CN116292848A - Electronic oil pump control method integrating execution and lubrication - Google Patents
Electronic oil pump control method integrating execution and lubrication Download PDFInfo
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- CN116292848A CN116292848A CN202310176243.XA CN202310176243A CN116292848A CN 116292848 A CN116292848 A CN 116292848A CN 202310176243 A CN202310176243 A CN 202310176243A CN 116292848 A CN116292848 A CN 116292848A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
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- 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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D48/00—External control of clutches
- F16D48/02—Control by fluid pressure
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- 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
- F16H57/00—General details of gearing
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/0434—Features relating to lubrication or cooling or heating relating to lubrication supply, e.g. pumps ; Pressure control
- F16H57/0435—Pressure control for supplying lubricant; Circuits or valves therefor
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- 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
- F16H61/26—Generation or transmission of movements for final actuating mechanisms
- F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
- F16H61/30—Hydraulic or pneumatic motors or related fluid control means therefor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- 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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D48/00—External control of clutches
- F16D48/02—Control by fluid pressure
- F16D2048/0257—Hydraulic circuit layouts, i.e. details of hydraulic circuit elements or the arrangement thereof
-
- 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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D48/00—External control of clutches
- F16D48/02—Control by fluid pressure
- F16D2048/0257—Hydraulic circuit layouts, i.e. details of hydraulic circuit elements or the arrangement thereof
- F16D2048/0287—Hydraulic circuits combining clutch actuation and other hydraulic systems
- F16D2048/0293—Hydraulic circuits combining clutch and transmission actuation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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- Engineering & Computer Science (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses an execution and lubrication two-in-one electronic oil pump control method, which comprises the following steps of S1, activating a vehicle power system; s2, lubricating, pressurizing and maintaining the pressure of the oil duct, and performing PID closed-loop control; s3, feedback information provided by the MCU through the pressure sensorJudging the pressure of the oil duct driven by the current BLDC motor, and when the pressure of the oil duct is smaller than a first pressure threshold value P 0 Step S4 is executed when the oil passage pressure is greater than or equal to the first pressure threshold value P 0 Step S5 is then performed, wherein the first pressure threshold value P 0 Pressure is lower than clutch half-linkage pressure; s4, oil duct oil filling strategies; s5, pressure closed-loop control; s6, clutch release control; the invention reduces the executing mechanism and the cost of the hybrid gearbox, and simultaneously meets the requirements of shafting lubrication and clutch.
Description
Technical Field
The invention belongs to the field of new energy automobile transmission control, and particularly relates to an electronic oil pump control method integrating execution and lubrication.
Background
With the further improvement of the domestic automobile conservation quantity, a large amount of fossil fuel is taken out, and a great burden is caused to the living environment of human beings. In the face of the increasing traffic demands of human beings, low-carbon environment protection is more emphasized in future traveling, the existing traditional fuel oil automobiles are eliminated by the times, and new energy automobiles mainly including pure electric automobiles and hybrid electric automobiles become new power engines supporting traditional automobile enterprises.
The BLDC motor (brushless dc motor) has a wide application as a transmission actuator, and has the characteristics of high efficiency, simple structure, and the like compared with an actuator of a mechanical hydraulic pump, and can greatly reduce the energy consumption of a power transmission system, thereby being widely applied in the field of new energy. By adopting the structure of the electronic pump integrated with lubrication, the mechanical structure of the special gearbox for mixing can be reduced, the number of parts of the special gearbox for mixing can be reduced, meanwhile, the production and manufacturing difficulty and cost can be reduced, and meanwhile, the energy consumption of the gearbox can be reduced. Because the single-electron pump has limited flow, shafting lubrication needs to be considered, and therefore the pressure control difficulty is high.
Disclosure of Invention
The invention provides an execution and lubrication two-in-one electronic oil pump control method, which aims to reduce the execution mechanism and cost of a hybrid gearbox and simultaneously meet the requirements of shafting lubrication and clutch.
An electronic oil pump control method integrating execution and lubrication comprises the following steps:
s1, activating a vehicle power system, judging whether a clutch has a pressure building requirement by a whole vehicle controller, and executing a step S3 if a BLDC motor control unit MCU receives that the whole vehicle controller requests the clutch to be combined; if the vehicle controller requests the clutch to be opened, executing step S2;
s2, lubricating, starting and maintaining pressure oil duct flow PID closed-loop control: the BLDC motor control unit MCU controls lubrication start-up and pressure maintaining, and according to the rotation speed of the driving motor and the rotation speed of the generator, firstly the BLDC motor control unit MCU obtains the rotation speed R of the BLDC motor by comprehensively calculating the required lubrication flow of the temperature of the gearbox and according to parameters such as the lubrication flow, the pressure of a lubrication oil duct and the like req1 The method comprises the steps of carrying out a first treatment on the surface of the After the rotating speed of the motor is calculated, the shaft system is lubricated and the clutch does not transmit torque;
s3, judging the oil duct pressure of the current BLDC motor drive by the BLDC motor control unit MCU through a feedback signal provided by the pressure sensor, and when the oil duct pressure is smaller than a first pressure threshold value P 0 Step S4 is executed when the oil passage pressure is greater than or equal to the first pressure threshold value P 0 Step S5 is then performed, wherein the first pressure threshold value P 0 Pressure is lower than clutch half-linkage pressure;
s4, oil duct oil filling strategies: the oil-filling process comprises two phases: the first stage is open-loop control, the second stage is PID oil duct pressure closed-loop control, and the clutch half-linkage point pressure P is used k Calculating to obtain a BLDC motor rotating speed correction value R by taking pressure as a target co At this time, the target rotation speed R req2 Is the critical point basic rotation speed R k And the rotation speed correction value R co And when the oil passage actual pressure P and the target pressure P t The difference value is smaller than the calibration threshold value P diff-b And last T 3 After the time, step S5 is entered;
s5, pressure closed-loop control: when the clutch request torque is larger than 0Nm, executing a fuzzy control rule to request the rotating speed of the BLDC motor to control the clutch oil duct pressure, and acquiring the oil duct actual pressure P, the request clutch torque T and the calculated torque increase rate T by the BLDC motor control unit MCU through a CAN bus and pressure sensor signals grd Clutch driving disc rotation speed R 1 Either the engine speed or the P1 motor speed, the clutch driven disc speed R 2 Or the rotating speed of the P3 motor and the oil temperature t of the gearbox oil As an input variable of a fuzzy control system for calculating the target rotating speed of the BLDC motor, calculating and obtaining the target rotating speed R of the BLDC motor according to a fuzzy rule of the fuzzy control system for identifying the target rotating speed of the BLDC motor req3 The method comprises the steps of carrying out a first treatment on the surface of the Jumping to step S6 when the clutch torque request is less than 0 Nm;
s6, clutch release control: when the actual pressure P of the oil passage is greater than the first pressure threshold P 0 When the BLDC motor requests the rotating speed R req4 When the actual pressure P of the oil passage is less than or equal to the first pressure threshold P 0 At this time, the process goes to step S2.
The invention is applied to the control process of the special transmission of the single-gear architecture hybrid vehicle, and 2 important control processes are separated. When no clutch torque request exists, oil duct lubrication starting and pressure maintaining PID closed loop control is designed, wherein two calculation paths exist: firstly, calculating flow, obtaining the rotating speeds of a P1 motor and a P3 motor, respectively obtaining lubricating flow requirements of a P1 generator shafting and a P3 driving shafting according to a flow simulation table, removing a large value, and calculating the target rotating speed of the BLDC motor by using a formula. And secondly, pressure regulation, namely regulating and reducing the target BLDC rotating speed by using a PID algorithm when the actual pressure of an oil duct obtained by the rotating speed of a given BLDC motor reaches a point where the clutch does not transmit torque, so as to ensure unexpected clutch torque transmission. In the clutch torque request and oil duct starting process, a fuzzy control algorithm controller (BLDC) motor is applied to request the rotating speed, and 4 fuzzy control rules are established on the basis of three input parameters including clutch master-slave disc rotating speed difference (mainly affecting comfort), pressure difference and torque slope, wherein 3 fuzzy rules are established under the working condition that the rotating speed difference is absolutely smaller, the clutch master-slave disc is basically synchronous at the moment, and the rotating speed of the BLDC motor can be controlled by using a faster increasing slope; another 1 pattern rule takes into account primarily the torque ramp rate of the requesting clutch, which if faster, indicates a driver with greater power demand, at which time a portion of comfort will be sacrificed to meet the power performance requirements. Through a fuzzy control algorithm, a proper BLDC target rotating speed can be selected, so that the vehicle is balanced in various requirements of comfort, energy conservation and power.
In summary, the invention has the following advantages:
1. an electronic oil pump realizes lubrication and execution functions, and reduces the production and manufacturing cost of the gearbox.
2. The target rotating speed of the BLDC motor is subjected to fuzzy control by using a fuzzy algorithm, so that the requests of clutch pressure under different industrial controls can be met.
3. The flow and pressure double control method is used for controlling the lubrication flow, so that lubrication of a shafting is ensured, and the clutch can be protected from unexpected torque.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic diagram of clutch take-up process pressure/BLDC rotational speed process;
FIG. 3 is a schematic diagram of a hydraulic oil gallery of a hybrid transmission;
FIG. 4 is a schematic diagram of control process signal interactions.
Detailed Description
The invention is further described with reference to the drawings and detailed description.
As shown in fig. 1 to 4, the method for controlling the electronic oil pump, which performs both the execution and the lubrication, of the present invention comprises the steps of:
s0: signal acquisition and signal processing: the hybrid vehicle transmission controller unit acquires the engine speed or the P1 motor speed, the vehicle speed or the P3 motor speed, and the oil passage actual pressure P (referred to as clutch oil passage actual pressure) in real time.
S1, activating a vehicle power system, judging whether a clutch has a pressure building requirement by a whole vehicle controller, and executing a step S3 if a BLDC motor control unit MCU receives that the whole vehicle controller requests the clutch to be combined; if the vehicle controller requests the clutch to be opened, step S2 is executed.
S2, lubricating, starting and maintaining pressure oil duct flow PID closed-loop control: the BLDC motor control unit MCU controls lubrication start-up and pressure maintaining, and according to the rotation speed of the driving motor and the rotation speed of the generator, firstly the BLDC motor control unit MCU obtains the rotation speed R of the BLDC motor by comprehensively calculating the required lubrication flow of the temperature of the gearbox and according to parameters such as the lubrication flow, the pressure of a lubrication oil duct and the like req1 The method comprises the steps of carrying out a first treatment on the surface of the After the motor rotation speed is calculated, the shaft system is lubricated and the clutch does not transmit torque.
S3, judging the oil duct pressure of the current BLDC motor drive by the BLDC motor control unit MCU through a feedback signal provided by the pressure sensor, and when the oil duct pressure is smaller than a first pressure threshold value P 0 Step S4 is executed when the oil passage pressure is greater than or equal to the first pressure threshold value P 0 Step S5 is then performed, wherein the first pressure threshold value P 0 The pressure is lower than the clutch half-linked pressure.
S4, oil duct oil filling strategies: the oil-filling process comprises two phases: the first stage is open-loop control, the second stage is PID oil duct pressure closed-loop control, and the clutch half-linkage point pressure P is used k Calculating to obtain a BLDC motor rotating speed correction value R by taking pressure as a target co At this time, the target rotation speed R req2 Is the critical point basic rotation speed R k And the rotation speed correction value R co And when the oil passage actual pressure P and the target pressure P t The difference value is smaller than the calibration threshold value P diff-b And last T 3 After the time, the process advances to step S5.
In step S4, the open loop control in the first stage calculates the rotational speed R of the clutch driving disc when the BLDC motor is charged with oil by using the oil temperature and the actual pressure of the current oil passage 1 Rotational speed holding time T 1 And a fall time T 2 When the rotation speed of the BLDC motor is reduced to the basic rotation speed R of the pressure critical point k When this occurs, the second stage is entered.
In step S4, the second stage is PID oilThe track pressure closed-loop control is carried out, and firstly, the critical point basic rotating speed R of the BLDC motor is obtained according to the oil temperature table lookup k With clutch half-coupling point pressure P k Aiming at the aim, the actual pressure P of the oil duct is taken as a feedback signal, PID feedback adjustment is carried out, and a rotating speed correction value R is calculated and obtained co The method comprises the steps of carrying out a first treatment on the surface of the When the oil passage actual pressure P and the target pressure P t The difference value is smaller than the calibration threshold value P diff-b When the time is greater than the calibration time T 3 At this time, the process advances to step S5.
S5, pressure closed-loop control: when the clutch request torque is larger than 0Nm, executing a fuzzy control rule to request the rotating speed of the BLDC motor to control the clutch oil duct pressure, and acquiring the oil duct actual pressure P, the request clutch torque T and the calculated torque increase rate T by the BLDC motor control unit MCU through a CAN bus and pressure sensor signals grd Clutch driving disc rotation speed R 1 Either the engine speed or the P1 motor speed, the clutch driven disc speed R 2 Or the rotating speed of the P3 motor and the oil temperature t of the gearbox oil As an input variable of a fuzzy control system for calculating the target rotating speed of the BLDC motor, calculating and obtaining the target rotating speed R of the BLDC motor according to a fuzzy rule of the fuzzy control system for identifying the target rotating speed of the BLDC motor req3 The method comprises the steps of carrying out a first treatment on the surface of the The process jumps to step S6 when the clutch torque request is less than 0 Nm.
The specific steps of the pressure closed-loop control S5 are as follows:
s81: the BLDC motor control unit MCU obtains the actual pressure P and the target pressure P of the oil duct t Pressure difference P of (2) diff The clutch master-slave disc rotation speed difference d, and the clutch request torque slope Tg after average filtering is used as an input variable of a fuzzy system;
s82: differential pressure P diff The absolute value d of the clutch master-slave rotational speed difference and the average filtered clutch request torque slope Tg are correspondingly input into the membership function A (P diff )，B(P diff ) C (D), D (Tg) respectively obtain corresponding output values A p 、B p 、C d 、D T Wherein A (P diff ) Represents a membership function with positive pressure difference, B (P diff ) A membership function indicating a negative pressure difference, C (d) a membership function indicating a rotation speed difference less than alpha,d (Tg) represents a membership function with a torque slope greater than β, where α represents a speed difference threshold and β represents a torque slope threshold;
s83: membership function A (P diff )，B(P diff ) C (D), D (Tg) output value A p 、B p 、C d 、D T Input into the fuzzy control rule to obtain the output value of the fuzzy control rule or the original value A of the rotating speed request value of the BLDC motor 1 、A 2 、A 3 、A 4 ；
S84, requesting the obtained rotation speed of the BLDC motor for a first original value A 1 Second original value A 2 Third original value A 3 Fourth original value A 4 And (3) carrying out accurate processing according to the following accumulated average formula to obtain the final required BLDC motor request rotating speed, wherein the accumulated average formula is as follows:
wherein A is i The BLDC motor request rotating speed original value, K output for the ith fuzzy control rule nj For regular molecular coefficients, K dj Is a regular denominator coefficient.
The alpha value is 0 to 3000, and the beta value is less than 10Nm/s; the fuzzy set pressure difference is positive representation: the actual pressure P of the oil passage is smaller than the target pressure P t The method comprises the steps of carrying out a first treatment on the surface of the The fuzzy set pressure difference is negative representation: the actual pressure P of the oil passage is greater than the target pressure P t 。
The following describes the above scheme by way of example:
1) Signal acquisition and processing: the control unit MCU of the BLDC motor obtains a real-time power generation shafting rotating speed signal from the P1 motor through a CAN bus; the control unit MCU of the BLDC motor obtains a real-time driving shafting rotating speed signal from the P3 motor through a CAN bus; the method comprises the steps that a BLDC motor control unit MCU obtains a real-time clutch torque request signal from a Vehicle Controller (VCU) through a CAN bus; the BLDC motor control unit MCU obtains an oil duct pressure signal from the pressure sensor through an analog signal; the BLDC motor control unit MCU acquires a transmission oil temperature signal from an oil temperature sensor through an analog signal.
2) Calculating a clutch master-slave rotation speed difference decision value:
from the P1P3 hybrid structure, the clutch master-slave disc speed difference d=p1 motor is converted to the clutch driving disc speed-P3 motor is converted to the clutch driven disc speed through the speed ratio, wherein the P1 motor speed is derived from the generator MCU, the P3 motor speed is derived from the driving motor MCU, the speed ratio of P1 to the clutch driving disc is r1, and the speed ratio of P3 to the clutch driven disc is r2:
3) Calculating the actual pressure difference value of the target oil duct:
pressure difference P diff =oil passage actual pressure P-target pressure P t Wherein the actual pressure P of the oil passage is derived from the pressure sensor recovery.
4) Request torque slope calculation:
the requested torque slope calculation is mainly to obtain the clutch torque increase rate, and is calculated by Tg= ((Tn- +Tn-1) + (Tn-1- +Tn-2) +.+ (Tn-j+1- +Tn-j))/j as the BLDC motor rotation speed request feedforward, wherein Tn is the torque request value in the current period, tn-j is the torque request value in the previous j periods, and j is the average filter coefficient.
5) The lubrication execution BLDC motor rotation speed calculation includes the steps of:
51 Calculating a BLDC motor base rotational speed: the BLDC motor control unit MCU obtains the rotation speeds of the generator and the driving motor, obtains a lubrication demand flow meter according to shafting lubrication simulation, respectively obtains flow demands, and obtains BLDC basic demand rotation speeds such as:
| generator rotational speed rpm | 0 | 2000 | 4000 | 6000 | 8000 | 10000 |
| Demand flow L/min | 0.5 | 1 | 1 | 2 | 2 | 3 |
| BLDC target speed/rpm | 300 | 600 | 600 | 1000 | 1000 | 2000 |
TABLE 1
| Driving rotational speed rpm | 0 | 1000 | 4000 | 7000 | 10000 | 16000 |
| Demand flow L/min | 0.5 | 1 | 1 | 2 | 2 | 3 |
| BLDC target speed/rpm | 300 | 600 | 600 | 1000 | 1000 | 2000 |
TABLE 2
When the driving motor rotates at 7000rpm and the generator rotates at 2000rpm, the target basic rotation speed of the BLDC motor takes a large value R req0 ＝1000rpm。
52 BLDC motor lubrication limit control:
in order to ensure that the clutch does not generate unexpected torque, the lubrication pressure needs to be kept below a clutch half-linkage point in the lubrication control process, and the control mode is as follows:
setting the highest pressure as P k0 Oil (oil)The actual pressure is P, P is used k0 The pressure difference value with P is subjected to simple feedback adjustment, and the rotational speed offset R is calculated offset Thereby defining the oil passage pressure. Wherein P is diff0 ＝P-P k0 ，P diff0 And R is R offset The relationship is table 3 below:
| pressure difference P diff0 /bar | 1 | 0.5 | 0 | -0.5 | -1 | -2 |
| Rotational speed offset R offset /rpm | -500 | -500 | -200 | -100 | 0 | 0 |
TABLE 3 Table 3
When p=2b ar, P K0 When=1.5 bar, R offset ＝-100rpm；
53 BLDC target rotation speed calculation:
BLDC target rotation speed is base rotation speed+pressure limit offset rotation speed:
R req ＝R req0 +R offset
r is calculated as above req0 ＝1000rpm，R offset ＝-100rpm，R req ＝1000-100＝900rpm。
6) The clutch performs oil charge and pressure boost BLDC motor rotational speed calculation:
the clutch executes two processes of oil filling, pressure rising, open-loop rapid oil filling and closed-loop pressure control, and the pressure and the rotating speed are shown in a schematic diagram as 2:
61 Open-loop oil charge of clutch oil passage:
driving disc rotating speed R of clutch with 3 important parameters of open loop oil filling 1 Rotational speed holding time T 1 And a fall time T 2 Wherein R is 1 Mainly influenced by temperature, the rotation speed keeping time T 1 、T 2 The actual pressure of the oil passage before oil filling is mainly influenced, and the actual pressure can be calibrated through a parameter table as shown in the following tables 4 and 5:
| oil temperature T/. Degree.C | -40 | -20 | 0 | 20 | 60 | 120 |
| Maximum rotation speed R 1 /rpm | 3000 | 4000 | 4500 | 5000 | 5000 | 5000 |
TABLE 4 Table 4
| Pre-oil charge pressure/bar | 0 | 0.2 | 0.5 | 1 | 2 | 3 |
| Duration T 1 /ms | 400 | 300 | 150 | 50 | 0 | 0 |
| Fall time T 2 /ms | 300 | 300 | 150 | 50 | 50 | 50 |
TABLE 5
Assuming that the oil temperature is 20 ℃ at this time, the pressure is 0.2bar before oil filling, and the highest rotating speed R is obtained by table lookup 1 =5000 rpm, duration T 1 Time of fall t=150 ms 2 =150ms, the bldc motor target rotational speed decrease rate is 34rpm/ms.
62 Clutch oil-filled state jump calculation):
when the actual rotation speed R of the BLDC motor is less than or equal to R k When the oil duct pressure is jumped into the closed loop control state, R is k The basic rotating speed of the critical point of the BLDC motor with the half-linkage point of the clutch is mainly influenced by the oil temperature of the transmission, and can be obtained through table look-up 6:
TABLE 6
63 Closed loop pressure control calculation of clutch oil duct:
as also shown in fig. 2, the main control target of clutch closed-loop pressure control is the actual pressure P of the oil duct, and the target pressure is the clutch half-linkage point pressure P k ，
e(k)＝P k -P
R co ＝k pp [e(k)-e(k-1)]+k pi e(k)+k pd [e(k)-2e(k-1)+e(k-2)]
R req ＝R k +R co
Wherein Pk is a target pressure value of the clutch at the current moment;
p is the actual pressure of the oil passage (clutch at the current moment);
R k the basic rotating speed is the critical point;
e (k) is the difference between the clutch target pressure and the oil duct actual pressure at the kth sampling moment;
e (k-1) is the difference between the clutch target pressure and the oil duct actual pressure at the kth-1 sampling moment;
e (k-2) is the difference between the clutch target pressure and the oil duct actual pressure at the kth-2 sampling moment;
R co a rotational speed correction value for a brushless DC motor;
k pp a proportional control coefficient of a PID closed loop for clutch pressure;
k pi an integral control coefficient of a PID closed loop for clutch pressure;
k pd differential control coefficient of PID closed loop for clutch pressure;
R req a target rotating speed of the brushless direct current motor;
7) Clutch pressure is calculated following BLDC motor speed:
pressure following BLDC rotating speed fuzzy calculation system for calculating and acquiring pressure difference P of real-time oil duct according to MCU of BLDC motor control unit diff The average filtered clutch request torque slope Tg and clutch master-slave disc rotation speed difference d (absolute value) are used as input variables to calculate and obtain a membership function A (P) diff )，B(P diff ) C (d), the following specific process is as follows:
71 Defining an input signal. Pressure difference Pdiff Three signal input variables, torque request growth rate Tg, clutch master-slave disk speed difference d (absolute value), wherein:
pressure difference P diff The value range is-3-3 (bar);
the torque request increase rate Tg is in the range of 0-2000 (Nm/s);
the value range of the clutch master-slave disc speed difference d is 0-2000 (rpm);
72 Membership calculation. According to the experience and knowledge of the expert, in combination with the dynamics of the vehicle and the operation of the driver, the invention designs 4 membership functions, which are respectively as follows:
A(P diff ) Represents a membership function with positive pressure difference, in this example A (P diff ) The value range is 0-100, A (P) diff ) The values are shown in Table 7 below:
| P diff | 0 | 0.2 | 0.5 | 1 | 1.5 | 3 |
| A(P diff ) | 0 | 20 | 40 | 60 | 80 | 100 |
TABLE 7
A( Pdiff ) The value is not limited to the above embodiment, and may be determined based on the drivability calibration of the matching vehicle.
B( Pdiff ) Represents a membership function with a negative pressure difference, in this example B (P diff ) The value range is 0-100, B (P) diff ) The values are shown in Table 8 below:
| P diff | 0 | -0.2 | -0.5 | -1 | -1.5 | -3 |
| B(P diff ) | 0 | 20 | 40 | 60 | 80 | 100 |
TABLE 8
B(P diff ) The value is not limited to the above embodiment, and the membership function that C (d) represents the rotation speed difference less than α may be determined according to the drivability calibration of the matching vehicle, where α represents the rotation speed difference threshold, in this example, the value of C (d) ranges from 0 to 100, the value of α ranges from 0 to 3000rpm, and the value of C (d) is as shown in table 9 below:
| d | 100 | 200 | 400 | 800 | 1600 | 3000 |
| C(d) | 100 | 100 | 70 | 40 | 10 | 0 |
TABLE 9
The value of C (d) is not limited to the above embodiment, and may be determined based on the drivability calibration of the matching vehicle.
D (Tg) represents a membership function with a torque slope greater than β, where β represents a torque slope threshold, in this example the D (Tg) value ranges from 0 to 100, the β value is less than 10rpm, and the D (Tg) value is shown in Table 10 below:
| Tg | 0 | 10 | 100 | 200 | 500 | 2000 |
| D(Tg) | 100 | 100 | 70 | 40 | 10 | 0 |
table 10
The value of D (Tg) is not limited to the above embodiment, and may be determined based on drivability calibration of the matching vehicle.
Differential pressure P diff The torque request increase rate Tg, the absolute value d of the rotational speed difference are input into 4 membership functions A (P diff )，B(P diff ) From C (D), D (Tg), 4 corresponding output values A are obtained p 、B p 、C d 、D T 。
In Table 7, point P diff1 Corresponding A (P) diff1 ) Point P as point 0.2 corresponds to 20 diff2 Corresponding A (P) diff2 ) As for point 0.5 corresponds to 40, when a pressure difference P is obtained diff Located at P diff1 And P diff2 When the two points are located, A can be obtained according to the linear difference method between the two points p ＝A(P diff1 )+(P diff -P diff1 )/(P diff2 -P diff1 )*(A(P diff2 )-A(P diff1 ))。B p 、C d 、D T The calculation is similar to the method described above.
In the example, when the control unit MCU of the BLDC motor runs, A is calculated every 10ms p 、B p 、C d 、D T 。
The fuzzy control rule in the step S83 is characterized by comprising:
the first fuzzy rule is: if the absolute value of the rotational speed difference is less than alpha and the pressure difference is negative, then the clutch rotational speed is basically synchronous, but the actual pressure P of the oil duct is greater than the target pressure P t At this time, the rotation speed of the BLDC motor requests the first original value to be B p And C d The median value of the two is small;
the second fuzzy rule is: if the absolute value of the rotational speed difference is smaller than alpha and the pressure difference is positive, the clutch rotational speed is basically synchronous, but the actual pressure P of the oil duct is smaller than the target pressure P t At this time, the rotation speed of the BLDC motor requests a second original value A 2 Taking A p And C d The median value of the two is large;
the third fuzzy rule is: if the absolute value of the rotational speed difference is less than alpha and the torque slope is greater than beta, then the clutch rotational speed is substantially synchronous, but the torque increase rate is very fast, at which time the BLDC motor rotational speed requests a third original value A 3 Is A p And D T The median value of the two is large;
the fourth fuzzy rule is: the torque slope is larger than beta, and the fourth original value A4 of the rotating speed request of the BLDC motor is D T 。
S6, clutch release control: when the actual pressure P of the oil passage is greater than the first pressure threshold P 0 When the BLDC motor requests the rotating speed R req4 When the actual pressure P of the oil passage is less than or equal to the first pressure threshold P 0 At this time, the process goes to step S2.
Finally, it should be explained that: the above embodiments are merely illustrative of the preferred embodiments of the present invention, and not limiting the scope of the present invention; although the invention has been described in detail with reference to the foregoing embodiments, it will be appreciated by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions.
Claims (6)
1. An electronic oil pump control method integrating execution and lubrication is characterized by comprising the following steps:
s1, activating a vehicle power system, judging whether a clutch has a pressure building requirement by a whole vehicle controller, and executing a step S3 if a BLDC motor control unit MCU receives that the whole vehicle controller requests the clutch to be combined; if the vehicle controller requests the clutch to be opened, executing step S2;
s2, lubricating, starting and maintaining pressure oil duct flow PID closed-loop control: the BLDC motor control unit MCU controls lubrication start-up and pressure maintaining, and according to the rotation speed of the driving motor and the rotation speed of the generator, firstly the BLDC motor control unit MCU obtains the rotation speed R of the BLDC motor by comprehensively calculating the required lubrication flow of the temperature of the gearbox and according to parameters such as the lubrication flow, the pressure of a lubrication oil duct and the like req1 The method comprises the steps of carrying out a first treatment on the surface of the After the rotating speed of the motor is calculated, the shaft system is lubricated and the clutch does not transmit torque;
s3, judging the oil duct pressure of the current BLDC motor drive by the BLDC motor control unit MCU through a feedback signal provided by the pressure sensor, and when the oil duct pressure is smaller than a first pressure threshold value P 0 Step S4 is executed when the oil passage pressure is greater than or equal to the first pressure threshold value P 0 Step S5 is then performed, wherein the first pressure threshold value P 0 Pressure is lower than clutch half-linkage pressure;
s4, oil duct oil filling strategies: the oil-filling process comprises two phases: the first stage is open-loop control, the second stage is PID oil duct pressure closed-loop control, and the clutch half-linkage point pressure P is used k Calculating to obtain a BLDC motor rotating speed correction value R by taking pressure as a target co At this time, the target rotation speed R req2 Is the critical point basic rotation speed R k And the rotation speed correction value R co And when the oil passage actual pressure P and the target pressure P t The difference value is smaller than the calibration threshold value P diff-b And last T 3 After the time, step S5 is entered;
s5, pressure closed-loop control: executing fuzzy control rules to request the rotating speed of the BLDC motor to control the clutch oil duct pressure when the clutch request torque is greater than 0Nm, wherein the BLDC motor control unit MCU controls the clutch oil duct pressure through the CAN busAnd the pressure sensor signals acquire the actual pressure P of the oil duct, the torque T of the requested clutch and the calculated torque increase rate T grd Clutch driving disc rotation speed R 1 Either the engine speed or the P1 motor speed, the clutch driven disc speed R 2 Or the rotating speed of the P3 motor and the oil temperature t of the gearbox oil As an input variable of a fuzzy control system for calculating the target rotating speed of the BLDC motor, calculating and obtaining the target rotating speed R of the BLDC motor according to a fuzzy rule of the fuzzy control system for identifying the target rotating speed of the BLDC motor req3 The method comprises the steps of carrying out a first treatment on the surface of the Jumping to step S6 when the clutch torque request is less than 0 Nm;
s6, clutch release control: when the actual pressure P of the oil passage is greater than the first pressure threshold P 0 When the BLDC motor requests the rotating speed R req4 When the actual pressure P of the oil passage is less than or equal to the first pressure threshold P 0 At this time, the process goes to step S2.
2. The method for controlling an electronic oil pump with both execution and lubrication as claimed in claim 1, wherein in step S4, the open loop control in the first stage uses the oil temperature and the actual pressure of the current oil passage to calculate the rotation speed R of the clutch driving disc when the BLDC motor is filled with oil 1 Rotational speed holding time T 1 And a fall time T 2 When the rotation speed of the BLDC motor is reduced to the basic rotation speed R of the pressure critical point k When this occurs, the second stage is entered.
3. The method for controlling an electronic oil pump with both execution and lubrication as claimed in claim 1, wherein in step S4, the second stage is PID oil passage pressure closed-loop control, and the basic rotation speed R of the critical point of the BLDC motor is obtained by looking up a table according to the oil temperature k With clutch half-coupling point pressure P k Aiming at the aim, the actual pressure P of the oil duct is taken as a feedback signal, PID feedback adjustment is carried out, and a rotating speed correction value R is calculated and obtained co The method comprises the steps of carrying out a first treatment on the surface of the When the oil passage actual pressure P and the target pressure P t The difference value is smaller than the calibration threshold value P diff-b When the time is greater than the calibration time T 3 At this time, the process advances to step S5.
4. The method for controlling an electronic oil pump with both execution and lubrication according to claim 1, wherein the specific steps of the pressure closed-loop control S5 are as follows:
s81: the BLDC motor control unit MCU obtains the actual pressure P and the target pressure P of the oil duct t Pressure difference P of (2) diff The clutch master-slave disc rotation speed difference d, and the clutch request torque slope Tg after average filtering is used as an input variable of a fuzzy system;
s82: differential pressure P diff The clutch master-slave disc speed difference d, the average filtered clutch request torque slope Tg is correspondingly input to the membership function A (P diff )，B(P diff ) C (D), D (Tg) respectively obtain corresponding output values A p 、B p 、C d 、D T Wherein A (P diff ) Represents a membership function with positive pressure difference, B (P diff ) A membership function representing a negative pressure difference, C (D) a membership function representing a rotational speed difference less than alpha, D (Tg) a membership function representing a torque slope greater than beta, wherein alpha represents a rotational speed difference threshold and beta represents a torque slope threshold;
s83: membership function A (P diff )，B(P diff ) C (D), D (Tg) output value A p 、B p 、C d 、D T Input into the fuzzy control rule to obtain the output value of the fuzzy control rule or the original value A of the rotating speed request value of the BLDC motor 1 、A 2 、A 3 、A 4 ；
S84, requesting the obtained rotation speed of the BLDC motor for a first original value A 1 Second original value A 2 Third original value A 3 Fourth original value A 4 And (3) carrying out accurate processing according to the following accumulated average formula to obtain the final required BLDC motor request rotating speed, wherein the accumulated average formula is as follows:
wherein A is i BLDC motor request rotation speed original output for ith fuzzy control ruleValue, K nj For regular molecular coefficients, K dj Is a regular denominator coefficient.
5. The method for controlling an electronic oil pump for both execution and lubrication according to claim 4, wherein the value of α is 0 to 3000 and the value of β is less than 10Nm/s; the fuzzy set pressure difference is positive representation: the actual pressure P of the oil passage is smaller than the target pressure P t The method comprises the steps of carrying out a first treatment on the surface of the The fuzzy set pressure difference is negative representation: the actual pressure P of the oil passage is greater than the target pressure P t 。
6. The method for controlling an electronic oil pump for both execution and lubrication according to claim 4, wherein the fuzzy control rule in step S83 includes:
the first fuzzy rule is: if the absolute value of the rotational speed difference is less than alpha and the pressure difference is negative, then the clutch rotational speed is basically synchronous, but the actual pressure P of the oil duct is greater than the target pressure P t At this time, the rotation speed of the BLDC motor requests the first original value to be B p And C d The median value of the two is small;
the second fuzzy rule is: if the absolute value of the rotational speed difference is smaller than alpha and the pressure difference is positive, the clutch rotational speed is basically synchronous, but the actual pressure P of the oil duct is smaller than the target pressure P t At this time, the rotation speed of the BLDC motor requests a second original value A 2 Taking A p And C d The median value of the two is large;
the third fuzzy rule is: if the absolute value of the rotational speed difference is less than alpha and the torque slope is greater than beta, then the clutch rotational speed is substantially synchronous, but the torque increase rate is very fast, at which time the BLDC motor rotational speed requests a third original value A 3 Is A p And D T The median value of the two is large;
the fourth fuzzy rule is: the torque slope is larger than beta, and the fourth original value A4 of the rotating speed request of the BLDC motor is D T 。
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116877685A (en) * | 2023-09-06 | 2023-10-13 | 盛瑞传动股份有限公司 | Control method of gearbox high-pressure system and gearbox high-pressure system |
| CN116906554A (en) * | 2023-09-06 | 2023-10-20 | 盛瑞传动股份有限公司 | Gearbox high-pressure system and control method thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116877685A (en) * | 2023-09-06 | 2023-10-13 | 盛瑞传动股份有限公司 | Control method of gearbox high-pressure system and gearbox high-pressure system |
| CN116906554A (en) * | 2023-09-06 | 2023-10-20 | 盛瑞传动股份有限公司 | Gearbox high-pressure system and control method thereof |
| CN116906554B (en) * | 2023-09-06 | 2023-12-05 | 盛瑞传动股份有限公司 | Gearbox high-pressure system and control method thereof |
| CN116877685B (en) * | 2023-09-06 | 2023-12-05 | 盛瑞传动股份有限公司 | Control method of gearbox high-pressure system and gearbox high-pressure system |
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