CN106800019A - A kind of control method of HCU and torque compensation - Google Patents
A kind of control method of HCU and torque compensation Download PDFInfo
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- CN106800019A CN106800019A CN201510811374.6A CN201510811374A CN106800019A CN 106800019 A CN106800019 A CN 106800019A CN 201510811374 A CN201510811374 A CN 201510811374A CN 106800019 A CN106800019 A CN 106800019A
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- motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0657—Engine torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Hybrid Electric Vehicles (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
A kind of control method of HCU and torque compensation, methods described comprises determining whether to need to compensate the moment of torsion of engine；When it is determined that needing to compensate the moment of torsion of the engine, the size of the compensation moment of torsion for needing is calculated；Whether judge the absolute value of the compensation moment of torsion can provide the absolute value of moment of torsion less than motor；When the absolute value of the compensation moment of torsion can provide the absolute value of moment of torsion less than or equal to motor, the engine according to the compensation torque compensation.The actual deviation provided between moment of torsion of demand torque and engine that vehicle drive can be reduced using such scheme, such that it is able to lift the security of driving, it is possible to reduce the time of gearshift.
Description
Technical field
The present invention relates to mixing dynamical vehicle torsional moment regulation technology field, more particularly to a kind of HCU and moment of torsion
The control method of compensation.
Background technology
Automobile, in modern society, plays more and more important role, it has also become vast majority of people is daily
An indispensable part in life.Under the background for advocating environmental protection, pure electric automobile and hybrid power vapour
Car (Hybrid Electric Vehicle, HEV) arises at the historic moment.And mixed movement controller (Hybrid Control
Unit, HCU) be the control of whole hybrid vehicle core, it is main to be responsible for coordinating engine management system
(Engine Management System, EMS), gear box control unit (Transmission Control
Unit, TCU) and electric machine controller (Motor Controller Unit, MCU) work, and be responsible for
The high and low pressure fulgurite reason of whole dynamical system and the detection of failure.
At present, when hybrid vehicle runs, there are Three models：Pure engine mode, pure motor mode and
Hybrid mode.Wherein：Pure engine mode, only engine provide power.Pure motor mode,
Only motor provides power.Hybrid mode, engine and motor provide power simultaneously.And work as vehicle
When during the gearshift, by the regulation for increasing or reducing the oil inlet quantity of engine to realize rotating speed.
But, it is understood that there may be the actual moment of torsion that provides of the demand torque and engine of vehicle drive has deviation and gearshift
Slow-footed problem, so as to the dynamic property of vehicle can be influenceed, reduces drive safety, and when extending gearshift
Between.
The content of the invention
The problem that the present invention is solved is how to lift drive safety, and reduces shift time.
To solve the above problems, the present invention provides a kind of control method of torque compensation, the control method
Including：
Judge whether to need to compensate the moment of torsion of engine；
When it is determined that needing to compensate the moment of torsion of the engine, calculate needs compensates the big of moment of torsion
It is small；Whether judge the absolute value of the compensation moment of torsion can provide the absolute value of moment of torsion less than motor；
When the absolute value of the compensation moment of torsion can provide the absolute value of moment of torsion less than or equal to motor, according to
Engine described in the compensation torque compensation.
Alternatively, the control method also includes：
When the absolute value of the compensation moment of torsion can provide the absolute value of moment of torsion more than motor, according to the electricity
Machine can provide engine described in torque compensation.
Alternatively, it is described to judge whether to need to compensate the moment of torsion of engine, including：
During judging whether vehicle is in gearshift；
When during the vehicle being in gearshift, it is determined that needing to compensate the moment of torsion of the engine.
Alternatively, the size for calculating the compensation moment of torsion for needing, including：
The current rotating speed of the engine is detected, as the first rotating speed；
The rotating speed of target of the corresponding engine of gear after gearshift, as the second rotating speed, by described
Two rotating speeds subtract the difference that first rotating speed is obtained, used as speed discrepancy；
The size of the compensation moment of torsion of the needs is calculated according to the speed discrepancy.
Alternatively, the size of the compensation moment of torsion that the needs are calculated according to the speed discrepancy, including：
TQcom=Rerr*kP+Rerr*kI, wherein：The TQcomIt is the compensation moment of torsion of the needs, it is described
RerrIt is the speed discrepancy, the kPWith the RerrLinear correlation, the kIWith the RerrThe product of change
Score value linear correlation.
Alternatively, it is described to judge whether to need to compensate the moment of torsion of engine, also include：
When during the vehicle being not in gearshift, judge drive demand moment of torsion whether more than default first threshold
Value；
When it is determined that the drive demand moment of torsion is more than the first threshold, the drive demand moment of torsion is judged
Slope absolute value whether more than default Second Threshold；
When it is determined that the absolute value of the slope of the drive demand moment of torsion is more than the Second Threshold, electricity is judged
Whether machine can provide the absolute value of moment of torsion less than default 3rd threshold value；
When the absolute value that the motor can provide moment of torsion is not less than three threshold value, it is determined that needing to institute
The moment of torsion for stating engine is compensated.
Alternatively, methods described also includes：
Timing is carried out to the time that the moment of torsion of the engine is compensated, as the second time；
Detecting present battery state-of-charge, and calculate the present battery state-of-charge can allow to the hair
The time that the moment of torsion of motivation is compensated, as the 3rd time；
Judge second time whether not less than the 3rd time；
When second time three time is not less than, stop carrying out the moment of torsion of the engine
Compensation.
Alternatively, the size for calculating the compensation moment of torsion for needing, including：
Drive demand moment of torsion in real-time detection to the default first time period at current time；
Calculate in the first time period, the rate of change of the drive demand moment of torsion；
Start described in rate of change and the current torque arithmetic of the engine according to the drive demand moment of torsion
Machine estimates moment of torsion；
The drive demand moment of torsion is subtracted the difference that moment of torsion is obtained of estimating of the engine, as described
The compensation moment of torsion of needs.
Alternatively, the rate of change and the current moment of torsion of the engine according to the drive demand moment of torsion
The moment of torsion of estimating of the engine is calculated, including：
TQPRE=TQACT+TCON*TQSLEW, wherein：TQPREMoment of torsion is estimated for the engine,
TQACTIt is the current moment of torsion of the engine, TCONIt is the rate of change of the drive demand moment of torsion, TQSLEW
It is time constant.
Alternatively, when the motor can provide moment of torsion be on the occasion of when, the motor can provide moment of torsion with transmission
Axle, battery charge state and motor status are relevant.
Alternatively, when the motor can provide moment of torsion for negative value when, the motor can provide moment of torsion with it is described
The idling speed of battery charge state, motor status and vehicle is relevant.
A kind of HCU is the embodiment of the invention provides, the HCU includes：
First judging unit, is suitable to judge whether to need to compensate the moment of torsion of engine；
First computing unit, is suitable to determine moment of torsion of the needs to the engine when first judging unit
When compensating, the size of the compensation moment of torsion for needing is calculated；
Second judging unit, is suitable to judge whether the absolute value of the compensation moment of torsion can provide torsion less than motor
The absolute value of square；
First compensating unit, is suitable to determine that the absolute value of the compensation moment of torsion is small when second judging unit
When motor can provide the absolute value of moment of torsion, the engine according to the compensation torque compensation.
Alternatively, the HCU also includes：
Second compensating unit, is suitable to determine that the absolute value of the compensation moment of torsion is big when second judging unit
When motor can provide the absolute value of moment of torsion, the engine according to the motor can provide torque compensation.
Alternatively, first judging unit, including：First judgment sub-unit, is suitable to judge that vehicle is
It is no during the gearshift；
First determines compensation subelement, is suitable to be changed when first judgment sub-unit determines that the vehicle is in
When during gear, it is determined that needing to compensate the moment of torsion of the engine.
Alternatively, first computing unit, including：
Detection sub-unit, is adapted to detect for the current rotating speed of the engine, as the first rotating speed；
Speed discrepancy subelement is sought, is suitable to the rotating speed of target the corresponding engine of gear after gearshift, made
It is the second rotating speed, second rotating speed is subtracted into the difference that first rotating speed is obtained, as speed discrepancy；
First compensation calculation subelement, is suitable to be calculated according to the speed discrepancy compensation moment of torsion of the needs
Size.
Alternatively, the first compensation calculation subelement, is suitable to calculate the needs according to below equation
Compensate the size of moment of torsion：
TQcom=Rerr*kP+Rerr*kI, wherein：The TQcomIt is the compensation moment of torsion of the needs, it is described
RerrIt is the speed discrepancy, the kPWith the RerrLinear correlation, the kIWith the RerrThe product of change
Score value linear correlation.
Alternatively, first judging unit, also includes：
Second judgment sub-unit, is suitable to determine that the vehicle is not in gearshift when first judgment sub-unit
During period, judge drive demand moment of torsion whether more than preset first threshold value；
3rd judgment sub-unit, is suitable to determine that the drive demand moment of torsion is big when second judgment sub-unit
When the first threshold, judge the absolute value of slope of the drive demand moment of torsion whether more than default the
Two threshold values；
4th judgment sub-unit, is suitable to determine the drive demand moment of torsion when the 3rd judgment sub-unit
When the absolute value of slope is more than the Second Threshold, judge that whether motor can provide the absolute value of moment of torsion and be less than
Default 3rd threshold value；
Second determines compensation subelement, is suitable to determine that the motor can be provided when the 4th judgment sub-unit
When the absolute value of moment of torsion is not less than three threshold value, it is determined that needing to mend the moment of torsion of the engine
Repay.
Alternatively, the HCU also includes：
Timing unit, is suitable to carry out timing to the time that the moment of torsion of the engine is compensated, used as
Two times；
Computing unit, is adapted to detect for present battery state-of-charge, and calculate the present battery state-of-charge
The time compensated to the moment of torsion of the engine can be allowed, as the 3rd time；
Whether the 3rd judging unit, be suitable to judge second time not less than the 3rd time；
Stop compensating unit, be suitable to determine second time not less than described when the 3rd judging unit
During three time, stop compensating the moment of torsion of the engine.
Alternatively, first computing unit, also includes：
Timing subelement, is suitable to the drive demand in real-time detection to the default first time period at current time
Moment of torsion；
Computation subunit, is suitable to calculate in the first time period, the change of the drive demand moment of torsion
Rate；
Subelement is estimated, is suitable to current according to the rate of change and the engine of the drive demand moment of torsion
Engine described in torque arithmetic estimates moment of torsion；
Second compensation calculation subelement, is suitable to for the drive demand moment of torsion to subtract estimating for the engine
The difference that moment of torsion is obtained, as the compensation moment of torsion of the needs.
Alternatively, it is described to estimate subelement, it is suitable to estimate torsion according to the below equation calculating engine
Square, including：
TQPRE=TQACT+TCON*TQSLEW, wherein：TQPREMoment of torsion is estimated for the engine,
TQACTIt is the current moment of torsion of the engine, TCONIt is the rate of change of the drive demand moment of torsion, TQSLEW
It is time constant.
Alternatively, when the motor can provide moment of torsion be on the occasion of when, the motor can provide moment of torsion with transmission
Axle, battery charge state and motor status are relevant.
Alternatively, when the motor can provide moment of torsion for negative value when, the motor can provide moment of torsion with it is described
The idling speed of battery charge state, motor status and vehicle is relevant.
Compared with prior art, technical scheme has advantages below：
When it is determined that needing to compensate the moment of torsion of the engine, by calculating the compensation moment of torsion for needing
Size；Whether judge the absolute value of the compensation moment of torsion can provide the absolute value of moment of torsion less than motor；When
When the absolute value of the compensation moment of torsion can provide the absolute value of moment of torsion less than or equal to motor, according to the benefit
Engine described in torque compensation is repaid, it is possible thereby to the demand torque and engine that reduce vehicle drive are actual carry
For the deviation between moment of torsion, such that it is able to lift the security of driving, it is possible to reduce the time of gearshift.
Further, the absolute of moment of torsion can be provided with the motor by the absolute value of relatively more described compensation moment of torsion
Value, and when the absolute value of the compensation moment of torsion can provide the absolute value of moment of torsion more than motor, according to described
Motor can provide engine described in torque compensation.Due to considering the working condition of motor, such that it is able to drop
The loss of low motor, extends the service life of the motor.
Brief description of the drawings
Fig. 1 is a kind of schematic flow sheet of the torque control method in the embodiment of the present invention；
Fig. 2 is a kind of structural representation of the HCU in the embodiment of the present invention；
Fig. 3 is a kind of structural representation of first judging unit in the embodiment of the present invention；
Fig. 4 is a kind of structural representation of first computing unit in the embodiment of the present invention.
Specific embodiment
Development and deep people's popular feeling of energy-conserving and environment-protective theory with auto industry, auto electric chemical conversion will be for from now on
Development trend.And continue the shortcomings of making mileage not enough and be relatively costly because pure power drive system is present, it is single
Solely it is also difficult to obtain the accreditation of market and user at present using the pure electric automobile of motor.By motor and tradition
Engine be combined composition hybrid power system, by motor improve engine working condition, improve
The efficiency of whole power assembly, strengthens the capacity usage ratio of vehicle, undoubtedly has within the quite a while
Extensive market prospects.
When at present, during vehicle is in non-gearshift, when engine demand moment of torsion and actual torque have deviation
When, if without motor compensating, occurring that engine actual torque does not reach the possibility of drive demand moment of torsion,
So as to the dynamic property and driving of vehicle can be influenceed.And in the gearshift speed governing stage, because engine can only lead to
Increase oil inlet quantity or oil-break is crossed to realize speed governing, thus if without motor compensating, only leaning on engine
Speed governing is realized, shift time can be caused relatively long, so as to also have driving have a certain impact.
To solve the above problems, the control method of HCU and torque compensation is the embodiment of the invention provides, i.e.,：
When it is determined that needing to compensate the moment of torsion of the engine, by calculating the big of the compensation moment of torsion for needing
It is small；Whether judge the absolute value of the compensation moment of torsion can provide the absolute value of moment of torsion less than motor；When described
When the absolute value of compensation moment of torsion can provide the absolute value of moment of torsion less than or equal to motor, turned round according to the compensation
Square compensates the engine.Can reduce vehicle drive demand torque and engine it is actual provide moment of torsion it
Between deviation, such that it is able to lift the security of driving, it is possible to reduce gearshift time.
It is understandable to enable the above objects, features and advantages of the present invention to become apparent, below in conjunction with the accompanying drawings
Specific embodiment of the invention is described in detail.
Fig. 1 shows a kind of schematic flow sheet of the control method of the torque compensation in the embodiment of the present invention.
The step of control method of the torque compensation is specifically introduced below in conjunction with Fig. 1.
S11：Judge whether to need to compensate the moment of torsion of engine.
In specific implementation, in order that obtain torque compensation more rationalizing, it can be determined that whether need to hair
The moment of torsion of motivation is compensated.And when it is determined that needing to compensate the moment of torsion of the engine, perform
S12；Otherwise, then terminate.
It should be noted that can consider whether to need to compensate the moment of torsion of engine from multiple angles.
Such as can by judge vehicle whether in gearshift during, and when the vehicle be in gearshift during when,
It is determined that needing to compensate the moment of torsion of the engine.In this manner it is possible to so that engine is rapidly reached
The corresponding rotating speed of gear after gear shift, such that it is able to reduce shift time.
When also such as, during the vehicle is not in gearshift, due to only when drive demand moment of torsion is larger
When, just need to compensate the moment of torsion of engine, therefore can first determine whether whether drive demand moment of torsion is big
In preset first threshold value；When it is determined that the drive demand moment of torsion is more than the first threshold, then judge
Whether the absolute value of the slope of the drive demand moment of torsion is more than default Second Threshold, such that it is able to predict
State the variation tendency of drive demand moment of torsion；Due to motor by high-tension battery for it charges, if the high-tension electricity
When pond state-of-charge is too low, the voltage battery can open self-protection program, it is impossible to for the motor is carried
For larger moment of torsion, therefore when the absolute value of the slope for determining the drive demand moment of torsion is more than second threshold
During value, it can be determined that whether motor can provide the absolute value of moment of torsion less than default 3rd threshold value, when the electricity
When the absolute value that machine can provide moment of torsion is not less than three threshold value, finally just determine to need to start to described
The moment of torsion of machine is compensated.Can thus ensure that the moment of torsion that the motor is the engine is compensated,
To improve the security and dynamic property of vehicle.
In specific implementation, in order to further reduce the loss of motor, and extend the service life of motor,
When during the vehicle being not in gearshift, the time that the moment of torsion of the engine can also be compensated
Timing is carried out, as the second time, present battery state-of-charge is detected, and calculate the present battery lotus
Electricity condition can allow the time compensated to the moment of torsion of the engine, as the 3rd time, judge institute
Whether stated for the second time not less than the 3rd time, the 3rd time is not less than when second time
When, stop compensating the moment of torsion of the engine.For example when having met the moment of torsion to engine
The condition that compensates simultaneously starts to compensate the moment of torsion of the engine, starts timing, have passed through
Second time 10s, real-time monitoring present battery state-of-charge is 50%, by calculating present battery lotus
It is the 3rd time 10s that electricity condition 50% can allow the time compensated to the moment of torsion of the engine, due to
When second time 10s is not less than the 3rd time 10s, then stop entering the moment of torsion of the engine
Row compensation.
It should be noted that second time is ever-increasing, and because battery is in power consumption, therefore institute
Stating for the 3rd time can constantly reduce with the increase of second time, thus if during described second
Between and the 3rd time be expressed as the line that changes over time respectively, final two lines necessarily have one
Intersection point.Again because the cycle of battery charge state monitoring has the order of magnitude not with the cycle of whole control method
Consistent possibility, as long as therefore second time be not less than three time when, it is possible to stop to institute
Stating engine carries out torque compensation.
S12：Calculate the size of the compensation moment of torsion for needing.
In specific implementation, by calculating the size of the compensation moment of torsion for needing, can be right according to being actually needed
The moment of torsion of engine is compensated, such that it is able to lift the specific aim of torque compensation.
It should be noted that because the parameter that under different operating modes, can be easier to obtain is different, therefore can be with
There are the computational methods of different torque compensation values.
When such as, during vehicle is in gearshift, in order that after the rotating speed for obtaining engine reaches gear shift as early as possible
The corresponding engine target rotating speed of gear, can be corresponding with gear after gearshift according to the current rotating speed of engine
Speed discrepancy between engine speed needs the torque compensation value of compensation to calculate.Comprise the following steps that：Inspection
The current rotating speed of the engine is surveyed, as the first rotating speed；The corresponding engine of gear after gearshift
Rotating speed of target, as the second rotating speed, second rotating speed is subtracted into the difference that first rotating speed is obtained,
As speed discrepancy；The size of the compensation moment of torsion of the needs is calculated according to the speed discrepancy.For example：Vehicle
Gear shift to 3 grades from current 2 grades, the rotating speed of present engine is 2000 turns, as the first rotating speed,
It is the second rotating speed, then by second rotating speed and the rotating speed of the corresponding engine of 3 grades of gears is 1500 turns
1500 turns subtract 2000 turns of first rotating speed, -500 turns of speed discrepancy can be obtained, such that it is able to according to institute
State the size that -500 turns of speed discrepancy calculates the compensation moment of torsion of the needs.
In an embodiment of the present invention, specifically the compensation moment of torsion can be calculated using equation below：
TQcom=Rerr*kP+Rerr*kI, wherein：The TQcomIt is the compensation moment of torsion of the needs, the RerrFor
The speed discrepancy, the kPWith the RerrLinear correlation, the kIWith the RerrThe integrated value of change is linear
It is related.When speed discrepancy be on the occasion of when (need positive speed governing), rotating speed of target be more than actual speed, motor
A positive-torque need to be applied so that engine speed rise, so coefficient kPFor one on the occasion of, and speed discrepancy is bigger,
The kPValue is bigger.Similarly, kIValue also increases and increases with speed discrepancy.
(negative sense speed governing is needed when speed discrepancy is negative value), rotating speed of target is less than actual speed, motor is needed
Apply a negative torque so that engine speed decline, so coefficient kPIt is a negative and positive value, and speed discrepancy is bigger,
The kPValue is smaller.Similarly kIValue is also negative value, and increases with speed discrepancy and reduce.
Due to the kPWith the RerrLinear correlation, i.e. kPWith RerrIncrease and increase, while with Rerr
Reduce and reduce, can directly reflect RerrSituation of change.And due to the kIWith the RerrThe product of change
Score value linear correlation, such that it is able to optimize the TQcomResult of calculation, static difference can be eliminated so that institute
Compensation torque calculating value is stated more to stablize.
When also such as, during vehicle is in and does not shift gears, because speed is relatively steady, can basis
The size of drive demand moment of torsion in current drive demand moment of torsion prediction future time.Such that it is able to using such as
Lower method calculates the torque compensation value for needing compensation：Real-time detection to current time default first time period
Interior drive demand moment of torsion；Calculate in the first time period, the rate of change of the drive demand moment of torsion；
Engine described in rate of change and the current torque arithmetic of the engine according to the drive demand moment of torsion
Estimate moment of torsion；The drive demand moment of torsion is subtracted the difference that moment of torsion is obtained of estimating of the engine, is made
It is the compensation moment of torsion of the needs.
Like this, it is possible to which corresponding adjustment compensates moment of torsion in real time according to actual needs, so that mending
Repay moment of torsion more accurate and reasonable.For example, calculating so that in the 10ms current time, the driving is needed
The rate of change of moment of torsion is sought for 1000Nm/s, the rate of change according to the drive demand moment of torsion is 1000Nm/ seconds
And the current moment of torsion 800Nm of the engine calculate the engine estimate moment of torsion for 1800Nm, institute
That states engine estimates moment of torsion as subsequent time, i.e., the moment of torsion that the rear engine of 10ms can reach will
The moment of torsion 1800Nm that estimates that drive demand moment of torsion 2100Nm subtracts the engine obtains difference 300Nm,
Can be as the compensation moment of torsion of the needs.
In specific implementation, can be calculated according to equation below：TQPRE=TQACT+TCON*TQSLEW, its
In：TQPREIt is the moment of torsion of estimating of the engine, TQACTIt is the current moment of torsion of the engine, TCON
It is the rate of change of the drive demand moment of torsion, TQSLEWIt is time constant.
S13：Whether judge the absolute value of the compensation moment of torsion can provide the absolute value of moment of torsion less than motor.
In specific, because the absolute value that moment of torsion can be provided when motor is not more than the absolute of the compensation moment of torsion
During value, the motor cannot fully meet the compensation demand of the engine torque.Therefore may determine that described
Compensate whether the absolute value of moment of torsion can provide the absolute value of moment of torsion less than motor, and when the compensation moment of torsion
When absolute value can provide the absolute value of moment of torsion less than or equal to motor, S14 is performed；Conversely, then performing S15.
In specific implementation, when the motor can provide moment of torsion be on the occasion of when, the motor can provide moment of torsion
It is relevant with power transmission shaft, battery charge state and motor status.It is specifically as follows：
Motor maximum can provide positive-torque be limited to it is following some：A, shaft end ability.Power transmission shaft has the maximum can
With moment of torsion, power source is engine and motor, so the available driving torque of motor can not be more than power transmission shaft
The difference of peak torque and engine actual torque；B, battery electric quantity.The energy source of motor is that battery is powered,
Therefore when the electricity of battery is relatively low, the available discharge power of battery has decay, and the maximum of motor can use
Positive-torque also can accordingly change；C, the state of motor.Even if the ability of battery is enough, electric system is not yet
The unconfined driving of meeting, electric machine control system can send an available maximum drive torque to vehicle, for whole
Vehicle controller is arbitrated.Maximum any one that can be with positive-torque no more than above-mentioned 3 points of motor.
In specific implementation, when the motor can provide moment of torsion for negative value, the motor can provide moment of torsion
Idling speed with the battery charge state, motor status and vehicle is relevant.It is specifically as follows：
Motor minimum can with negative torque be limited to it is following some：A, battery electric quantity.The negative torque of motor is to use
To charge the battery, therefore when the electricity of battery is higher, the available charge power of battery has decay,
The available negative torque of motor can be restricted；B, the state of motor.Even if battery can be charged, electricity
Machine system unconfined will not also generate electricity, and electric machine control system can send an available minimum and fill torsion to vehicle
Square, for entire car controller arbitration；C, vehicle idling relay protective scheme.If rotating speed is too low, so that being less than
During idling speed, if motor still has negative torque to ask, it is possible to counter to drag engine, cause to stop working, institute
The negative torque compared with Low speed electric motor can be limited in vehicle idling relay protective scheme.Motor minimum can use negative torque
Any one of above-mentioned 3 points can not be less than.
S14：The engine according to the compensation torque compensation.
In specific implementation, when the absolute value of the compensation moment of torsion can provide moment of torsion less than or equal to motor
During absolute value, can according to it is described compensation torque compensation described in engine, to meet the torsion of the engine
Square compensates demand so that the moment of torsion of the engine is close even same with drive demand moment of torsion, to improve
The dynamic property and security of driving.
S15：The engine according to the motor can provide torque compensation.
In specific implementation, when the absolute value of the compensation moment of torsion can provide the absolute value of moment of torsion more than motor
When, the engine according to the motor can provide torque compensation.So, the normal work of motor is being ensured
While work, can also as far as possible for the moment of torsion of the engine is compensated.
It is also provided below corresponding to cause that those skilled in the art more fully understands and realize the present invention
The HCU of the control method of above-mentioned torque compensation.
Fig. 2 shows a kind of structural representation of the HCU in the embodiment of the present invention.The HCU can be with
Including：First judging unit 1, the first computing unit 2, the second judging unit 3 and the first compensating unit 4,
Wherein：
First judging unit 1, is suitable to judge whether to need to compensate the moment of torsion of engine；
First computing unit 2, is suitable to determine needs to the engine when first judging unit 1
Moment of torsion when compensating, calculate the size of the compensation moment of torsion for needing；
Second judging unit 3, is suitable to judge whether the absolute value of the compensation moment of torsion can carry less than motor
For the absolute value of moment of torsion；
First compensating unit 4, is suitable to determine the exhausted of the compensation moment of torsion when second judging unit 3
When can provide the absolute value of moment of torsion less than or equal to motor to value, sent out according to the compensation torque compensation
Motivation.
In specific implementation, the HCU can also include：
Second compensating unit 5, is suitable to determine the absolute value of the compensation moment of torsion when second judging unit 3
When can provide the absolute value of moment of torsion more than motor, the engine according to the motor can provide torque compensation.
In specific implementation, the HCU can also include：
Timing unit 6, is suitable to carry out timing to the time that the moment of torsion of the engine is compensated, used as
Two times；
Computing unit 7, is adapted to detect for present battery state-of-charge, and calculate the present battery state-of-charge
The time compensated to the moment of torsion of the engine can be allowed, as the 3rd time；
Whether the 3rd judging unit 8, be suitable to judge second time not less than the 3rd time；
Stop compensating unit 9, be suitable to determine that second time is not less than institute when the 3rd judging unit 8
When stating for three time, stop compensating the moment of torsion of the engine.
Fig. 3 shows a kind of structural representation of the first judging unit in the embodiment of the present invention.Specific real
Shi Zhong, first judging unit 1 can include：
First judgment sub-unit 10, during being suitable to judge whether vehicle is in gearshift；
First determines compensation subelement 11, is suitable to determine at the vehicle when first judgment sub-unit 10
When during gearshift, it is determined that needing to compensate the moment of torsion of the engine.
In specific implementation, first judging unit 1 can also include：
Second judgment sub-unit 12, is suitable to determine that the vehicle is not in when first judgment sub-unit 10
When during gearshift, judge drive demand moment of torsion whether more than preset first threshold value；
3rd judgment sub-unit 13, is suitable to determine that the drive demand is turned round when second judgment sub-unit 12
When square is more than the first threshold, judge the absolute value of slope of the drive demand moment of torsion whether more than pre-
If Second Threshold；
4th judgment sub-unit 14, is suitable to determine that the drive demand is turned round when the 3rd judgment sub-unit 13
The absolute value of the slope of square be more than the Second Threshold when, judge motor can provide moment of torsion absolute value whether
Less than default 3rd threshold value；
Second determines compensation subelement 15, is suitable to determine that the motor can when the 4th judgment sub-unit 14
When the absolute value for providing moment of torsion is not less than three threshold value, it is determined that needing to enter the moment of torsion of the engine
Row compensation.
Moreover, Fig. 4 shows a kind of structural representation of first computing unit in the embodiment of the present invention
Figure.In specific implementation, first computing unit 2 can also include：
Detection sub-unit 20, is adapted to detect for the current rotating speed of the engine, as the first rotating speed；
Speed discrepancy subelement 21 is sought, is suitable to the rotating speed of target the corresponding engine of gear after gearshift,
As the second rotating speed, second rotating speed is subtracted into the difference that first rotating speed is obtained, as speed discrepancy；
First compensation calculation subelement 22, is suitable to be calculated according to the speed discrepancy compensation moment of torsion of the needs
Size.
In specific implementation, in the first compensation calculation subelement 26, it is suitable to be calculated according to below equation
The size of the compensation moment of torsion of the needs：
TQcom=Rerr*kP+Rerr*kI, wherein：The TQcomIt is the compensation moment of torsion of the needs, the Rerr
It is the speed discrepancy, the kPWith the RerrLinear correlation, the kIWith the RerrThe integrated value line of change
Property it is related.
In specific implementation, first computing unit 2 can also include：
Timing subelement 23, the driving being suitable in real-time detection to the default first time period at current time is needed
Seek moment of torsion；
Computation subunit 24, is suitable to calculate in the first time period, the change of the drive demand moment of torsion
Rate；
Subelement 25 is estimated, is suitable to current according to the rate of change and the engine of the drive demand moment of torsion
Torque arithmetic described in engine estimate moment of torsion；
Second compensation calculation subelement 26, is suitable to for the drive demand moment of torsion to subtract the pre- of the engine
The difference that moment of torsion is obtained is estimated, as the compensation moment of torsion of the needs.
It is described to estimate subelement 25 in specific implementation, it is suitable to calculate the engine according to below equation
Estimate moment of torsion, including：
TQPRE=TQACT+TCON*TQSLEW, wherein：TQPREMoment of torsion is estimated for the engine,
TQACTIt is the current moment of torsion of the engine, TCONIt is the rate of change of the drive demand moment of torsion, TQSLEW
It is time constant.
In specific implementation, when the motor can provide moment of torsion be on the occasion of when, the motor can provide moment of torsion
It is relevant with power transmission shaft, battery charge state and motor status.
In specific implementation, when the motor can provide moment of torsion for negative value, the motor can provide moment of torsion
Idling speed with the battery charge state, motor status and vehicle is relevant.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment
Rapid to can be by program to instruct the hardware of correlation to complete, the program can be stored in can with computer
Read in storage medium, storage medium can include：ROM, RAM, disk or CD etc..
Although present disclosure is as above, the present invention is not limited to this.Any those skilled in the art,
Without departing from the spirit and scope of the present invention, can make various changes or modifications, therefore guarantor of the invention
Shield scope should be defined by claim limited range.
Claims (22)
1. a kind of control method of torque compensation, it is characterised in that including：
Judge whether to need to compensate the moment of torsion of engine；
When it is determined that needing to compensate the moment of torsion of the engine, the size of the compensation moment of torsion for needing is calculated；
Whether judge the absolute value of the compensation moment of torsion can provide the absolute value of moment of torsion less than motor；
When the absolute value of the compensation moment of torsion can provide the absolute value of moment of torsion less than or equal to motor, according to institute
State engine described in compensation torque compensation.
2. the control method of torque compensation according to claim 1, it is characterised in that also include：
When the absolute value of the compensation moment of torsion can provide the absolute value of moment of torsion more than motor, according to the motor
Engine described in torque compensation can be provided.
3. the control method of torque compensation according to claim 1, it is characterised in that described to judge whether
Need to compensate the moment of torsion of engine, including：
During judging whether vehicle is in gearshift；
When during the vehicle being in gearshift, it is determined that needing to compensate the moment of torsion of the engine.
4. the control method of torque compensation according to claim 3, it is characterised in that the calculating needs
Compensation moment of torsion size, including：
The current rotating speed of the engine is detected, as the first rotating speed；
The rotating speed of target of the corresponding engine of gear after gearshift, as the second rotating speed, by described second
Rotating speed subtracts the difference that first rotating speed is obtained, used as speed discrepancy；
The size of the compensation moment of torsion of the needs is calculated according to the speed discrepancy.
5. the control method of torque compensation according to claim 4, it is characterised in that described in the basis
Speed discrepancy calculates the size of the compensation moment of torsion of the needs, including：
TQcom=Rerr*kP+Rerr*kI, wherein：The TQcomIt is the compensation moment of torsion of the needs, the Rerr
It is the speed discrepancy, the kPWith the RerrLinear correlation, the kIWith the RerrThe integrated value of change
Linear correlation.
6. the control method of torque compensation according to claim 3, it is characterised in that described to judge whether
Need to compensate the moment of torsion of engine, also include：
When during the vehicle being not in gearshift, judge drive demand moment of torsion whether more than preset first threshold value；
When it is determined that the drive demand moment of torsion is more than the first threshold, the drive demand moment of torsion is judged
Whether the absolute value of slope is more than default Second Threshold；
When it is determined that the absolute value of the slope of the drive demand moment of torsion is more than the Second Threshold, motor is judged
Whether the absolute value of moment of torsion can be provided less than default 3rd threshold value；
When the absolute value that the motor can provide moment of torsion is not less than three threshold value, it is determined that needing to described
The moment of torsion of engine is compensated.
7. the control method of torque compensation according to claim 6, it is characterised in that also include：
Timing is carried out to the time that the moment of torsion of the engine is compensated, as the second time；
Detecting present battery state-of-charge, and calculate the present battery state-of-charge can allow to start to described
The time that the moment of torsion of machine is compensated, as the 3rd time；
Judge second time whether not less than the 3rd time；
When second time three time is not less than, stop mending the moment of torsion of the engine
Repay.
8. the control method of torque compensation according to claim 6, it is characterised in that the calculating needs
Compensation moment of torsion size, including：
Drive demand moment of torsion in real-time detection to the default first time period at current time；
Calculate in the first time period, the rate of change of the drive demand moment of torsion；
Engine described in rate of change and the current torque arithmetic of the engine according to the drive demand moment of torsion
Estimate moment of torsion；
The drive demand moment of torsion is subtracted the difference that moment of torsion is obtained of estimating of the engine, as the need
The compensation moment of torsion wanted.
9. the control method of torque compensation according to claim 8, it is characterised in that described in the basis
The rate of change of drive demand moment of torsion and engine described in the current torque arithmetic of the engine estimate torsion
Square, including：
TQPRE=TQACT+TCON*TQSLEW, wherein：TQPREIt is the moment of torsion of estimating of the engine, TQACT
It is the current moment of torsion of the engine, TCONIt is the rate of change of the drive demand moment of torsion, TQSLEWFor
Time constant.
10. the control method of torque compensation according to claim 1, it is characterised in that
When the motor can provide moment of torsion be on the occasion of when, the motor can provide moment of torsion and power transmission shaft, battery lotus
Electricity condition and motor status are relevant.
The control method of 11. torque compensation according to claim 1 or 10, it is characterised in that when the motor
When can provide moment of torsion for negative value, the motor can provide moment of torsion with the battery charge state, motor shape
The idling speed of state and vehicle is relevant.
A kind of 12. HCU, it is characterised in that including：
First judging unit, is suitable to judge whether to need to compensate the moment of torsion of engine；
First computing unit, is suitable to determine that needs enter the moment of torsion of the engine when first judging unit
During row compensation, the size of the compensation moment of torsion for needing is calculated；
Second judging unit, is suitable to judge whether the absolute value of the compensation moment of torsion can provide moment of torsion less than motor
Absolute value；
First compensating unit, is suitable to determine that the absolute value of the compensation moment of torsion is less than when second judging unit
Or when equal to motor can provide the absolute value of moment of torsion, the engine according to the compensation torque compensation.
13. HCU according to claim 12, it is characterised in that also include：
Second compensating unit, is suitable to determine that the absolute value of the compensation moment of torsion is more than when second judging unit
When motor can provide the absolute value of moment of torsion, the engine according to the motor can provide torque compensation.
14. HCU according to claim 12, it is characterised in that first judging unit, including：
First judgment sub-unit, during being suitable to judge whether vehicle is in gearshift；
First determines compensation subelement, is suitable to determine that the vehicle is in gearshift when first judgment sub-unit
During period, it is determined that needing to compensate the moment of torsion of the engine.
15. HCU according to claim 14, it is characterised in that first computing unit, including：
Detection sub-unit, is adapted to detect for the current rotating speed of the engine, as the first rotating speed；
Speed discrepancy subelement is sought, is suitable to the rotating speed of target the corresponding engine of gear after gearshift, as
Second rotating speed, subtracts the difference that first rotating speed is obtained, as speed discrepancy by second rotating speed；
First compensation calculation subelement, is suitable to compensate the big of moment of torsion according to the speed discrepancy calculating needs
It is small.
16. HCU according to claim 15, it is characterised in that the first compensation calculation subelement,
It is suitable to the size of the compensation moment of torsion that the needs are calculated according to below equation：
TQcom=Rerr*kP+Rerr*kI, wherein：The TQcomIt is the compensation moment of torsion of the needs, the Rerr
It is the speed discrepancy, the kPWith the RerrLinear correlation, the kIWith the RerrThe integrated value of change
Linear correlation.
17. HCU according to claim 14, it is characterised in that first judging unit, also include：
Second judgment sub-unit, is suitable to determine that the vehicle is not in the gearshift phase when first judgment sub-unit
Between when, judge drive demand moment of torsion whether more than preset first threshold value；
3rd judgment sub-unit, is suitable to determine that the drive demand moment of torsion is more than when second judgment sub-unit
During the first threshold, judge the absolute value of slope of the drive demand moment of torsion whether more than default the
Two threshold values；
4th judgment sub-unit, is suitable to determine the oblique of the drive demand moment of torsion when the 3rd judgment sub-unit
When the absolute value of rate is more than the Second Threshold, judge that whether motor can provide the absolute value of moment of torsion and be less than
Default 3rd threshold value；
Second determines compensation subelement, is suitable to determine that the motor can provide torsion when the 4th judgment sub-unit
When the absolute value of square is not less than three threshold value, it is determined that needing to mend the moment of torsion of the engine
Repay.
18. HCU according to claim 17, it is characterised in that also include：
Timing unit, is suitable to carry out timing to the time that the moment of torsion of the engine is compensated, as second
Time；
Computing unit, is adapted to detect for present battery state-of-charge, and calculate the present battery state-of-charge can
The time compensated to the moment of torsion of the engine is allowed, as the 3rd time；
Whether the 3rd judging unit, be suitable to judge second time not less than the 3rd time；
Stop compensating unit, be suitable to determine that second time is not less than described the when the 3rd judging unit
During three time, stop compensating the moment of torsion of the engine.
19. HCU according to claim 17, it is characterised in that first computing unit, also include：
Timing subelement, the drive demand being suitable in real-time detection to the default first time period at current time is turned round
Square；
Computation subunit, is suitable to calculate in the first time period, the rate of change of the drive demand moment of torsion；
Subelement is estimated, is suitable to the rate of change according to the drive demand moment of torsion and the current torsion of the engine
What square calculated the engine estimates moment of torsion；
Second compensation calculation subelement, is suitable to estimate torsion by what the drive demand moment of torsion subtracted the engine
The difference that square is obtained, as the compensation moment of torsion of the needs.
20. HCU according to claim 19, it is characterised in that described to estimate subelement, are suitable to basis
Below equation calculates the moment of torsion of estimating of the engine, including：
TQPRE=TQACT+TCON*TQSLEW, wherein：TQPREIt is the moment of torsion of estimating of the engine, TQACT
It is the current moment of torsion of the engine, TCONIt is the rate of change of the drive demand moment of torsion, TQSLEWFor
Time constant.
21. HCU according to claim 12, it is characterised in that when the motor can provide moment of torsion be on the occasion of
When, it is relevant with power transmission shaft, battery charge state and motor status that the motor can provide moment of torsion.
22. HCU according to claim 13 or 21, it is characterised in that be when the motor can provide moment of torsion
During negative value, it is idle with the battery charge state, motor status and vehicle that the motor can provide moment of torsion
Fast rotating speed is relevant.
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| CN107253476A (en) * | 2017-06-23 | 2017-10-17 | 北京新能源汽车股份有限公司 | Vehicle gear shifting torque control method and device, vehicle control unit and vehicle |
| CN108177647A (en) * | 2017-12-28 | 2018-06-19 | 潍柴动力股份有限公司 | A kind of vehicle and its control method and device |
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