CN109677391A - A kind of mixing dynamical vehicle torsional moment control method, device and electronic equipment - Google Patents
A kind of mixing dynamical vehicle torsional moment control method, device and electronic equipment Download PDFInfo
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- CN109677391A CN109677391A CN201710973209.XA CN201710973209A CN109677391A CN 109677391 A CN109677391 A CN 109677391A CN 201710973209 A CN201710973209 A CN 201710973209A CN 109677391 A CN109677391 A CN 109677391A
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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
- 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
- B60W10/08—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
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- 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
-
- 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)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Hybrid Electric Vehicles (AREA)
- Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
Abstract
The present invention provides a kind of mixing dynamical vehicle torsional moment control method, device and electronic equipments, this method comprises: calculating the rotating speed difference of first clutch principal and subordinate moved end in real time when detecting that gas pedal depth value is greater than depth threshold；Judge whether the absolute value for the whole rotating speed differences being calculated in preset period of time is respectively less than rotational speed difference threshold value；If it is not, calculating the demand torque value of first clutch drive end, and the current rotating speed difference of torque value and first clutch principal and subordinate moved end control engine adjusts engine torque value as desired；The torque difference between demand torque value and engine torque value adjusted is calculated, and adjusts first motor torque value according to torque difference control first motor.Method disclosed by the invention, according to the torque value of demand torque the value coordinated control engine and first motor of first clutch drive end, to achieve the purpose that quickly to adjust first clutch drive end revolving speed, the smooth degree in drive system handoff procedure is also ensured that.
Description
Technical field
The present invention relates to technical field of new energy, control more specifically to a kind of mixing dynamical vehicle torsional moment
Method, apparatus and electronic equipment.
Background technique
Fig. 1 is the power system architecture schematic diagram of hybrid vehicle, includes three power sources in the dynamical system: being located at
The engine 10 and first motor 20 of 30 drive end of first clutch, and the second motor positioned at 30 drive end of second clutch
60, wherein it is rigidly connected between engine 10, first motor 20 and first clutch 30, first clutch 30 and the second clutch
Device 50 is connected by gear 40.
Hybrid vehicle generally uses two drive system of series and parallel type at present, in tandem drive system,
First clutch is opened, second clutch is closed, and is travelled by the second motor-driven vehicle；In parallel drive system, first
Clutch and second clutch are closed, and drive vehicle driving jointly by first motor, the second motor and engine.
And first clutch is normally opened, second clutch is normally closed, to guarantee that it is parallel that drive system is switched to by tandem,
Exactly be closed vehicle non-jitter during first clutch, how rapid coordination first clutch principal and subordinate moved end revolving speed it is consistent
The problem of being those skilled in the art's urgent need to resolve.
Summary of the invention
In view of this, the present invention provides a kind of mixing dynamical vehicle torsional moment control method, device and electronic equipment, to solve
How the consistent problem of revolving speed of rapid coordination first clutch principal and subordinate moved end.Technical solution is as follows:
A kind of mixing dynamical vehicle torsional moment control method, comprising:
When detecting that gas pedal depth value is greater than depth threshold, the revolving speed of first clutch principal and subordinate moved end is calculated in real time
Difference；
Judge whether the absolute value of the whole being calculated in the preset period of time rotating speed difference is respectively less than rotational speed difference threshold value；
If it is not, calculate the demand torque value of the first clutch drive end, and according to the demand torque value and described
The current rotating speed difference control engine of first clutch principal and subordinate moved end adjusts engine torque value；
The torque difference between the demand torque value and the engine torque value adjusted is calculated, and according to described
Torque difference controls first motor and adjusts first motor torque value.
Preferably, further includes:
If so, generating for characterizing the consistent prompt information of first clutch principal and subordinate moved end revolving speed.
Preferably, the demand torque value for calculating the first clutch drive end, comprising:
Relative speed variation of the first clutch driven end in the preset period of time is calculated, and is become according to the revolving speed
Rate calculates the compensation torque value of the first clutch drive end；
According to the whole rotational speed difference and preset ratio being calculated in the preset period of time-Integrated Derivative algorithm meter
Calculate the adjusting torque value of the first clutch drive end；
According to the compensation torque value and the demand torque for adjusting torque value and calculating the first clutch drive end
Value.
Preferably, the current rotating speed difference control according to the demand torque value and first clutch principal and subordinate moved end
Engine processed adjusts engine torque value, comprising:
Compare the demand torque value and current engine torque value；
When the demand torque value is greater than the current engine torque value, controls the engine and turned round according to default liter
Rule carries out a liter torsion operation on the basis of current engine torque value；
When the demand torque value is less than the current engine torque value, judge whether the engine is in oil-break
State；
When the engine is not at oil-break state, the current rotating speed difference of first clutch principal and subordinate moved end is judged
Absolute value whether be less than oil-break rotational speed difference threshold value；
When the absolute value of the current rotating speed difference of first clutch principal and subordinate moved end is less than the oil-break rotational speed difference threshold value
When, the engine is controlled according to default drop torsion rule, and drop torsion operation is carried out on the basis of the current engine torque value；
When the absolute value of the current rotating speed difference of first clutch principal and subordinate moved end is not less than the oil-break rotational speed difference threshold
When value, the engine is switched into oil-break state, and controls the engine and works as according to default oil-break drop torsion rate described
Drop is carried out on the basis of front engine torque value turns round operation；
When the engine is in oil-break state, the current rotating speed difference of first clutch principal and subordinate moved end is judged
Whether absolute value is less than fuel feeding rotational speed difference threshold value；
When the absolute value of the current rotating speed difference of first clutch principal and subordinate moved end is less than the fuel feeding rotational speed difference threshold value
When, the engine is switched into oil condition, and control the engine and turn round rule in the current power according to default drop
Drop is carried out on the basis of machine torque value turns round operation.
Preferably, the control engine turns round rule on the basis of the current engine torque value according to default drop
On carry out drop turn round operation, comprising:
According to the current rotating speed difference of first clutch principal and subordinate moved end, the current engine torque value and first
Motor maximum torque value determines that engine drop turns round rate；
Judge that the engine drop turns round whether rate is greater than drop torsion rate-valve value；
The speed adjust angle of ignition is turned round if so, controlling the engine and dropping according to the engine, and in the current power
Drop is carried out with the angle of ignition adjusted on the basis of machine torque value and turns round operation；
Speed adjust air throttle is turned round if it is not, controlling the engine and dropping according to the engine, and in the current power
Drop is carried out with the air throttle adjusted on the basis of machine torque value and turns round operation.
A kind of mixing dynamical vehicle torsional moment control device, comprising: computing module, judgment module, the first calculation control module
With the second calculation control module；
The computing module, for when detect gas pedal depth value be greater than depth threshold when, in real time calculate first from
The rotating speed difference of clutch principal and subordinate moved end；
The judgment module, whether the absolute value of the whole rotating speed difference for judging to be calculated in preset period of time
Respectively less than rotational speed difference threshold value；If it is not, then triggering first calculation control module；
First calculation control module, for calculating the demand torque value of the first clutch drive end, and according to
The demand torque value and the current rotating speed difference of first clutch principal and subordinate moved end control engine adjust engine torque
Value；
Second calculation control module, for calculating the demand torque value and the engine torque value adjusted
Between torque difference, and according to the torque difference control first motor adjust first motor torque value.
Preferably, control mould is calculated for calculating described the first of the demand torque value of the first clutch drive end
Block is specifically used for:
Relative speed variation of the first clutch driven end in the preset period of time is calculated, and is become according to the revolving speed
Rate calculates the compensation torque value of the first clutch drive end；According to the whole being calculated in the preset period of time
Rotational speed difference and preset ratio-Integrated Derivative algorithm calculate the adjusting torque value of the first clutch drive end；According to the benefit
Repay torque value and the demand torque value for adjusting torque value and calculating the first clutch drive end.
Preferably, for the current rotating speed difference control according to the demand torque value and first clutch principal and subordinate moved end
First calculation control module of engine adjustment engine torque value processed, is specifically used for:
Compare the demand torque value and current engine torque value；When the demand torque value is greater than the current power
When machine torque value, controls the engine and risen on the basis of the current engine torque value according to default liter torsion rule
Turn round operation；When the demand torque value is less than the current engine torque value, judge whether the engine is in oil-break
State；When the engine is not at oil-break state, the current rotating speed difference of first clutch principal and subordinate moved end is judged
Whether absolute value is less than oil-break rotational speed difference threshold value；When the absolute value of the current rotating speed difference of first clutch principal and subordinate moved end is small
When the oil-break rotational speed difference threshold value, the engine is controlled according to default drop and turns round rule in the current engine torque value
On the basis of carry out drop turn round operation；When the absolute value of the current rotating speed difference of first clutch principal and subordinate moved end is disconnected not less than described
When oily rotational speed difference threshold value, the engine is switched into oil-break state, and controls the engine and drops torsion speed according to default oil-break
Rate carries out drop on the basis of the current engine torque value and turns round operation；When the engine is in oil-break state, judgement
Whether the absolute value of the current rotating speed difference of first clutch principal and subordinate moved end is less than fuel feeding rotational speed difference threshold value；When described first
When the absolute value of the current rotating speed difference of clutch principal and subordinate moved end is less than the fuel feeding rotational speed difference threshold value, the engine is switched
To oil condition, and controls the engine and turn round rule according to default drop and carried out on the basis of the current engine torque value
Drop turns round operation.
Preferably, rule is turned round on the basis of the current engine torque value according to default drop for controlling the engine
On carry out drop turn round operation first calculation control module, be specifically used for:
According to the current rotating speed difference of first clutch principal and subordinate moved end, the current engine torque value and first
Motor maximum torque value determines that engine drop turns round rate；Judge that the engine drop turns round whether rate is greater than drop torsion rate-valve value；
The speed adjust angle of ignition is turned round if so, controlling the engine and dropping according to the engine, and in the current engine torque value
On the basis of with the angle of ignition adjusted carry out drop turn round operation；It is dropped if it is not, controlling the engine according to the engine
Speed adjust air throttle is turned round, and drop torsion is carried out with the air throttle adjusted on the basis of the current engine torque value
Operation.
A kind of electronic equipment, comprising: memory and processor；
The memory, for storing program；
The processor, for running the program stored in the memory, wherein described program is used for:
When detecting that gas pedal depth value is greater than depth threshold, the revolving speed of first clutch principal and subordinate moved end is calculated in real time
Difference；
Judge whether the absolute value of the whole being calculated in the preset period of time rotating speed difference is respectively less than rotational speed difference threshold value；
If it is not, calculate the demand torque value of the first clutch drive end, and according to the demand torque value and described
The current rotating speed difference control engine of first clutch principal and subordinate moved end adjusts engine torque value；
The torque difference between the demand torque value and the engine torque value adjusted is calculated, and according to described
Torque difference controls first motor and adjusts first motor torque value.
Compared to the prior art, what the present invention realized has the beneficial effect that
The present invention discloses a kind of mixing dynamical vehicle torsional moment control method, device and electronic equipment, and this method is by comparing
The gas pedal depth value and depth threshold that detect determine the switching moment of drive system, if gas pedal depth value is greater than deeply
Threshold value is spent, then calculates the rotating speed difference of first clutch principal and subordinate moved end in real time；Further, by judging to calculate in preset period of time
Whether the absolute value of the whole rotating speed differences arrived is respectively less than rotary speed threshold value, it is determined whether needs first clutch principal and subordinate moved end
Between revolving speed；If it is not, then controlling engine and first motor tune by calculating the demand torque value of first clutch drive end
Itself whole torque value.
Since the revolving speed of first clutch driven end is directly determined by gas pedal depth, and engine, first motor
It is rigidly connected between first clutch, therefore, method disclosed by the invention is based on, according to the demand of first clutch drive end
The torque value of torque value coordinated control engine and first motor can reach and quickly adjust first clutch drive end revolving speed
Purpose also ensures that the smooth degree in drive system handoff procedure.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the power system architecture schematic diagram of hybrid vehicle；
Fig. 2 is the method flow diagram of mixing dynamical vehicle torsional moment control method provided in an embodiment of the present invention；
Fig. 3 is the Part Methods flow chart of mixing dynamical vehicle torsional moment control method provided in an embodiment of the present invention；
Fig. 4 is the another Part Methods flow chart of mixing dynamical vehicle torsional moment control method provided in an embodiment of the present invention；
Fig. 5 is another Part Methods flow chart of mixing dynamical vehicle torsional moment control method provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram of mixing dynamical vehicle torsional moment control device provided in an embodiment of the present invention；
Fig. 7 is the structural schematic diagram of electronic equipment provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the present invention discloses a kind of mixing dynamical vehicle torsional moment control method, the method flow diagram of this method such as Fig. 2
It is shown, include the following steps:
S101 calculates first clutch principal and subordinate moved end when detecting that gas pedal depth value is greater than depth threshold in real time
Rotating speed difference；
During executing step S101, the torque demand of driver is determined by detecting gas pedal depth value, when
When the gas pedal depth detected is greater than depth threshold, indicate that the torque demand of driver is larger, drive system is then by connecting
Formula switches to parallel, wherein in tandem drive system, is only travelled by the second motor-driven vehicle, engine and first
Motor can then charge according to battery capacity；
In addition, obtaining the first clutch first during calculating the rotating speed difference of first clutch principal and subordinate moved end in real time
The tachometer value of device drive end and driven end further calculates the rotating speed difference between first clutch drive end and driven end,
In, since the revolving speed of first clutch driven end is directly determined by current vehicle speed, for first clutch driven end
Tachometer value, can directly acquire, can also be calculated according to current vehicle speed, the present embodiment does not do any restriction.
S102, judges whether the absolute value for the whole rotating speed differences being calculated in preset period of time is respectively less than rotational speed difference threshold
Value；If it is not, thening follow the steps S103；
During executing step S102, in actual application, the revolving speed of first clutch principal and subordinate moved end is adjusted
There are certain errors, therefore, can be to the whole rotating speed differences progress being calculated in preset period of time and revolving speed to guarantee practicability
The comparison of poor threshold value is handled, to judge whether first clutch principal and subordinate moved end revolving speed adjusts unanimously；
In addition, being given birth to if the absolute value for the whole rotating speed differences being calculated in preset period of time is respectively less than rotational speed difference threshold value
At for characterizing the consistent prompt information of first clutch principal and subordinate moved end revolving speed；Suggestion device receives the prompt information can be with pre-
If form carries out prompt, first clutch principal and subordinate moved end revolving speed is consistent；Such as suggestion device can be warning light, warning light flashing,
Lighting or convert display color can indicate that first clutch principal and subordinate moved end revolving speed is consistent.
S103 calculates the demand torque value of first clutch drive end, and torque value and first clutch master as desired
The current rotating speed difference control engine of driven end adjusts engine torque value；
During specific implementation, " the demand torque value for calculating first clutch drive end " can be specific in step S103
Using following steps, method flow diagram is as shown in Figure 3:
S1001 calculates relative speed variation of the first clutch driven end in preset period of time, and according to relative speed variation meter
Calculate the compensation torque value of first clutch drive end；
During executing step S1001, whole of the acquisition first clutch driven end in preset period of time first turns
Speed value, the tachometer value that the tachometer value obtained for the first time then can be therefrom chosen according to acquisition time and is obtained for the last time, into
And relative speed variation of the first clutch driven end in preset period of time is calculated, revolving speed change can also be set according to actual needs certainly
Rate computation rule, the present embodiment do not do any restriction；
In addition, the compensation torque value of first clutch drive end can be calculated according to following formula (1):
V=a* (b+c+d) (1)
Wherein, V is the compensation torque value of first clutch drive end, and a is first clutch driven end in preset period of time
Relative speed variation, b be first clutch drive end preset rotation speed inertia, c be first motor rotor preset rotation speed inertia,
D is the preset rotation speed inertia of engine flywheel.
S1002 is calculated according to the whole rotational speed differences and preset ratio being calculated in preset period of time-Integrated Derivative algorithm
The adjusting torque value of first clutch drive end；
It is first during the adjusting torque value for calculating first clutch drive end using preset ratio-Integrated Derivative algorithm
P adjusting torque values, I adjusting torque values and D adjusting torque values are first calculated, and then the sum of three is determined as the first clutch
The adjusting torque value of device drive end；
P adjust the product of current rotating speed difference and corresponding P calibration value that torque value is first clutch principal and subordinate moved end,
In, P scalar quantities gauged can be reflected according to speed difference value initial in pre-generated preset period of time, current rotating speed difference and P
It penetrates relationship to determine, wherein initial speed difference value is the tachometer value that acquisition time is earliest in preset period of time；
I adjust torque values be the current rotating speed difference of first clutch principal and subordinate moved end, the product of corresponding I calibration value with it is upper
One step-length I adjust torque value iteration and, wherein I scalar quantities can be according to initial speed difference in pre-generated preset period of time
Value, current rotating speed difference and I gauged mapping relations determine, wherein initial speed difference value is acquisition time in preset period of time
Earliest tachometer value；
D adjust the current rotating speed difference and the long current rotating speed difference of previous step that torque value is first clutch principal and subordinate moved end
Difference and corresponding D calibration value product value, wherein D scalar quantities can be according to initial speed difference in pre-generated preset period of time
Value, current rotating speed difference and I gauged mapping relations determine, wherein initial speed difference value is acquisition time in preset period of time
Earliest tachometer value.
S1003 calculates the demand torque value of first clutch drive end according to compensation torque value and adjusting torque value；
During executing step S1003, the demand that first clutch drive end can be calculated according to following formula (2) is turned round
Square value:
W=e* α+f* β (2)
Wherein, W is the demand torque value of first clutch drive end, and e is compensation torque value, and α is compensation torque weighted value,
F is to adjust torque value, and β is to adjust torque weighted value, and alpha+beta=1, it is preferred that α and β is respectively 0.5.
It should be noted that the computation sequence of compensation torque value and adjusting torque value can be specifically arranged according to actual needs,
It is, step S1001 and step S1002 can be performed simultaneously, step S1002 can also be first carried out and execute step S1001 again.
During specific implementation, " torque value and first clutch principal and subordinate moved end is current as desired in step S103
Rotating speed difference control engine adjusts engine torque value " following steps can be specifically used, method flow diagram is as shown in Figure 4:
S1004 compares demand torque value and current engine torque value；
S1005, when demand torque value is greater than current engine torque value, control engine turns round rule according to default liter and exists
A liter torsion operation is carried out on the basis of current engine torque value；
During executing step S1005, presetting liter and turning round rule can be able to be to set in advance according to the specific setting of actual needs
The liter set turns round rate, can also turn round the mapping relations determination between rate according to pre-generated engine torque value and liter certainly and work as
The corresponding liter of front engine torque value turns round rate, controls engine further with the liter and turns round rate in current engine torque value
On the basis of carry out liter turn round operation.
S1006 judges whether engine is in oil-break state when demand torque value is less than current engine torque value；
When engine is not at oil-break state, S1007 is thened follow the steps；When engine is in oil-break state, then follow the steps
S1010；
S1007, judges whether the absolute value of the current rotating speed difference of first clutch principal and subordinate moved end is less than oil-break rotational speed difference
Threshold value；When the absolute value of the current rotating speed difference of first clutch principal and subordinate moved end is less than oil-break rotational speed difference threshold value, then step is executed
Rapid S1008；When the absolute value of the current rotating speed difference of first clutch principal and subordinate moved end is not less than oil-break rotational speed difference threshold value, then hold
Row step S1009；
S1008, control engine turn round rule according to default drop and carry out drop torsion behaviour on the basis of current engine torque value
Make；
Engine is switched to oil-break state by S1009, and is controlled engine and sent out according to default oil-break drop torsion rate currently
Drop is carried out on the basis of motivation torque value turns round operation；
S1010, judges whether the absolute value of the current rotating speed difference of first clutch principal and subordinate moved end is less than fuel feeding rotational speed difference
Threshold value；When the absolute value of the current rotating speed difference of first clutch principal and subordinate moved end is less than fuel feeding rotational speed difference threshold value, then step is executed
Rapid S1011；
Engine is switched to oil condition by S1011, and is controlled engine and turned round rule in present engine according to default drop
Drop is carried out on the basis of torque value turns round operation.
It should be noted that when demand torque value is equal to current engine torque value, and work as first clutch principal and subordinate
When the absolute value of the current rotating speed difference of moved end is not less than fuel feeding rotational speed difference threshold value, any operation is not executed.
During specific implementation, " control engine turns round rule according to default drop in step S1008 and step S1011
Drop is carried out on the basis of current engine torque value turns round operation " it can specifically use following steps, method flow diagram such as Fig. 5 institute
Show:
S10001, according to the current rotating speed difference of first clutch principal and subordinate moved end, current engine torque value and first
Motor maximum torque value determines that engine drop turns round rate；
It, can be according to pre-generated rotating speed difference, engine torque value, the first electricity during executing step S10001
Machine torque value and engine drop turn round the mapping relations between rate and determine current rotating speed difference, current engine torque value and the
The corresponding engine drop of one motor maximum torque value turns round rate.
S10002 judges that engine drop turns round whether rate is greater than drop torsion rate-valve value；If so, thening follow the steps S10003；
If it is not, thening follow the steps S10004；
S10003, control engine is dropped according to engine turns round the speed adjust angle of ignition, and in current engine torque value
On the basis of with the angle of ignition adjusted carry out drop turn round operation；
S10004, control engine is dropped according to engine turns round speed adjust air throttle, and in current engine torque value
On the basis of with air throttle adjusted carry out drop turn round operation.
S104 calculates the torque difference between demand torque value and engine torque value adjusted, and according to difference in torque
Value control first motor adjusts first motor torque value；
During executing step S104, demand torque value is preferentially met by engine, and in turn, engine is unconsummated
Torque difference is compensated by first motor.
Above step S1001~step S1003 be only in step S103 that the embodiment of the present application discloses " calculate first from
A kind of preferred implementation of the demand torque value of clutch drive end " process, the specific implementation in relation to this process can root
Arbitrarily it is arranged according to the demand of oneself, it is not limited here.
Above step S1004~step S1011 is only " to turn round as desired in step S103 that the embodiment of the present application discloses
One kind of square value and the current rotating speed difference of first clutch principal and subordinate moved end control engine adjustment engine torque value " process is excellent
The implementation of choosing, the specific implementation in relation to this process can be arbitrarily arranged according to their own needs, it is not limited here.
Above step S10001~step S10004 is only the step S1008 and step that the embodiment of the present application discloses
" control engine turns round rule according to default drop and carries out drop torsion operation on the basis of current engine torque value " process in S1011
A kind of preferred implementation, the specific implementation in relation to this process can arbitrarily be arranged according to their own needs, herein not
It limits.
Mixing dynamical vehicle torsional moment control method disclosed by the embodiments of the present invention, according to the demand of first clutch drive end
The torque value of torque value coordinated control engine and first motor quickly adjusts first clutch drive end revolving speed to reach
Purpose also ensures that the smooth degree in drive system handoff procedure.
Disclosed mixing dynamical vehicle torsional moment control method, the embodiment of the present invention disclose a kind of mixing based on the above embodiment
Power vehicle torque control device, structural schematic diagram are as shown in Figure 6, comprising: computing module 101, judgment module 102, first
Calculation control module 103 and the second calculation control module 104；
Computing module 101, for calculating the first clutch in real time when detecting that gas pedal depth value is greater than depth threshold
The rotating speed difference of device principal and subordinate moved end；
Whether the absolute value of judgment module 102, whole rotating speed differences for judging to be calculated in preset period of time is small
In rotational speed difference threshold value；If it is not, then triggering the first calculation control module 103；
First calculation control module 103 for calculating the demand torque value of first clutch drive end, and is turned round as desired
Square value and the current rotating speed difference of first clutch principal and subordinate moved end control engine adjust engine torque value；
Second calculation control module 104, for calculating the torsion between demand torque value and engine torque value adjusted
Square difference, and first motor torque value is adjusted according to torque difference control first motor.
Preferably, for calculating the first calculation control module 103 of the demand torque value drive end of first clutch, specifically
For:
Relative speed variation of the first clutch driven end in preset period of time is calculated, and calculates first according to relative speed variation
The compensation torque value of clutch drive end；It is micro- according to the whole rotational speed differences and preset ratio-integral-that are calculated in preset period of time
The adjusting torque value for dividing algorithm to calculate first clutch drive end；According to compensation torque value and adjust torque value the first clutch of calculating
The demand torque value of device drive end.
Preferably, engine is controlled for the current rotating speed difference of torque value as desired and first clutch principal and subordinate moved end
The first calculation control module 103 for adjusting engine torque value, is specifically used for:
Compare demand torque value and current engine torque value；When demand torque value is greater than current engine torque value,
Control engine turns round rule according to default liter and carries out a liter torsion operation on the basis of current engine torque value；When demand torque value
When less than current engine torque value, judge whether engine is in oil-break state；When engine is not at oil-break state, sentence
Whether the absolute value of the current rotating speed difference of disconnected first clutch principal and subordinate moved end is less than oil-break rotational speed difference threshold value；Work as first clutch
When the absolute value of the current rotating speed difference of principal and subordinate moved end is less than oil-break rotational speed difference threshold value, control engine turns round rule according to default drop
Drop is carried out on the basis of current engine torque value turns round operation；When first clutch principal and subordinate moved end current rotating speed difference it is exhausted
When to value not less than oil-break rotational speed difference threshold value, engine is switched into oil-break state, and control engine and drop according to default oil-break
It turns round rate and carries out drop torsion operation on the basis of current engine torque value；When engine is in oil-break state, first is judged
Whether the absolute value of the current rotating speed difference of clutch principal and subordinate moved end is less than fuel feeding rotational speed difference threshold value；When first clutch principal and subordinate is dynamic
When the absolute value of the current rotating speed difference at end is less than fuel feeding rotational speed difference threshold value, engine is switched into oil condition, and control hair
Motivation turns round rule according to default drop and carries out drop torsion operation on the basis of current engine torque value.
Preferably, it is dropped on the basis of current engine torque value for controlling engine according to default drop torsion rule
The first calculation control module 103 for turning round operation, is specifically used for:
It is maximum according to the current rotating speed difference, current engine torque value and first motor of first clutch principal and subordinate moved end
Torque value determines that engine drop turns round rate；Judge that engine drop turns round whether rate is greater than drop torsion rate-valve value；If so, control is started
Machine according to engine drop turn round the speed adjust angle of ignition, and on the basis of current engine torque value with the angle of ignition adjusted into
Row drop turns round operation；If it is not, control engine is dropped according to engine turns round speed adjust air throttle, and in current engine torque value
On the basis of with air throttle adjusted carry out drop turn round operation.
Mixing dynamical vehicle torsional moment control device disclosed by the embodiments of the present invention, according to the demand of first clutch drive end
The torque value of torque value coordinated control engine and first motor quickly adjusts first clutch drive end revolving speed to reach
Purpose also ensures that the smooth degree in drive system handoff procedure.
Mixing dynamical vehicle torsional moment control method and the mixing dynamical vehicle torsional moment control provided based on the above embodiment
Device, the embodiment of the present invention provide a kind of setting of electronics, structural schematic diagram as shown in fig. 7, comprises: memory 201 and processing
Device 202；
Memory 201, for storing program；
Processor 202, the program for being stored in run memory 201, wherein described program is used for:
When detecting that gas pedal depth value is greater than depth threshold, the revolving speed of first clutch principal and subordinate moved end is calculated in real time
Difference；
Judge whether the absolute value for the whole rotating speed differences being calculated in preset period of time is respectively less than rotational speed difference threshold value；
If it is not, calculating the demand torque value of first clutch drive end, and torque value and first clutch master as desired
The current rotating speed difference control engine of driven end adjusts engine torque value；
The torque difference between demand torque value and engine torque value adjusted is calculated, and is controlled according to torque difference
First motor adjusts first motor torque value.
Electronic equipment disclosed by the embodiments of the present invention is sent out according to the demand torque value coordinated control of first clutch drive end
The torque value of motivation and first motor also ensures that achieve the purpose that quickly to adjust first clutch drive end revolving speed
Smooth degree in drive system handoff procedure.
A kind of mixing dynamical vehicle torsional moment control method provided by the present invention, device and electronic equipment are carried out above
It is discussed in detail, used herein a specific example illustrates the principle and implementation of the invention, above embodiments
Illustrate to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to
According to thought of the invention, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification
It should not be construed as limiting the invention.
It should be noted that all the embodiments in this specification are described in a progressive manner, each embodiment weight
Point explanation is the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other.
For the device disclosed in the embodiment, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, phase
Place is closed referring to method part illustration.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to contain
Lid non-exclusive inclusion, so that the element that the process, method, article or equipment including a series of elements is intrinsic,
It further include either the element intrinsic for these process, method, article or equipments.In the absence of more restrictions,
The element limited by sentence "including a ...", it is not excluded that in the process, method, article or equipment including the element
In there is also other identical elements.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of mixing dynamical vehicle torsional moment control method characterized by comprising
When detecting that gas pedal depth value is greater than depth threshold, the rotational speed difference of first clutch principal and subordinate moved end is calculated in real time
Value；
Judge whether the absolute value of the whole being calculated in the preset period of time rotating speed difference is respectively less than rotational speed difference threshold value；
If it is not, calculating the demand torque value of the first clutch drive end, and according to the demand torque value and described first
The current rotating speed difference control engine of clutch principal and subordinate moved end adjusts engine torque value；
The torque difference between the demand torque value and the engine torque value adjusted is calculated, and according to the torque
Difference controls first motor and adjusts first motor torque value.
2. the method according to claim 1, wherein further include:
If so, generating for characterizing the consistent prompt information of first clutch principal and subordinate moved end revolving speed.
3. the method according to claim 1, wherein the demand for calculating the first clutch drive end is turned round
Square value, comprising:
Relative speed variation of the first clutch driven end in the preset period of time is calculated, and according to the relative speed variation
Calculate the compensation torque value of the first clutch drive end；
Institute is calculated according to the whole rotational speed difference and preset ratio being calculated in the preset period of time-Integrated Derivative algorithm
State the adjusting torque value of first clutch drive end；
According to the compensation torque value and the demand torque value for adjusting torque value and calculating the first clutch drive end.
4. the method according to claim 1, wherein described according to the demand torque value and first clutch
The current rotating speed difference control engine of device principal and subordinate moved end adjusts engine torque value, comprising:
Compare the demand torque value and current engine torque value；
When the demand torque value is greater than the current engine torque value, the engine is controlled according to default liter and turns round rule
A liter torsion operation is carried out on the basis of the current engine torque value；
When the demand torque value is less than the current engine torque value, judge whether the engine is in oil-break shape
State；
When the engine is not at oil-break state, the exhausted of the current rotating speed difference of first clutch principal and subordinate moved end is judged
Whether oil-break rotational speed difference threshold value is less than to value；
When the absolute value of the current rotating speed difference of first clutch principal and subordinate moved end is less than the oil-break rotational speed difference threshold value, control
It makes the engine and carries out drop torsion operation on the basis of the current engine torque value according to default drop torsion rule；
When the absolute value of the current rotating speed difference of first clutch principal and subordinate moved end is not less than the oil-break rotational speed difference threshold value,
The engine is switched into oil-break state, and controls the engine and drops torsion rate in the current power according to default oil-break
Drop is carried out on the basis of machine torque value turns round operation；
When the engine is in oil-break state, the absolute of the current rotating speed difference of first clutch principal and subordinate moved end is judged
Whether value is less than fuel feeding rotational speed difference threshold value；
It, will when the absolute value of the current rotating speed difference of first clutch principal and subordinate moved end is less than the fuel feeding rotational speed difference threshold value
The engine switches to oil condition, and controls the engine and turn round rule in the current engine torque according to default drop
Drop is carried out on the basis of value turns round operation.
5. according to the method described in claim 4, it is characterized in that, the control engine turns round rule according to default drop and exists
Drop is carried out on the basis of the current engine torque value turns round operation, comprising:
According to the current rotating speed difference of first clutch principal and subordinate moved end, the current engine torque value and first motor
Maximum torque determines that engine drop turns round rate；
Judge that the engine drop turns round whether rate is greater than drop torsion rate-valve value；
The speed adjust angle of ignition is turned round if so, controlling the engine and dropping according to the engine, and is turned round in the present engine
Drop is carried out with the angle of ignition adjusted on the basis of square value and turns round operation；
Speed adjust air throttle is turned round if it is not, controlling the engine and dropping according to the engine, and is turned round in the present engine
Drop is carried out with the air throttle adjusted on the basis of square value and turns round operation.
6. a kind of mixing dynamical vehicle torsional moment control device characterized by comprising computing module, judgment module, first calculate
Control module and the second calculation control module；
The computing module, for calculating first clutch in real time when detecting that gas pedal depth value is greater than depth threshold
The rotating speed difference of principal and subordinate moved end；
Whether the absolute value of the judgment module, the whole rotating speed difference for judging to be calculated in preset period of time is small
In rotational speed difference threshold value；If it is not, then triggering first calculation control module；
First calculation control module, for calculating the demand torque value of the first clutch drive end, and according to described
Demand torque value and the current rotating speed difference of first clutch principal and subordinate moved end control engine adjust engine torque value；
Second calculation control module, for calculating between the demand torque value and the engine torque value adjusted
Torque difference, and according to the torque difference control first motor adjust first motor torque value.
7. device according to claim 6, which is characterized in that for calculating the demand torque value master of the first clutch
First calculation control module of moved end, is specifically used for:
Relative speed variation of the first clutch driven end in the preset period of time is calculated, and according to the relative speed variation
Calculate the compensation torque value of the first clutch drive end；According to the whole revolving speed being calculated in the preset period of time
Difference and preset ratio-Integrated Derivative algorithm calculate the adjusting torque value of the first clutch drive end；It is turned round according to the compensation
Square value and the demand torque value for adjusting torque value and calculating the first clutch drive end.
8. device according to claim 6, which is characterized in that for according to the demand torque value and first clutch
First calculation control module of the current rotating speed difference control engine adjustment engine torque value of device principal and subordinate moved end, specifically
For:
Compare the demand torque value and current engine torque value；When the demand torque value is turned round greater than the present engine
When square value, the engine is controlled according to default liter torsion rule and carries out a liter torsion behaviour on the basis of current engine torque value
Make；When the demand torque value is less than the current engine torque value, judge whether the engine is in oil-break state；
When the engine is not at oil-break state, the absolute value of the current rotating speed difference of first clutch principal and subordinate moved end is judged
Whether oil-break rotational speed difference threshold value is less than；Described in being less than when the absolute value of the current rotating speed difference of first clutch principal and subordinate moved end
When oil-break rotational speed difference threshold value, the engine is controlled according to default drop and turns round rule on the basis of the current engine torque value
It carries out drop and turns round operation；When the absolute value of the current rotating speed difference of first clutch principal and subordinate moved end is not less than the oil-break revolving speed
When poor threshold value, the engine is switched into oil-break state, and controls the engine and drops torsion rate in institute according to default oil-break
It states and carries out drop on the basis of current engine torque value and turn round operation；When the engine is in oil-break state, described is judged
Whether the absolute value of the current rotating speed difference of one clutch principal and subordinate moved end is less than fuel feeding rotational speed difference threshold value；When the first clutch
When the absolute value of the current rotating speed difference of principal and subordinate moved end is less than the fuel feeding rotational speed difference threshold value, the engine is switched into fuel feeding
State, and control the engine and carry out drop torsion behaviour on the basis of the current engine torque value according to default drop torsion rule
Make.
9. device according to claim 8, which is characterized in that turn round regular exist according to default drop for controlling the engine
First calculation control module that drop turns round operation is carried out on the basis of the current engine torque value, is specifically used for:
According to the current rotating speed difference of first clutch principal and subordinate moved end, the current engine torque value and first motor
Maximum torque determines that engine drop turns round rate；Judge that the engine drop turns round whether rate is greater than drop torsion rate-valve value；If so,
It controls the engine and drops the torsion speed adjust angle of ignition according to the engine, and on the basis of the current engine torque value
On with the angle of ignition adjusted carry out drop turn round operation；Rate is turned round if it is not, controlling the engine and dropping according to the engine
Air throttle is adjusted, and drop is carried out with the air throttle adjusted on the basis of the current engine torque value and turns round operation.
10. a kind of electronic equipment characterized by comprising memory and processor；
The memory, for storing program；
The processor, for running the program stored in the memory, wherein described program is used for:
When detecting that gas pedal depth value is greater than depth threshold, the rotational speed difference of first clutch principal and subordinate moved end is calculated in real time
Value；
Judge whether the absolute value of the whole being calculated in the preset period of time rotating speed difference is respectively less than rotational speed difference threshold value；
If it is not, calculating the demand torque value of the first clutch drive end, and according to the demand torque value and described first
The current rotating speed difference control engine of clutch principal and subordinate moved end adjusts engine torque value；
The torque difference between the demand torque value and the engine torque value adjusted is calculated, and according to the torque
Difference controls first motor and adjusts first motor torque value.
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| CN114030460A (en) * | 2021-11-09 | 2022-02-11 | 东风汽车集团股份有限公司 | Torque control method and device of hybrid electric vehicle |
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