CN108556835A - A kind of natural gas engine matching hybrid power system method for controlling number of revolution - Google Patents
A kind of natural gas engine matching hybrid power system method for controlling number of revolution Download PDFInfo
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- CN108556835A CN108556835A CN201810383572.0A CN201810383572A CN108556835A CN 108556835 A CN108556835 A CN 108556835A CN 201810383572 A CN201810383572 A CN 201810383572A CN 108556835 A CN108556835 A CN 108556835A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0644—Engine 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
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
The invention discloses a kind of natural gas engines to match hybrid power system method for controlling number of revolution, engine speed value, admission pressure value range are set as decision condition, after engine controller ECU receives the TSC1 rotating speed control datas that hybrid controller HCU is sent, judge that engine is still driven a vehicle clutch combination speed governing operating mode in the speed governing operating mode that generates electricity based on decision condition and actual engine speed and practical air inlet pressure force value；Then looking under different operating modes tables of data calling according to engine reality output torque and actual engine speed change rate, to demarcate presetting torque value accordingly presetting to carry out, after presetting, by the fine tuning of speed regulating control PID control until actual engine speed and TSC1 request target rotating speeds are equal.The present invention solves the problems, such as that can not take into account the control of vehicle clutch combination rotating speed and power generation in parking rotating speed when natural gas engine matches hybrid power system simultaneously controls, and can accurately and rapidly respond the rotating speed request command that hybrid power system is sent out.
Description
Technical field
The invention belongs to natural gas engine control technology fields, match and mix more particularly, to a kind of natural gas engine
Power method for controlling number of revolution.
Background technology
It is gas-electricity power combined, i.e., using natural gas as the engine energy, motor is coordinated to drive vehicle jointly.With plug-in
The gas-electricity power combined bus of formula is most commonly seen, since public transport company's charging pile is less, is only enough in the charging of pure electric vehicle,
Plug-in hybrid cannot achieve charging pile charging in practice, and to ensure that electricity is sufficient, climbing accelerates power strong, and mixing is dynamic
Generating function is developed in Force system, power generation button is exactly pressed and adjusts engine to certain rotating speed, drives vehicle ISG electricity
Machine (ISG motors, are directly integrated in and owner is mobilized to draw up, starting-generating all-in-one machine) power generation is charged to storage battery.
And automobile-used natural gas engine response rotating speed control now only has a set of control logic, when matching hybrid power system
The rotating speed control when rotating speed control and power generation that vehicle driving clutch combines can not be taken into account simultaneously, and rotating speed response does not cause precisely
Vehicle hair rushes (vehicle when walking, alter forward suddenly by engine job insecurity), generating operation mode generated energy when clutch combines
The problems such as insufficient.
Invention content
The present invention is directed to overcome above-mentioned the deficiencies in the prior art, it is proposed that a kind of natural gas engine matching mixing
Dynamical system method for controlling number of revolution, the control method have taken into account driving clutch combination speed regulating control and power generation speed governing control simultaneously
System accurately and rapidly responds the velocity request order that hybrid controller HCU is sent.
The technical solution adopted by the present invention to solve the technical problems is：A kind of natural gas engine matching hybrid power system
System method for controlling number of revolution, includes the following steps：
Step 1: setting engine speed value, admission pressure value range are as decision condition；
Step 2: engine controller ECU receives the TSC1 that hybrid power whole vehicle controller HCU is sent by CAN bus
After rotating speed control data, actual engine speed, practical air inlet pressure force value and decision condition are made ratio by engine controller ECU
Compared with judging that engine is in power generation speed governing operating mode and still drives a vehicle clutch combination speed governing operating mode；If engine is in power generation speed governing
Operating mode thens follow the steps three；If engine is in driving, clutch combination speed governing operating mode thens follow the steps four；
Step 3: engine controller ECU is looked into according to engine reality output torque and actual engine speed change rate
Generating operation mode tables of data, calling accordingly demarcate presetting torque value, carry out presetting engine reality output torque；After presetting, comparison hair
Motivation actual speed and TSC1 request target rotating speeds, if actual engine speed and TSC1 request target rotating speeds are unequal, then
It is finely tuned by corresponding speed regulating control PID control, until actual engine speed and TSC1 request target rotating speeds are equal；
Step 4: engine controller ECU is looked into according to engine reality output torque and actual engine speed change rate
Clutch combination speed governing floor data table, calling accordingly demarcate presetting torque value, carry out presetting engine reality output torque；It is presetting
Afterwards, actual engine speed and TSC1 request target rotating speeds are compared, if actual engine speed and TSC1 request targets rotating speed are not
It is equal, then it is finely tuned again by corresponding speed regulating control PID control, until actual engine speed and TSC1 request target rotating speed phases
Deng.
Further, in step 2, when actual engine speed is not equal to setting engine speed value, then engine is in
Driving clutch combination speed governing operating mode；
When actual engine speed is equal to setting engine speed value, and practical air inlet pressure force value is in the air inlet pressure of setting
In power value range, then engine is in power generation speed governing operating mode, and otherwise engine is in driving clutch combination speed governing operating mode.
Further, further include torque closed loop PID regulating steps, really when presetting engine reality output torque in step 3
It protects engine actual torque and is equal to the first presetting torque value of calibration.
Further, further include torque closed loop PID regulating steps, really when presetting engine reality output torque in step 4
It protects engine actual torque and is equal to the second presetting torque value of calibration.
Further, in step 1, engine speed value, admission pressure value range run work according to actual vehicle and engine
Condition is demarcated.
After using above-mentioned technical proposal, the beneficial effects of the invention are as follows：
It is clutch combination speed governing operating mode or power generation speed governing operating mode by engine speed and admission pressure differentiation, uses
Two sets of control logics are respectively controlled, and two kinds of operating modes all optimize presetting control, by according to engine speed and air inlet pressure
Power carry out it is presetting be changed to be carried out according to engine output torque and engine speed change rate presetting, really play presetting
Effect, it is accurate it is presetting on the basis of precisely finely tuned by corresponding speed regulating control PID again, it is ensured that actual engine speed sound
Should precisely it stablize.
All increase presetting torque closed-loop control in same two kinds of operating modes, it is ensured that engine reality output torque and volume calibration
Presetting torque is consistent, and further ensures that the stability of engine work.
Description of the drawings
Fig. 1 is the flow chart of natural gas engine matching hybrid power system method for controlling number of revolution of the present invention；
Fig. 2 is the flow chart of presetting control method during the natural gas engine rotating speed of hybrid power of the present invention controls；
Fig. 3 is the flow chart of torque closed loop control method during the natural gas engine rotating speed of hybrid power of the present invention controls；
Specific implementation mode
The present invention is described in detail with reference to the accompanying drawings and examples.
Flow chart as shown in Figure 1 to Figure 3, Step 1: setting engine according to actual vehicle and engine operation condition
Tachometer value, admission pressure value range are as decision condition；
Step 2: engine controller ECU receives the TSC1 (TSC that hybrid controller HCU is sent by CAN bus:
Torque Speed Control, TSC1 are engine art proprietary terms) after rotating speed control data, engine controller ECU
Actual engine speed, practical air inlet pressure force value are made comparisons with decision condition, judge that engine is in power generation speed governing operating mode also
It is driving clutch combination speed governing operating mode；
When actual engine speed is not equal to setting engine speed value, then engine is in driving clutch combination and adjusts
Fast operating mode；
When actual engine speed is equal to setting engine speed value, and practical air inlet pressure force value is in the air inlet pressure of setting
In power value range, then engine is in power generation speed governing operating mode, and otherwise engine is in driving clutch combination speed governing operating mode.
If engine is in power generation, speed governing operating mode thens follow the steps three；If engine is in driving clutch combination speed governing work
Condition thens follow the steps four；
Step 3: engine controller ECU is looked into according to engine reality output torque and actual engine speed change rate
Generating operation mode tables of data, calling demarcate presetting torque value accordingly, carry out presetting engine reality output torque, in presetting engine
Further include torque closed loop PID regulating steps when reality output torque, if engine actual torque and demarcating presetting torque not phase
Deng then carrying out torque closed loop PID is adjusted, it is ensured that engine actual torque, which is equal to, demarcates presetting torque value.After presetting, comparison is started
Machine actual speed and TSC1 request target rotating speeds pass through again if actual engine speed and TSC1 request target rotating speeds are unequal
The fine tuning of speed regulating control PID control is until actual engine speed and TSC1 request target rotating speeds are equal；
Step 4: engine controller ECU is looked into according to engine reality output torque and actual engine speed change rate
Clutch combination speed governing floor data table, calling accordingly demarcate presetting torque value, carry out presetting engine reality output torque, presetting
Further include torque closed loop PID regulating steps when engine reality output torque, if engine actual torque and the presetting torque of calibration
It is unequal, then it carries out torque closed loop PID and adjusts, it is ensured that engine actual torque, which is equal to, demarcates presetting torque value.After presetting, comparison
Actual engine speed and TSC1 request target rotating speeds, if actual engine speed and TSC1 request target rotating speeds are unequal again
By the fine tuning of speed regulating control PID control until actual engine speed and TSC1 request target rotating speeds are equal.
Wherein, engine speed value, admission pressure value range are set as decision condition；The engine speed value of setting is logical
The rotating speed of engine when often to generate electricity, because the rotating speed of engine immobilizes when power generation, setting admission pressure value range is also
Admission pressure value range when power generation speed governing operating mode is in by the engine that platform experiment obtains.
Power generation speed governing operating mode and driving clutch combination speed governing operating mode are required for obtaining corresponding data by platform experiment
Parameter list, that is, generating operation mode tables of data and clutch combination speed governing floor data table, it is then real according to reality output torque and engine
Border relative speed variation directly invokes under different operating modes the corresponding presetting torque value of calibration in data parameters table.How rack reality is carried out
It tests and is known in the art common sense, this will not be repeated here.
Although and all mention speed regulating control PID and torque closed loop PID in step 3 and step 4 and adjust, title is consistent,
Principles of Regulation are identical, but corresponding input and output parameter is different.
General PID controller is made of proportional unit (P), integral unit (I) and differentiation element (D).Its input e (t) with
Output u (t) relationship be：
The bound integrated in u (t)=kp [e (t)+1/TI ∫ e (t) dt+TD*de (t)/dt] formula is 0 and t respectively
Therefore its transmission function is：G (s)=U (s)/E (s)=kp [1+1/ (TI*s)+TD*s]
Wherein kp is proportionality coefficient；TI is integration time constant；TD is derivative time constant.
Rotating speed controls purpose when clutch combines：Clutch combine when need to control by rotating speed, make engine speed with
The rotating speed of ISG motors is close, to be combined without impact, hair is avoided to rush phenomenon.
Rotating speed when power generation controls purpose：It presses power generation button to adjust engine to certain rotating speed, drives vehicle ISG
Electric power generation charges to storage battery, ensures that electricity is sufficient, improves climbing, accelerates power.
Clutch combines in parallel and series-parallel connection, power generation is required for carrying out speed governing, and power generation is often power generation in parking work when in parallel
Condition, and it can be power generation in parking that series-parallel connection, which is power generation, can also be driving power generation.The present invention is for control of engine speed strategy
Optimization is all suitable in parallel, parallel-serial hybrid power system.
Concrete operating principle：Hybrid controller HCU (can also claim hybrid power whole vehicle controller HCU) is total by CAN
Line sends TSC1 rotating speed control datas to engine controller ECU, after engine controller ECU receives request, by starting
Machine rotating speed and admission pressure judgement are that engine is in driving clutch combination speed governing operating mode or power generation speed governing operating mode, are made respectively
It is controlled with different control strategies.The rotating speed of engine generally compares fixation when power generation, such as：The space that space leads to independent research is logical
Rotating speed is 1300rpm when hybrid power system generates electricity, and rotating speed is 1300rpm when good fortune work hybrid power system generates electricity, green control mixing
Rotating speed is that (space leads to hybrid power system, good fortune work hybrid power system and green control hybrid power system to 1200rpm when dynamical system generates electricity
System is the hybrid power system now sold)；But rotating speed covering is wider when clutch combination speed governing.When power generation, load relatively large one
A bit, torque percentage is probably 65% or so；And symbol load very little, that is, torque is small when clutch combination.
When actual engine speed is not equal to setting engine speed value (rotating speed of engine when being often referred to power generation), then
Engine is in driving clutch combination speed governing operating mode；When actual engine speed is equal to setting engine speed value, and it is real
Border air inlet pressure force value is in the admission pressure value range of setting, then engine is in power generation speed governing operating mode, and otherwise engine is in
Clutch combination speed governing operating mode.(generating operation mode needs acting that mechanical energy is become electric energy, therefore torque is larger, P=T*n/9550,
T torques, n rotating speeds, 9550 be constant, and when n is consistent, when T torques are larger, and the admission pressure of natural gas engine directly characterizes
Torque, i.e., practical air inlet pressure force value is in the admission pressure value range of setting, and as generate electricity speed governing operating mode.) therefore, it can root
Specially generate electricity speed governing or clutch combination speed governing are distinguished according to hair engine speed and the two conditions of admission pressure.
Such as generating operation mode, shock loads are larger.Presetting function is optimized, according to engine output torque and engine
Relative speed variation demarcates presetting torque, so as to actual engine speed quick response, and makes engine by speed regulating control PID
Actual speed fast accurate is stable at TSC1 rotating speed desired values；For due to change of external conditions, lead to engine actual torque
The not accurate problem of presetting torque is responded, torque closed-loop control is increased, engine reality output is made by the PID adjustings of torque closed loop
Torque is consistent in the presetting torque being calculated.
Torque closed loop PID control is：We are completed by Bench calibration throttle opening to torque responsive, but environment
Variation directly affects the torque under identical throttle opening, in order to ensure the accurate of final torque responsive, increases torque and closes
Ring debugging functions will adjust air throttle by torque closed loop PID and open if engine actual torque has gap with target torque
Degree ensures that the two is consistent.
The above is presently preferred embodiments of the present invention, is not intended to limit the invention, all spirit in the present invention
With within principle made by any modification and improvement, should be included in protection scope of the present invention.
Claims (5)
1. a kind of natural gas engine matches hybrid power system method for controlling number of revolution, which is characterized in that include the following steps：
Step 1: setting engine speed value, admission pressure value range are as decision condition；
Step 2: engine controller ECU receives the TSC1 rotating speeds that hybrid power whole vehicle controller HCU is sent by CAN bus
After control data, engine controller ECU makes comparisons actual engine speed, practical air inlet pressure force value with decision condition, sentences
Disconnected engine is in power generation speed governing operating mode and still drives a vehicle clutch combination speed governing operating mode；If engine is in power generation speed governing operating mode
Execute step 3；If engine is in driving, clutch combination speed governing operating mode thens follow the steps four；
Step 3: engine controller ECU looks into power generation according to engine reality output torque and actual engine speed change rate
Floor data table, calling accordingly demarcate presetting torque value, carry out presetting engine reality output torque；After presetting, engine is compared
Actual speed and TSC1 request target rotating speeds, if actual engine speed and TSC1 request target rotating speeds are unequal, then pass through
Corresponding speed regulating control PID control fine tuning, until actual engine speed and TSC1 request target rotating speeds are equal；
Step 4: engine controller ECU looks into clutch according to engine reality output torque and actual engine speed change rate
In conjunction with speed governing floor data table, calling accordingly demarcates presetting torque value, carrys out presetting engine reality output torque；It is right after presetting
Than actual engine speed and TSC1 request target rotating speeds, if actual engine speed and TSC1 request target rotating speeds are unequal,
It is then finely tuned again by corresponding speed regulating control PID control, until actual engine speed and TSC1 request target rotating speeds are equal.
2. natural gas engine as described in claim 1 matches hybrid power system method for controlling number of revolution, which is characterized in that step
In rapid two,
When actual engine speed is not equal to setting engine speed value, then engine is in driving clutch combination speed governing work
Condition；
When actual engine speed is equal to setting engine speed value, and practical air inlet pressure force value is in the admission pressure model of setting
It encloses in value, then engine is in power generation speed governing operating mode, and otherwise engine is in driving clutch combination speed governing operating mode.
3. natural gas engine as described in claim 1 matches hybrid power system method for controlling number of revolution, which is characterized in that step
Further include torque closed loop PID regulating steps, it is ensured that engine actual torque when presetting engine reality output torque in rapid three
Equal to the first presetting torque value of calibration.
4. natural gas engine as described in claim 1 matches hybrid power system method for controlling number of revolution, which is characterized in that step
Further include torque closed loop PID regulating steps, it is ensured that engine actual torque when presetting engine reality output torque in rapid four
Equal to the second presetting torque value of calibration.
5. natural gas engine as described in claim 1 matches hybrid power system method for controlling number of revolution, which is characterized in that step
In rapid one, engine speed value, admission pressure value range are demarcated according to actual vehicle and engine operation condition.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111705859A (en) * | 2020-06-30 | 2020-09-25 | 柳工常州机械有限公司 | Bulldozer steering control method and system |
| CN112874507A (en) * | 2019-11-29 | 2021-06-01 | 比亚迪股份有限公司 | Hybrid vehicle and control method, device and system thereof |
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| CN101532441A (en) * | 2009-04-10 | 2009-09-16 | 北京工业大学 | Control method of idling speed double closed-loop of gaseous propellant engine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111705859A (en) * | 2020-06-30 | 2020-09-25 | 柳工常州机械有限公司 | Bulldozer steering control method and system |
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| CN108556835B (en) | 2019-09-27 |
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