to the aperture of accelerator pedal and the speed of hybrid vehicle to automatically control hybrid power vapour
When car enters electric-only mode, the electricity of the electrokinetic cell for also needing to judge hybrid vehicle judges that whether electrokinetic cell can
Enough electricity are enough provided to drive hybrid vehicle, when the electricity of electrokinetic cell drives hybrid vehicle enough, then
Control hybrid vehicle enters electric-only mode.
A specific example of the invention, as shown in figure 3, during hybrid electric vehicle is sailed, real-time detection
The aperture of accelerator pedal and the speed of hybrid vehicle, and aperture rate of change is obtained according to the aperture of the accelerator pedal of detection,
Then aperture according to accelerator pedal, aperture rate of change, the speed of hybrid vehicle, pattern load button and braking are stepped on
The aperture of plate controls the mode of operation of hybrid vehicle.
Specifically, when driver is manually pressed by such as Auto (automatic) button on control panel, will be according to accelerator pedal
Aperture, aperture rate of change and hybrid vehicle speed automatic identification driver intention, and according to identification driving
The intention of member automatically controls hybrid vehicle into corresponding mode of operation, such as 4 wheel driven pattern, motor pattern, economic model,
Electric-only mode and braking mode.
And work as driver and be manually pressed by pattern load button such as 4WD (4Wheel Drive, four-wheel drive) button, SPORT
(motion) button, ECO (Ecology Conservation Optimization, economical and energy saving is optimized) button, ZEV
(when Zero-Emission Vehicle, any one pattern load button in pure power button, will directly control mixing dynamic
Power automobile enters corresponding mode of operation.In addition, when the opening amount signal of brake pedal is received, hybrid power vapour will be controlled
Car enters braking mode.
S3, in hybrid vehicle is in 4 wheel driven pattern, motor pattern, economic model, electric-only mode and braking mode
Any operative pattern when, the current operation mode according to hybrid vehicle determines engine, the first motor and the second motor
Moment of torsion, and according to the engine, the first motor and the second motor that actively anti-skidding strategy and control stability strategy pair determine
Moment of torsion is modified with the target torque of output engine, the first motor and the second motor.
In some embodiments of the invention, the current operation mode according to hybrid vehicle determines engine, the first motor
With the moment of torsion of the second motor, specifically include：It is dynamic to mixing when the current operation mode of hybrid vehicle is 4 wheel driven pattern
The antero posterior axis moment of torsion of power automobile is allocated, and calculates the moment of torsion of the moment of torsion of engine, the moment of torsion of the first motor and the second motor；
When the current operation mode of hybrid vehicle is motor pattern, the moment of torsion of moment of torsion and the first motor to engine is divided
Match somebody with somebody；When the current operation mode of hybrid vehicle is economic model, it is bent that control engine runs on optimal fuel economy
Line, and determine the moment of torsion distribution or the moment of torsion distribution of engine and the second motor of engine and the first motor；When hybrid power vapour
When the current operation mode of car is electric-only mode, the moment of torsion of the second motor is determined；When the work at present mould of hybrid vehicle
When formula is braking mode, the distribution of the antero posterior axis braking torque according to hybrid vehicle and regenerative braking and mechanical braking
Ratio calculates the feedback moment of torsion of the second motor.
According to one embodiment of present invention, according to engine, the first motor and the second motor that actively anti-skidding strategy pair determines
Moment of torsion be modified, specifically include：Speed according to hybrid vehicle obtains speed variation tendency；Obtain hybrid power
The slip rate of automobile；The antero posterior axis moment of torsion of slip rate according to speed variation tendency and hybrid vehicle to hybrid vehicle
It is modified.
According to one embodiment of present invention, engine, the first motor and the second electricity for being determined according to control stability strategy pair
The moment of torsion of machine is modified, and specifically includes：Obtain the steering angle of hybrid vehicle；According to steering angle and hybrid vehicle
Speed the reared torque of hybrid vehicle is modified.
For example, when the front axle moment of torsion of revised hybrid vehicle becomes hour, if now there was only engine output power,
To then the moment of torsion of engine be reduced, and if now exporting power jointly by engine and the first motor, then it is preferential to reduce by first
The moment of torsion of motor, because the response speed of motor is than the fast response time of engine.When revised hybrid vehicle after
Axle moment of torsion becomes hour, then will reduce the moment of torsion of the second motor.It is, of course, also possible to otherwise according to revised mixing
The antero posterior axis moment of torsion of power vehicle is modified to the moment of torsion of engine, the first motor and the second motor, so that output engine,
The target torque of the first motor and the second motor.
Specifically, as shown in figure 4, in hybrid vehicle running, aperture, braking first according to accelerator pedal
The aperture of pedal and the speed of hybrid vehicle carry out demand torque parsing, to determine the demand torque of driver, including
Drive demand torque and braking requirement moment of torsion.
It is determined that after the demand torque of driver, aperture, aperture rate of change, pattern load button according to accelerator pedal determine
The mode of operation of hybrid vehicle, and moment of torsion to each part such as engine, the first motor and the second motor is allocated.
When the mode of operation of hybrid vehicle is 4 wheel driven pattern, the demand torque according to driver is allocated to antero posterior axis moment of torsion,
And calculate the moment of torsion of engine, the first motor and the second motor；When the mode of operation of hybrid vehicle is motor pattern,
Demand torque according to driver is allocated to the moment of torsion of engine and the first motor, compared with economic model, the pattern energy
Enough changed by gear and obtain peak acceleration, so that hybrid vehicle can in a short time improve or reduce speed；When
When the mode of operation of hybrid vehicle is economic model, is changed by gear first and meeting the demand torque of driver
Under the premise of, engine is run on optimal fuel economy curve, then the moment of torsion to engine and the first motor is allocated,
Or the moment of torsion of engine and the second motor is allocated；When the mode of operation of hybrid vehicle is electric-only mode,
The transmission speed ratio of demand torque and rear axle according to driver calculates the moment of torsion of the second motor；When the Working mould of hybrid vehicle
When formula is braking mode, the ratio according to the distribution of antero posterior axis braking torque and regenerative braking and mechanical braking calculates the second motor
Feedback moment of torsion.
After the moment of torsion distribution to each part such as engine, the first motor and the second motor is completed, also by actively anti-skidding strategy
The moment of torsion of engine, the first motor and the second motor under the current operation mode determined with control stability strategy pair is repaiied
Just with the target torque of output engine, the first motor and the second motor, wherein, according to sliding (turning) rate and speed change
Trend is modified to the antero posterior axis moment of torsion of hybrid vehicle, to avoid hybrid vehicle from trackslipping the generation of phenomenon；According to
The speed and steering angle of hybrid vehicle are modified to reared torque, to prevent the generation of hybrid vehicle whipping phenomenon.
According to one embodiment of present invention, when hybrid vehicle receives shifting commands, judge at hybrid vehicle
In dynamic shifting process, and exchange the moment of torsion of the moment of torsion, the moment of torsion of the first motor and the second motor of the engine of gear start time
Drop moment of torsion treatment is carried out with the target torque of output engine, the first motor and the second motor.
According to one embodiment of present invention, when hybrid vehicle is in fault mode, wherein, if receiving gearshift
Instruct, then the moment of torsion of the moment of torsion, the moment of torsion of the first motor and the second motor of the engine according to gearshift start time carries out limit torsion
Square treatment is with the target torque of output engine, the first motor and the second motor；If not receiving shifting commands, basis
Fault level hybrid vehicle is broken down before engine moment of torsion, the moment of torsion of the first motor and the second motor moment of torsion
Limited torque treatment is carried out with the target torque of output engine, the first motor and the second motor.
According to one embodiment of present invention, when hybrid vehicle trackslips or during whipping, according to starting for initial time
The antero posterior axis moment of torsion of the moment of torsion adjustment hybrid vehicle of the moment of torsion of machine, the moment of torsion of the first motor and the second motor is started with exporting
The target torque of machine, the first motor and the second motor.
Specifically, as shown in figure 5, in the moment of torsion control framework of the hybrid vehicle of the embodiment of the present invention, further comprises
To hybrid vehicle dynamic shifting, break down and trackslip or moment of torsion control during whipping, so that hybrid power vapour
The moment of torsion control of car is more comprehensive, so as to improve the security of hybrid vehicle.
As shown in figure 5, the moment of torsion control of hybrid vehicle includes demand torque and active correction, (2) of (1) driver
Moment of torsion treatment and (4) passive moment of torsion trackslipped during with whipping under moment of torsion treatment, (3) fault mode of dynamic shifting process
Control.Wherein, the moment of torsion treatment during dynamic shifting can be by HCU (Hybrid Control Unit, full-vehicle control
Device) realize, it is also possible to realized by TCU (Transmission Control Unit, automatic gear-box controller), separately
Outward, the moment of torsion control passively trackslipped during with whipping can be by ESP (Electronic Stability Program, electronics
Systems stabilisation) realize, to reduce the communication delay between each controller.
Specifically, when hybrid vehicle receives shifting commands, hybrid vehicle enters dynamic shifting process,
During hybrid vehicle is in dynamic shifting, generator, the first motor and the second motor according to gearshift start time
Moment of torsion carry out drop and turn round treatment with the target torque of output engine, the first motor and the second motor, and after the completion of gearshift,
The moment of torsion of generator, the first motor and the second motor is recovered into moment of torsion when gearshift beginning.
In addition, when hybrid vehicle receives failure level signal, hybrid vehicle enters fault mode.In mixing
When power vehicle is in fault mode, if receiving shifting commands, engine, the first electricity according to gearshift start time
The moment of torsion of machine and the second motor carries out limited torque treatment with the target torque of output engine, the first motor and the second motor；Such as
Fruit does not receive shifting commands, then the engine, the first motor and the second motor before being broken down according to hybrid vehicle
Moment of torsion, and limited torque treatment is carried out with the target torque of output engine, the first motor and the second motor according to fault level.
Even if additionally, actively anti-skidding and whipping treatment has been carried out to the moment of torsion of each part of hybrid vehicle in (1),
But may still be trackslipped or whipping phenomenon in special operation conditions such as snowfields.Trackslipped or whipping knowledge when hybrid vehicle is received
During level signal, hybrid vehicle entrance is passively trackslipped and whipping control, if hybrid vehicle trackslips or whipping is serious,
Then trackslipped according to hybrid vehicle or the moment of torsion of whipping phenomenon start time engine, the first motor and the second motor is adjusted
Whole antero posterior axis moment of torsion distribution, and calculate the target torque of engine, the first motor and the second motor.
The moment of torsion of last engine, the first motor and the second motor from (1)-(4) in one branch road of selection is used as final
The target torque of each part.In a word, the moment of torsion control framework of the hybrid vehicle of the embodiment of the present invention can be according to actual work
Condition such as hybrid vehicle normally travel, dynamic shifting, break down and trackslip or whipping etc. is to hybrid vehicle
The moment of torsion of engine, the first motor and the second motor etc. be modified, to export target torque.
In sum, the moment of torsion control framework of hybrid vehicle according to embodiments of the present invention, detects hybrid power vapour first
The aperture of the accelerator pedal of car and the speed of hybrid vehicle, aperture then according to accelerator pedal, hybrid vehicle
Speed and receive the mode instruction control hybrid vehicle of driver's input and enter corresponding mode of operation, such as 4 wheel driven mould
Formula, motor pattern, economic model, electric-only mode and braking mode, when hybrid vehicle is in 4 wheel driven pattern, motion
During any operative pattern in pattern, economic model, electric-only mode and braking mode, according to the current of hybrid vehicle
Mode of operation determines the moment of torsion of engine, the first motor and the second motor, and according to actively anti-skidding strategy and control stability plan
The moment of torsion of slightly pair engine, the first motor and the second motor that determine is modified with output engine, the first motor and second
The target torque of motor, so as in the case of the demand model for meeting driver so that the output torque of engine and motor
Meet the service requirement of hybrid vehicle, also, by actively anti-skidding strategy and control stability strategy to engine, the
The moment of torsion of one motor and the second motor is modified, and is trackslipped or whipping with preventing hybrid vehicle from occurring, and improves hybrid power
The security of automobile.In addition, the control framework also including to dynamic shifting, fault mode and it is passive trackslip or whipping etc. spy
Moment of torsion under different operating mode is controlled so that moment of torsion control is more comprehensive.
Additionally, embodiments of the invention also proposed a kind of control system of hybrid vehicle, it includes that above-mentioned mixing is moved
The moment of torsion control framework of power automobile.
The moment of torsion control framework that the control system of the hybrid vehicle passes through above-mentioned hybrid vehicle, can drive in satisfaction
In the case of the demand model of the person of sailing so that the output torque of engine and motor meets hybrid vehicle normal mode and moves
State gearshift, fault mode and it is passive trackslip or the special operation condition such as whipping under service requirement, improve hybrid vehicle
Security.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ",
" outward ", the orientation or position relationship of the instruction such as " clockwise ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on
Orientation shown in the drawings or position relationship, are for only for ease of and describe of the invention and simplify description, rather than instruction or hint institute
The device or element of finger must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to this hair
Bright limitation.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, " first " is defined, the feature of " second " can be expressed
Or implicitly include at least one this feature.In the description of the invention, " multiple " is meant that at least two, such as two
It is individual, three etc., unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation "
Should be interpreted broadly Deng term, for example, it may be fixedly connected, or be detachably connected, or integrally；Can be
Mechanically connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, can be two
The connection of individual element internal or two interaction relationships of element, unless otherwise clearly restriction.It is common for this area
For technical staff, above-mentioned term concrete meaning in the present invention can be as the case may be understood.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can
Being the first and second feature directly contacts, or the first and second features pass through intermediary mediate contact.And, the
One feature second feature " on ", " top " and " above " but fisrt feature directly over second feature or
Oblique upper, or fisrt feature level height is merely representative of higher than second feature.Fisrt feature second feature " under ",
" lower section " and " below " can be fisrt feature immediately below second feature or obliquely downward, or to be merely representative of first special
Level height is levied less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. mean to combine the specific features of the embodiment or example description, structure, material or
Feature is contained at least one embodiment of the invention or example.In this manual, to the schematic representation of above-mentioned term
Necessarily it is directed to identical embodiment or example.And, the specific features of description, structure, material or feature can be with
Combined in an appropriate manner in any one or more embodiments or example.Additionally, in the case of not conflicting, ability
The technical staff in domain can enter the feature of the different embodiments or example described in this specification and different embodiments or example
Row is combined and combined.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment be it is exemplary,
It is not considered as limiting the invention, one of ordinary skill in the art within the scope of the invention can be to above-described embodiment
It is changed, changes, replacing and modification.
Claims (9)
1. a kind of moment of torsion control framework of hybrid vehicle, it is characterised in that the dynamical system bag of the hybrid vehicle
Engine, the first motor and the second motor are included, the moment of torsion control framework performs following steps：
Detect the aperture of the accelerator pedal of the hybrid vehicle and the speed of the hybrid vehicle；
Aperture, the speed of the hybrid vehicle according to the accelerator pedal and receive the pattern of driver's input and refer to
The order control hybrid vehicle enters corresponding mode of operation, wherein, the mode of operation includes 4 wheel driven pattern, motion
Pattern, economic model, electric-only mode and braking mode；
When the hybrid vehicle is in the 4 wheel driven pattern, motor pattern, economic model, electric-only mode and braking mould
During any operative pattern in formula, the current operation mode according to the hybrid vehicle determines the engine, the first electricity
The moment of torsion of machine and the second motor, and according to engine, the first motor that actively anti-skidding strategy and control stability strategy pair determine
It is modified to export the target torque of the engine, the first motor and the second motor with the moment of torsion of the second motor.
2. the moment of torsion control framework of hybrid vehicle as claimed in claim 1, it is characterised in that
When the mode instruction that the aperture of the accelerator pedal is preset aperture and received more than first is instructed for automatic mode, or
Person opens when the aperture of the accelerator pedal more than the second default aperture and less than or equal to the first default aperture, the accelerator pedal
Degree rate of change more than the first preset value and the mode instruction that receives for automatic mode instruct when, or the pattern that ought be received refers to
Make during for 4 wheel driven mode instruction, control the hybrid vehicle to enter the 4 wheel driven pattern；
When the aperture of the accelerator pedal presets aperture and the pattern for receiving more than the second default aperture and less than or equal to first
Instruct for automatic mode instruct when, or when the aperture of the accelerator pedal is more than the 3rd default aperture and pre- less than or equal to second
If the aperture rate of change of aperture, the accelerator pedal and more than the second preset value and less than or equal to the first preset value receive
Mode instruction for automatic mode instruct when, or when the mode instruction for receiving is instructed for motor pattern, control the mixing
Power vehicle enters the motor pattern；
When the aperture of the accelerator pedal is more than the 3rd default aperture and less than or equal to the second default aperture, hybrid power vapour
The speed of car more than the first preset vehicle speed and the mode instruction that receives for automatic mode instruct when, or the mould that ought be received
Formula instruction for economic model instruct when, control the hybrid vehicle into the economic model；
When the aperture of the accelerator pedal is more than 0 and small less than or equal to the 3rd default aperture, the speed of the hybrid vehicle
When being instructed for automatic mode equal to the first preset vehicle speed and the mode instruction that receives, or when the mode instruction that receive
When being instructed for electric-only mode, the hybrid vehicle is controlled to enter the electric-only mode；
When the speed that the aperture of the accelerator pedal is the 0, hybrid vehicle is more than the first preset vehicle speed and receives
Mode instruction for automatic mode instruct when, or when the mode instruction for receiving for brake pedal opening amount signal when, control institute
State hybrid vehicle into the braking mode.
3. the moment of torsion control framework of hybrid vehicle as claimed in claim 1 or 2, it is characterised in that described according to institute
The current operation mode for stating hybrid vehicle determines the moment of torsion of the engine, the first motor and the second motor, specifically includes：
When the current operation mode of the hybrid vehicle is the 4 wheel driven pattern, before and after the hybrid vehicle
Axle moment of torsion is allocated, and calculates the moment of torsion of the moment of torsion, the moment of torsion of first motor and second motor of the engine；
When the current operation mode of the hybrid vehicle is the motor pattern, moment of torsion to the engine and described
The moment of torsion of the first motor is allocated；
When the current operation mode of the hybrid vehicle is the economic model, the engine is controlled to run on most preferably
Fuel economy curve, and determine the engine with the moment of torsion distribution of first motor or the engine and described second
The moment of torsion distribution of motor；
When the current operation mode of the hybrid vehicle is the electric-only mode, the moment of torsion of second motor is determined；
When the current operation mode of the hybrid vehicle is the braking mode, before the hybrid vehicle
The ratio of the distribution of rear axle braking torque and regenerative braking and mechanical braking calculates the feedback moment of torsion of second motor.
4. the moment of torsion control framework of hybrid vehicle as claimed in claim 3, it is characterised in that anti-according to the active
The moment of torsion of engine, the first motor and the second motor that sliding strategy pair determines is modified, and specifically includes：
Speed according to the hybrid vehicle obtains speed variation tendency；
Obtain the slip rate of the hybrid vehicle；
Slip rate according to the speed variation tendency and the hybrid vehicle is turned round to the antero posterior axis of the hybrid vehicle
Square is modified.
5. the moment of torsion control framework of hybrid vehicle as claimed in claim 3, it is characterised in that according to it is described manipulate it is steady
The moment of torsion of engine, the first motor and the second motor that qualitative strategy pair determines is modified, and specifically includes：
Obtain the steering angle of the hybrid vehicle；
Speed according to the steering angle and the hybrid vehicle is repaiied to the reared torque of the hybrid vehicle
Just.
6. the moment of torsion control framework of hybrid vehicle as claimed in claim 1, it is characterised in that when the hybrid power
When automobile receiver is to shifting commands, judge that the hybrid vehicle is in dynamic shifting process, and exchange gear start time
The moment of torsion of the moment of torsion of engine, the moment of torsion of the first motor and the second motor carries out the treatment of drop moment of torsion to export the engine, the
The target torque of one motor and the second motor.
7. the moment of torsion control framework of hybrid vehicle as claimed in claim 1, it is characterised in that when the hybrid power
When automobile is in fault mode, wherein,
If receiving shifting commands, moment of torsion, the moment of torsion of the first motor and second of the engine according to gearshift start time
The moment of torsion of motor carries out limited torque treatment to export the target torque of the engine, the first motor and the second motor；
If not receiving shifting commands, the moment of torsion of the engine before being broken down to hybrid vehicle according to fault level,
The moment of torsion of the moment of torsion of the first motor and the second motor carries out limited torque treatment to export the engine, the first motor and the second electricity
The target torque of machine.
8. the moment of torsion control framework of hybrid vehicle as claimed in claim 1, it is characterised in that when the hybrid power
Automobile trackslips or during whipping, the torsion of the moment of torsion of the engine according to initial time, the moment of torsion of the first motor and the second motor
The antero posterior axis moment of torsion that square adjusts the hybrid vehicle is turned round with exporting the target of the engine, the first motor and the second motor
Square.
9. a kind of control system of hybrid vehicle, it is characterised in that including as any one of claim 1-8
The moment of torsion control framework of hybrid vehicle.
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