CN108216180B - 混合动力车辆的换挡控制方法 - Google Patents

混合动力车辆的换挡控制方法 Download PDF

Info

Publication number
CN108216180B
CN108216180B CN201710638471.9A CN201710638471A CN108216180B CN 108216180 B CN108216180 B CN 108216180B CN 201710638471 A CN201710638471 A CN 201710638471A CN 108216180 B CN108216180 B CN 108216180B
Authority
CN
China
Prior art keywords
torque
motor torque
motor
increasing
rollback
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201710638471.9A
Other languages
English (en)
Other versions
CN108216180A (zh
Inventor
曹圣铉
南周铉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hyundai Motor Co
Kia Corp
Original Assignee
Hyundai Motor Co
Kia Motors Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hyundai Motor Co, Kia Motors Corp filed Critical Hyundai Motor Co
Publication of CN108216180A publication Critical patent/CN108216180A/zh
Application granted granted Critical
Publication of CN108216180B publication Critical patent/CN108216180B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/15—Control strategies specially adapted for achieving a particular effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B60W10/11—Stepped gearings
    • B60W10/113—Stepped gearings with two input flow paths, e.g. double clutch transmission selection of one of the torque flow paths by the corresponding input clutch
    • 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
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/40—Controlling the engagement or disengagement of prime movers, e.g. for transition between prime movers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18063—Creeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18118—Hill holding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/19—Improvement of gear change, e.g. by synchronisation or smoothing gear shift
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/36—Inputs being a function of speed
    • F16H59/38—Inputs being a function of speed of gearing elements
    • F16H59/42—Input shaft speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/68—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for stepped gearings
    • F16H61/684—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for stepped gearings without interruption of drive
    • F16H61/688—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for stepped gearings without interruption of drive with two inputs, e.g. selection of one of two torque-flow paths by clutches
    • 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
    • B60W2510/02—Clutches
    • B60W2510/0275—Clutch 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/08—Electric propulsion units
    • B60W2510/083—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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/10—Change speed gearings
    • B60W2510/1005—Transmission ratio engaged
    • 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
    • B60W2510/10—Change speed gearings
    • B60W2510/1015—Input shaft speed, e.g. turbine speed
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/02—Clutches
    • B60W2710/021—Clutch engagement state
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/02—Clutches
    • B60W2710/027—Clutch 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
    • B60W2710/081—Speed
    • 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
    • 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
    • B60W2710/10—Change speed gearings
    • B60W2710/1005—Transmission ratio engaged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/92—Hybrid vehicles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/20—Preventing gear creeping ; Transmission control during standstill, e.g. hill hold control
    • F16H2061/205—Hill hold control, e.g. with torque converter or a friction device slightly engaged to keep vehicle stationary
    • 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
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S903/00—Hybrid electric vehicles, HEVS
    • Y10S903/902—Prime movers comprising electrical and internal combustion motors
    • Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
    • Y10S903/93—Conjoint control of different elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Hybrid Electric Vehicles (AREA)

Abstract

本发明涉及一种换挡控制方法，其通过减少在上坡上的换挡过程中的车辆的回滚来提高驾驶的稳定性。该用于混合动力车辆的换挡控制方法包括：当请求无动力降挡至最低挡位时，基于变速器输入轴的转数的变化来确定车辆的回滚程度；当回滚程度等于或大于设定值时，减小脱离离合器转矩、增加接合离合器转矩，并增加电动机转矩，使得电动机转矩跟随期望的电动机转矩；当脱离离合器转矩等于或小于设定转矩时，通过减小电动机转矩来使电动机速度与接合输入轴速度同步；以及当同步完成时，通过增加电动机转矩来完成换挡。

Description

混合动力车辆的换挡控制方法
技术领域
本发明涉及一种混合动力车辆的换挡控制方法。
背景技术
本部分中的陈述仅提供与本发明有关的背景信息，并且其可能不构成现有技术。
当进行换挡时，驾驶员基于道路状态或车辆的行驶状态，选择用于将期望的动力传递到车轮的最优挡位，并随后在需要换挡时进行换挡。也就是说，在车辆抵抗斜坡的阻力的过程中根据驾驶员的意图实现换挡。
基于由各种道路状态和驾驶员的意图确定的换挡模式来确定换挡。
同时，与具有发动机变速器机构(engine-transmission mechanism)的车辆不同，在装配有双离合器变速器(DCT)的混合动力车辆的***中，在某些情况下换挡能立刻执行直至车辆停止。
也就是说，当在车辆被驱动时执行换入更低挡位的换挡时，产生沉闷的噪音，因此驾驶员在停止车辆前几乎立即进行换挡以减小噪音和振动。
我们已经发现，即使在上坡坡道上，当驾驶员以此种方式在停止车辆前几乎立即换挡时，车辆还可能在车辆的动力不足时被向后拉。
发明内容
本发明提供一种用于混合动力车辆的换挡控制方法，该方法通过减少在上坡上的换挡过程中的回滚(roll-back)来提高驾驶的稳定性。
在本发明的一个实施方式中，一种用于混合动力车辆的换挡控制方法包括：回滚确定步骤，其中当请求无动力降挡至最低挡位时，控制器基于变速器输入轴的转数的变化来确定车辆的回滚程度；电动机转矩增加步骤，其中当回滚程度等于或大于设定值时，控制器减小脱离离合器转矩，增加接合离合器转矩，并增加电动机转矩，使得电动机转矩跟随期望的电动机转矩；同步控制步骤，其中当脱离离合器转矩等于或小于设定转矩时，控制器通过减小电动机转矩来使电动机速度与接合输入轴速度同步；以及换挡完成步骤，当同步完成时，通过增加电动机转矩来完成无动力降挡。
在回滚确定步骤中，可确定反向旋转的脱离输入轴的转数是否等于或大于设定转数。
在电动机转增加步骤中，可通过向紧接的前一控制周期中的电动机转矩增加预定量来线性增加电动机转矩，并且通过向紧接的前一控制周期中的接合离合器转矩增加量电动机转矩的增加来增加接合离合器转矩。
在同步控制步骤中，可基于车辆的回滚程度来确定电动机转矩的减小量，并且可减小电动机转矩。
在同步控制步骤中，可通过向变速器输入转矩增加预定量来将接合离合器转矩增加到期望的接合离合器转矩。
在响应于换到最低挡位的无动力降挡请求而接合最低挡位前，可减小电动机转矩。
在本发明的实施方式中，通过增加来自电动机的动力并使电动机同步，在在上坡上从第二挡换到第一挡的过程中车辆的回滚显著减小。因此，车辆的行驶稳定性得以提高且制动能力得以提高
根据本文所提供的描述，其他适用范围将变得显而易见。应当理解的是，本文描述和具体示例仅旨在用于说明的目的，并不意图于限制本发明的范围。
附图说明
为了能良好地理解本发明，先将参考附图描述以示例方式给出的本发明的各种实施方式，其中：
图1是示意性示出装配有能够应用到本发明的DCT的混合动力车辆的整体结构的视图；
图2是示出本发明的一种实施方式中的换挡控制的流程的流程图；以及
图3是示出在本发明的一种实施方式的换挡控制过程中的操作状态的视图。
此处描述的附图仅用于说明的目的，且并不意图以任何方式限制本发明的范围。
具体实施方式
下文描述本质上仅是示例性的，且其不意图限制本发明及其应用或用途。应当理解的是，贯穿附图，相应的附图标记表示相似或相应的部件和特征。
如图1所示，本发明可被应用到配备有DCT的混合动力车辆。
参考附图，DCT的两个离合器的接合离合器和脱离离合器分别由“CL1”和“CL2”表示，用于接合和脱离离合器的致动器分别由“CLA1”和“CLA2”表示，且接合输入轴和脱离输入轴分别由“INPUT1(输入1)”和“INPUT2(输入2)”表示。
然而，这仅是为了便于理解本发明，且可根据哪个离合器是与当前挡位接合的离合器，且哪个离合器是将与所需挡位接合的离合器来改变接合与脱离。
本发明的混合动力车辆的换挡控制方法可包括回滚(roll-back)确定步骤、电动机转矩增加步骤、同步控制步骤和换挡完成步骤。
参考图2和图3来详细描述本发明，首先，在回滚确定步骤中，当无动力(power-off)降挡至最低挡时，控制器“C”可基于变速器输入轴的转速的变化来确定车辆的回滚量。
“无动力降挡”指的是在驾驶员不踏下加速器踏板的情况下，根据换挡模式从当前挡位换挡到更低的挡位。
详细地，对于回滚程度，可以确定反向旋转的脱离输入轴的转数是否为设定的转数以上。
例如，能够判断在停止在上坡上向前行驶的车辆前，立即从第二挡降挡到第一挡的过程中，脱离输入轴的转数是否超过-50RPM。
在电动机转矩增加步骤中，回滚程度等于或大于预定值，且控制器“C”能够增加电动机转矩，从而通过减小脱离离合器的转矩并增加接合离合器的转矩来使电动机转矩跟随期望的电动机转矩。
例如，当给出降挡的指令时，可基于在换挡过程中输入的各种信号产生期望的电动机转矩的配置文件(profile)，其中当接合第一挡时，可增加电动机转矩以跟随期望的电动机转矩，并且可控制接合离合器转矩和脱离离合器转矩使其相互交叉(cross)。
为此，在响应于换挡成最低挡的请求而接合最低挡前，能够减小电动机转矩使其接近0Nm，因此能在电动机转矩增加步骤中增加电动机转矩。
也就是说，立即执行再生制动，直至执行从第二挡到第一挡的降挡，但是当在没有增加的或减小的电动机转矩的状态下进入降挡过程时，电动机转矩被传递到包括第二挡的偶数挡，且这些挡位瞬间从反向方向逆转成前进方向，从而产生齿轮齿隙噪声。因此，减小电动机转矩以降低噪声。
在同步控制步骤中，当脱离离合器转矩等于或小于设定转矩时，控制器“C”可通过减小电动机转矩来使电动机速度与接合输入轴速度同步。
例如，在电动机转矩增加步骤中，当脱离离合器转矩下降至0Nm以下时，电动机转矩急剧减小。
因此，随着电动机速度下降，脱离输入轴速度的滑移和电动机速度增加，因此电动机速度可以与接合输入轴速度同步。
在换挡完成步骤中，当同步完成时，能够增加电动机转矩并完成换挡。例如，电动机转矩可线性增加以跟随期望的电动机转矩。
根据该结构，当在车辆停止之前，在立即从第二挡降挡到第一挡的过程中，车辆将由于在上坡上的不足动力而被向后拉时，通过再次增加电动机“M”的动力并使电动机速度同步来控制来自电动机“M”的动力，使其以最大程度传递到驱动轮。
因此，减小了在上坡上的换挡过程中车辆的回滚，从而提供了车辆的稳定驾驶性能，并提高了制动力，因此提高了车辆的市销质量。
此外，在本发明的电动机增加步骤中，分别通过增加预定量的转矩来增加电动机转矩和接合离合器转矩。
例如，能够通过向紧接的前一控制周期中的电动机转矩(t-1)增加预定量的转矩(1Nm/10ms)来线性增加电动机转矩。
电动机转矩(Tm)＝紧接的前一控制周期中电动机转矩(t-1)+增加的转矩(1Nm/10ms)。
此外，通过向紧接的前一控制周期中的接合离合器转矩(t-1)增加作为电动机转矩的增加的预定量转矩(1Nm/10ms)，能够增加接合离合器的转矩。
接合离合器转矩(Tc)＝紧接的前一控制周期中的接合离合器转矩(t-1)+增加的转矩(1Nm/10ms)
也就是说，能够将接合离合器的转矩增加与电动机转矩的增加一样多。
此外，在同步控制步骤中，能根据车辆的回滚程度来确定电动机转矩的减小量并减小电动机转矩。
此外，在同步控制步骤中，通过将变数器输入增加预定量(0.4Nm/10ms)，能够将接合离合器转矩增加到期望的接合离合器转矩。
接合离合器转矩(Tc)＝变速器输入转矩+增加的转矩(0.4Nm/10ms)
也就是说，能够确定电动机转矩的减小量，使得回滚程度越大，电动机转矩减小的就越多，并且能控制电动机转矩。
因此，车辆向后拉动越多，电动机速度与接合输入轴速度同步的就越快，因此来自电动机“M”的动力被更快地传递到驱动轮，因此车辆将尽可能少地被向后拉。
在下文中，描述了本发明的一种实施方式中的换挡控制过程。
参考图2和图3，当请求进行从第二挡到第一挡的无动力换挡时，确定在其上具有第二齿轮的脱离输入轴是否以-50RPM以上的转数反向旋转(S10)。
作为S10中的确定的结果，当脱离输入轴以-50RPM以上的转数反向旋转时，减小电动机转矩以降低噪音/振动(S20)。
接下来，确定第一挡是否接合(S30)，并且当第一挡接合时，减小脱离离合器转矩并增大接合离合器转矩以使其相互交叉，并且以预定量增加电动机转矩(S40)。
接下来，确定脱离离合器转矩是否为0Nm以下(S50)，并且作为S50中的判定结果，当脱离离合器转矩为0Nm以下时，基于车辆的回滚程度确定电动机转矩的减小量并减小电动机转矩。因此，电动机转矩可下降并与接合输入轴速度同步(S60)。
此后，确定电动机速度是否与接合输入轴速度同步(S70)，并且当同步完成时，再次增加电动机转矩(S80)，并能完成换挡。
如上所述，在本发明的一种实施方式中，在在上坡上从第二挡换到第一挡的过程中，通过增加来自电动机的动力并同步电动机来减小车辆的回滚，借此提供车辆的行驶稳定性，且提高制动力，从而提高车辆的适销品质。
尽管为了说明的目的描述了本发明的示例性实施方式，但是本领域技术人员将理解，在不违背本发明的范围和精神的情况下，可以进行各种修改、增添和替换。

Claims (6)

1.一种用于混合动力车辆的换挡控制方法，所述方法包括以下步骤：
回滚确定步骤，其中当请求无动力降挡至最低挡位时，控制器基于变速器输入轴的转数的变化来确定车辆的回滚程度；
电动机转矩增加步骤，其中当所述回滚程度等于或大于设定值时，所述控制器减小脱离离合器转矩，增加接合离合器转矩，并增加电动机转矩，使得所述电动机转矩跟随期望的电动机转矩；
同步控制步骤，其中当所述脱离离合器转矩等于或小于设定转矩时，所述控制器通过减小所述电动机转矩来使电动机速度与接合输入轴速度同步；以及
换挡完成步骤，当同步完成时，通过增加所述电动机转矩来完成所述无动力降挡。
2.根据权利要求1所述的方法，其中所述回滚确定步骤包括：确定反向旋转的脱离输入轴的转数是否等于或大于设定转数。
3.根据权利要求1所述的方法，其中所述电动机转矩增加步骤包括：
通过向紧接的前一控制周期中的电动机转矩增加预定量的转矩来线性增加所述电动机转矩，并且
通过向紧接的前一控制周期中的接合离合器转矩增加所述电动机转矩的增加量来增加所述接合离合器转矩。
4.根据权利要求1所述的方法，其中所述同步控制步骤包括：基于所述车辆的回滚程度来确定所述电动机转矩的减小量，并且减小所述电动机转矩。
5.根据权利要求1所述的方法，其中所述同步控制步骤包括：通过向变速器输入转矩增加预定量的转矩来将所述接合离合器转矩增加到期望的接合离合器转矩。
6.根据权利要求1所述的方法，其中，在响应于换到最低挡位的无动力降挡请求而接合所述最低挡位前，减小所述电动机转矩。
CN201710638471.9A 2016-12-12 2017-07-31 混合动力车辆的换挡控制方法 Active CN108216180B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020160168252A KR102565346B1 (ko) 2016-12-12 2016-12-12 하이브리드 차량용 변속 제어방법
KR10-2016-0168252 2016-12-12

Publications (2)

Publication Number Publication Date
CN108216180A CN108216180A (zh) 2018-06-29
CN108216180B true CN108216180B (zh) 2022-06-24

Family

ID=62488261

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710638471.9A Active CN108216180B (zh) 2016-12-12 2017-07-31 混合动力车辆的换挡控制方法

Country Status (3)

Country Link
US (1) US10293809B2 (zh)
KR (1) KR102565346B1 (zh)
CN (1) CN108216180B (zh)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102465908B1 (ko) * 2017-12-13 2022-11-11 현대자동차주식회사 하이브리드 dct 차량의 다운쉬프트 제어 방법
CN109237015B (zh) * 2018-09-05 2020-09-11 一汽解放汽车有限公司 一种商用车气动控制amt变速器换挡同步过程控制方法
WO2020142914A1 (zh) * 2019-01-09 2020-07-16 舍弗勒技术股份两合公司 滑行降挡控制方法和控制***
US11760211B2 (en) * 2019-09-12 2023-09-19 Ford Global Technologies, Llc System and method for changing gear ranges of an electric vehicle
SE544034C2 (en) * 2020-03-25 2021-11-16 Scania Cv Ab Method, computer program, computer-readable medium, control arrangement and a vehicle for downshifting gears in an uphill slope
SE544596C2 (en) * 2020-12-14 2022-09-20 Scania Cv Ab Control device, vehicle, computer program, computer readable medium and method for performing gearshift during creep mode
CN112984099B (zh) * 2021-05-08 2021-07-27 北京航空航天大学 一种无动力升挡过程中改变意图的换挡控制方法

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998031559A1 (en) * 1997-01-17 1998-07-23 Rover Group Limited Hybrid vehicle powertrain control
JP2008221879A (ja) * 2007-03-08 2008-09-25 Toyota Motor Corp 車両の制御装置
CN102278462A (zh) * 2010-06-14 2011-12-14 福特全球技术公司 控制动力换挡变速器中无动力降档的方法
KR20120082623A (ko) * 2011-01-14 2012-07-24 콘티넨탈 오토모티브 시스템 주식회사 하이브리드 차량의 후진 주행 중 직진 변속 시에 대한 변속 제어 방법
JP2012171440A (ja) * 2011-02-21 2012-09-10 Aisin Ai Co Ltd 車両の動力伝達制御装置
CN104728423A (zh) * 2013-12-18 2015-06-24 现代自动车株式会社 一种应用于具有双离合转换器的车辆的换档控制方法
CN105020297A (zh) * 2014-04-29 2015-11-04 现代自动车株式会社 用于dct车辆的离合器扭矩控制方法

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3952005B2 (ja) * 2003-11-18 2007-08-01 日産自動車株式会社 ハイブリッド車両の駆動装置
JP4462208B2 (ja) * 2006-02-28 2010-05-12 日産自動車株式会社 ハイブリッド車両の発進時エンジン始動制御装置
KR101382941B1 (ko) 2008-07-02 2014-04-17 현대자동차주식회사 하이브리드 차량의 회생제동시 모터 역회전 방지 방법
WO2010137123A1 (ja) * 2009-05-26 2010-12-02 トヨタ自動車株式会社 車両用動力伝達装置の変速制御装置
JP2011213166A (ja) * 2010-03-31 2011-10-27 Honda Motor Co Ltd ハイブリッド車両用駆動装置
JP5575522B2 (ja) * 2010-03-31 2014-08-20 本田技研工業株式会社 ハイブリッド車両の動力制御装置
US8882632B2 (en) * 2010-10-27 2014-11-11 Toyota Jidosha Kabushiki Kaisha Control device of vehicle power transmission device
US9616895B2 (en) * 2012-05-07 2017-04-11 Ford Global Technologies, Llc Controlled regenerative braking torque incrementing in hybrid vehicle downshift
CN105121244B (zh) * 2013-04-22 2017-09-22 本田技研工业株式会社 混合动力车辆的控制装置
KR101481335B1 (ko) * 2013-11-20 2015-01-09 현대자동차주식회사 하이브리드 차량의 변속제어방법
KR101601411B1 (ko) * 2014-04-30 2016-03-09 현대자동차주식회사 Dct차량의 변속제어 방법
KR101592695B1 (ko) * 2014-05-21 2016-02-15 현대자동차주식회사 Dct차량의 변속 제어방법
KR20160053327A (ko) * 2014-11-03 2016-05-13 현대자동차주식회사 Dct 차량의 변속 제어 방법
KR101755797B1 (ko) * 2015-06-26 2017-07-10 현대자동차주식회사 Ｄｃｔ용 클러치 토크 학습방법 및 장치
KR101755857B1 (ko) * 2015-10-08 2017-07-20 현대자동차주식회사 듀얼클러치식 하이브리드차량의 변속 제어방법 및 그 제어시스템
US10029694B2 (en) * 2016-10-05 2018-07-24 Caterpillar Inc. Control strategy for a powertrain system

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998031559A1 (en) * 1997-01-17 1998-07-23 Rover Group Limited Hybrid vehicle powertrain control
JP2008221879A (ja) * 2007-03-08 2008-09-25 Toyota Motor Corp 車両の制御装置
CN102278462A (zh) * 2010-06-14 2011-12-14 福特全球技术公司 控制动力换挡变速器中无动力降档的方法
KR20120082623A (ko) * 2011-01-14 2012-07-24 콘티넨탈 오토모티브 시스템 주식회사 하이브리드 차량의 후진 주행 중 직진 변속 시에 대한 변속 제어 방법
JP2012171440A (ja) * 2011-02-21 2012-09-10 Aisin Ai Co Ltd 車両の動力伝達制御装置
CN104728423A (zh) * 2013-12-18 2015-06-24 现代自动车株式会社 一种应用于具有双离合转换器的车辆的换档控制方法
CN105020297A (zh) * 2014-04-29 2015-11-04 现代自动车株式会社 用于dct车辆的离合器扭矩控制方法

Also Published As

Publication number Publication date
CN108216180A (zh) 2018-06-29
KR102565346B1 (ko) 2023-08-16
KR20180067741A (ko) 2018-06-21
US10293809B2 (en) 2019-05-21
US20180162362A1 (en) 2018-06-14

Similar Documents

Publication Publication Date Title
CN108216180B (zh) 混合动力车辆的换挡控制方法
US10099693B2 (en) Control method of dual clutch transmission for hybrid electric vehicle and control system for the same
CN103010214B (zh) 一种并联混合动力汽车换挡控制方法
US10046642B2 (en) Control method of dual clutch transmission for hybrid electric vehicle and control system for the same
KR101836669B1 (ko) 하이브리드 차량용 변속 제어방법
KR101806666B1 (ko) Ｄｃｔ차량용 변속 제어방법
JPH10243502A (ja) 車両用駆動装置の制御装置
KR101756026B1 (ko) 하이브리드 차량용 변속 제어방법
CN109990083B (zh) Dct车辆的加速控制方法
KR101786241B1 (ko) 전기차 변속기 제어방법
US9862389B2 (en) Shifting control method for vehicle
KR102598558B1 (ko) 하이브리드 차량의 파워-오프 다운시프트를 위한 능동 변속 제어 방법
CN111212750B (zh) 用于同步第一变速器组件的方法
KR102030144B1 (ko) Dct 차량의 변속제어방법
US10316957B2 (en) Shifting control method for vehicles with dual clutch transmission
US8639425B2 (en) Automated synchronization
CN106585615B (zh) 混合动力车辆的控制方法
CN105008769A (zh) 自动变速机的控制装置
KR102465908B1 (ko) 하이브리드 dct 차량의 다운쉬프트 제어 방법
CN110191831B (zh) 用于构建混合动力传动系的致动器处的扭矩设定点的方法
KR20150024212A (ko) Dct 차량의 변속제어 방법
CN106347355B (zh) 用于车辆的驱动***以及其控制方法
KR102598557B1 (ko) 하이브리드 차량의 정지전 다운시프트 제어 방법
KR102465907B1 (ko) Dct 차량의 업쉬프트 제어방법
KR101806708B1 (ko) 하이브리드 차량용 변속 제어방법

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant