CN102381311A - Four-driven strong-hybrid automobile AMT (automated mechanical transmission) coordinated control method and system thereof - Google Patents
Four-driven strong-hybrid automobile AMT (automated mechanical transmission) coordinated control method and system thereof Download PDFInfo
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- CN102381311A CN102381311A CN2011102966249A CN201110296624A CN102381311A CN 102381311 A CN102381311 A CN 102381311A CN 2011102966249 A CN2011102966249 A CN 2011102966249A CN 201110296624 A CN201110296624 A CN 201110296624A CN 102381311 A CN102381311 A CN 102381311A
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Abstract
The invention discloses a four-driven strong-hybrid automobile AMT (automated mechanical transmission) coordinated control method and a system thereof, belonging to the field of hybrid automobile control. Driving information is acquired by a whole automobile controller which is also responsible for managing and distributing the torque needed by the whole automobile. The method comprises the following steps of: determining the whole automobile driving mode, and selecting the whole automobile driving mode adaptive to the driving information; sending instruction information to an AMT controller according to the whole automobile driving mode, and executing the instruction control of the whole automobile controller by the AMT controller; and carrying out coordinated control on all driving motor controllers by the whole automobile controller according to the execution condition of the AMT controller so as to meet the requirement for smooth shifting of a driver for driving. In the AMT coordinated control method, by coordinated control of the whole automobile controller to the AMT controller, the shifting smoothness of an AMT is effectively improved, so that the shifting becomes faster and more comfortable; and simultaneously a rear-driven pure-electric driving mode is utilized for preventing an AMT system from working at the stages of starting and low speed, so that the automobile driving is more economic.
Description
Technical field
The present invention relates to hybrid electric vehicle complete vehicle control field; Be particularly related to a kind of 4 wheel driven strong hybrid automobile AMT (Automated Mechanical Transmission; Electric control mechanical type automatic speed variator) control method for coordinating; The control of strong hybrid electric system is controlled with the AMT system coordination, improves and improve the gearshift time and the shift impact of AMT system, makes it effective and uses with the strong hybrid electric system matches.
Background technology
Hybrid vehicle has had both the advantage of pure electric automobile and automobile powered by conventional energy; Automobile powered by conventional energy relatively has good dynamic property, fuel economy and emission behavior; It is one of emphasis of novel automobile power driving system research and development both at home and abroad at present; Each big car company strengthens the research and development of hybrid vehicle, and has obtained the extensive concern in user and market.
In realizing process of the present invention, the contriver finds that there is following shortcoming at least in prior art:
Present stage, mostly the gearshift of strong mixing system be CVT (Continuously Variable Transmission; Progressive gear transmission) or sun and planet gear; Complex structure and cost are higher, and the domestic degree of effectively mating with strong mixing system that on research and development ability, can't reach.Utilize the automobile of strong mixing system system inlet AMT control system at present, when starting and gearshift, particularly when uphill starting and brish acceleration, have certain shock and vibration, compare with the hydraulic automatic speed variator automobile, driver comfort is relatively poor.The factor that influences AMT starting, shift quality comprises that gear switch all pass through neutral gear and cause that torque break, dry type clutch do not allow the long period cunning to rub in order to avoid the friction lining etc. of burning.
Summary of the invention
Control in order to realize that car load is controlled with the AMT system coordination, and reach the requirement that improves vehicle low-speed stage economy and shifting comfort, the embodiment of the invention provides a kind of 4 wheel driven strong hybrid automobile AMT control method for coordinating and system thereof, and said technical scheme is following:
The invention provides on the one hand a kind of 4 wheel driven strong hybrid automobile AMT control method for coordinating, gather driving information through entire car controller, and be responsible for the demand torque of car load is managed and distributed, said method comprises:
Entire car controller is judged the drive pattern of car load according to the driving information of being gathered, and chooses the car load drive pattern that adapts with driving information;
Entire car controller sends command information according to the car load drive pattern to the AMT controller, carries out the instruction control of entire car controller through the AMT controller;
Entire car controller satisfies the demand that the smooth-going gearshift of chaufeur is driven according to each drive motor controller of implementation status co-operative control of AMT controller.
Said drive pattern comprises two types:
One type is the pure motorized motions pattern of low speed, and entire car controller sends the neutral command information for the AMT controller, and the AMT controller is carried out driving engine is hung into neutral, and cut-off clutch;
One type is the engine running drive pattern, and entire car controller sends shifting commands for the AMT controller, and the AMT controller coordinates to accomplish the control that car load is driven with entire car controller.
The pure motorized motions pattern of said low speed provides takeoff output by high-tension battery, and car load provides moment of torsion output by vehicle control unit controls rear-guard motor, and it comprises,
Pure motorized motions pattern, engine off has only the rear-guard motor that moment of torsion output is provided;
Tandem drive pattern, rear-guard motor-driven car load advance and by preceding ISG electric motor starting driving engine, and the ISG electric power generation of the coaxial setting of engine drives is used for replenishing the electric weight of high-tension battery.
Said engine running drive pattern participates in providing takeoff output by driving engine, and it comprises,
Parallel drive pattern; The rear-guard motor cuts out; And when the AMT controller is carried out the gearshift action, activate, being used to provide the output of gearshift compensation torque, engine output torque is participated in car load and is driven; ISG (Integrate Starter Generator, integrated starter-generator) motor then generates electricity, reclaims braking or participate in the assistive drive vehicle according to the instruction of entire car controller;
The four wheel drive pattern, wherein driving engine, ISG motor and rear-guard motor all participate in driving, and the torque of its output is carried out reasonable distribution by entire car controller.
Car load is under the engine running drive pattern, and entire car controller is accomplished the control that car load is driven with the AMT controller coordinate and may further comprise the steps:
Entire car controller sends the equivalent accelerator open degree of gearshift request and driving engine and ISG motor to the AMT controller; The gearshift request instruction of AMT controller response entire car controller, according to equivalent accelerator open degree and combine the current higher speed of a motor vehicle to carry out the gearshift of best gear, and the torque demand of will shifting gears sends to entire car controller; , according to the output torque situation before and after the gearshift smooth gear shifting property of car load is controlled by entire car controller.
When the control of car load smooth gear shifting property is comprised that compensation and gearshift that driving engine when carrying out gearshift reduces moment of torsion finish the speed synchronization of engine speed and clutch rotational speed is controlled.
The compensation that driving engine reduces moment of torsion is to pass through the co-operative control drive motor controller by entire car controller, and the moment of torsion that interrupts because of gearshift is compensated;
The speed synchronization of engine speed and clutch rotational speed is through control ISG motor driving engine to be dragged to gear shift front clutch working speed, thereby realizes the speed synchronization of the two.
On the other hand, the present invention also provides a kind of 4 wheel driven strong hybrid automobile AMT coordinated control system, comprise,
Entire car controller is used to gather driving information, and is responsible for the demand torque of car load is managed and distributed;
The AMT controller is used to carry out the control command signal of said entire car controller, also comprises in the said control system,
Car load drive pattern determination module is used to choose the suitable drive pattern of the driving information of gathering with said entire car controller;
Torque compensator, it is controlled by said entire car controller, is used to compensate the moment of torsion that driving engine reduces, and realizes that the ride comfort of car load is driven;
Said entire car controller carries out the judgement of drive pattern according to the driving information of being gathered through car load drive pattern determination module, chooses drive pattern, starts the said torque compensator that is associated with drive pattern simultaneously; Said AMT controller responds the control command of said entire car controller, and realizes the switching to gear through actr, and said torque compensator carries out torque compensation according to the gear that is switched.
Said torque compensator comprises:
The rear-guard motor is used to drive the running of car load trailing wheel, and is used to compensate the moment of torsion that driving engine reduces when shifting gears;
The engine speed synchronous device comprises the ISG motor, and said ISG motor is with the coaxial setting of driving engine;
Power battery management system is used to supply the propulsion source of rear-guard motor and ISG motor rotation;
Said drive pattern comprises: pure motorized motions pattern, tandem drive pattern, parallel drive pattern and four wheel drive pattern;
Said pure motorized motions pattern and tandem drive pattern are when low speed, and through the driving of rear-guard motor realization car load, said AMT controller responds the instruction of said entire car controller, makes car load be in neutral gear position;
Said parallel drive pattern and four wheel drive pattern are when high speed, carry out the compensation that driving engine interrupts moment of torsion through the rear-guard motor when said AMT controller is carried out gearshift, and realize the speed synchronization of engine speed and clutch rotational speed through the ISG motor.
The beneficial effect of the technical scheme that the embodiment of the invention provides is:
Through with the AMT system inlet in the 4 wheel driven strong hybrid electric vehicle, utilize the rear-guard pure electric drive system avoid the AMT system the starting and low-speed stage work.
Utilize the ISG motor to regulate engine speed in the AMT gearshift, power-transfer clutch two ends rotating speed is synchronous in the realization shift process, shortens the gearshift time, utilizes the torque break in the rear-guard Motor torque compensation shift process simultaneously, makes gearshift more smooth-going, comfortable.
Description of drawings
In order to be illustrated more clearly in the technical scheme in the embodiment of the invention; The accompanying drawing of required use is done to introduce simply in will describing embodiment below; Obviously, the accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills; Under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is based on the structure diagram of 4 wheel driven strong hybrid electric car load among the present invention;
Fig. 2 is the control relation sketch between entire car controller provided by the invention and each the moment of torsion module;
Fig. 3 is entire car controller provided by the invention and AMT controller logic figure;
Fig. 4 is that entire car controller provided by the invention is with AMT controller coordinate control flow chart;
The specific embodiment
For making the object of the invention, technical scheme and advantage clearer, will combine accompanying drawing that embodiment of the present invention is done to describe in detail further below.
4 wheel driven strong hybrid automobile AMT control method for coordinating provided by the present invention, its control method for coordinating is following:
One, gathers driving information
Gather driving information through entire car controller, and be responsible for the demand torque of car load is managed and distributed.
Driving information that the entire car controller is here gathered comprises information such as gear, throttle, high-tension battery electric weight.
Two, drive pattern is judged
Entire car controller is judged the drive pattern of car load according to the driving information of being gathered, and chooses the car load drive pattern that adapts with driving information.
As shown in Figure 3, these four kinds of patterns are respectively:
(1) pure motorized motions pattern, high-tension battery provides takeoff output, only by the rear-guard motor moment of torsion output is provided, and powered vehicle is advanced, at this moment engine off;
(2) tandem drive pattern, still be drive motor independent drive vehicle this moment, driving engine moves at this moment and drives the ISG electric power generation with additional high-tension battery electric weight, but not participates in driving directly;
(3) parallel drive pattern; This moment, the rear-guard motor cut out; And, AMT activates the rear-guard motor when shifting gears; Make it that output of gearshift compensation torque is provided, engine output torque is participated in vehicular drive, and the ISG motor then generates electricity, reclaims braking or participate in the assistive drive vehicle according to the instruction of entire car controller;
(4) four wheel drive pattern, this moment, driving engine and ISG motor and drive motor all participated in driving, and torque is still carried out reasonable distribution by entire car controller;
In conjunction with above 4 kinds of patterns; Entire car controller and the control of AMT controller coordinate can be divided into 2 types; Send the neutral instruction for the AMT controller when being the pure motorized motions pattern of low speed for one type, one type is the engine running drive pattern, sends forward gear or reverse gear instruction when the speed of a motor vehicle is higher.
Three, the AMT controller responds
Entire car controller sends command information according to the car load drive pattern to the AMT controller, carries out the instruction control of entire car controller through the AMT controller;
As shown in Figure 2; Entire car controller is gathered driving informations such as efp aperture and gear; Be responsible for the car load demand torque is managed, and reasonably distribute torque satisfies the driving demand of chaufeur for engine management system, ISG electric machine controller and rear-guard electric machine controller.And the gearshift demand; Whether then is entire car controller starts the co-operative control with the AMT controller according to current gear and the decision of Das Gaspedal aperture thereof; If do not need then to ask AMT controller neutral; If demand is then asked AMT controller forward gear or reverse gear, and accomplish relevant gearshift by the actr of AMT and move.
Like Fig. 3 and shown in Figure 4; When vehicle was in pure electronic and tandem drive pattern, entire car controller sent the neutral instruction for the AMT controller, and AMT then responds the entire car controller demand; Hang neutral; And cut-off clutch, not with the transmission of power of driving engine to axle drive shaft, it is economical inadequately and impact bigger drawback rationally to have avoided low-speed stage AMT with power drive mode; When vehicle is in parallel connection and 4 wheel driven pattern, the equivalent accelerator open degree that entire car controller advances perhaps reverse gear order and driving engine and ISG motor for the transmission of AMT controller.The instruction of AMT controller responding system controller; According to equivalent accelerator open degree and combine the current higher speed of a motor vehicle to carry out the gearshift of best gear; And the torque demand of will shifting gears sends to entire car controller; By entire car controller engine output torque is managed, reduced engine output torque and satisfy AMT system gearshift demand.
Four, entire car controller is coordinated to drive, and accomplishes ride comfort and drives
Entire car controller satisfies the demand that the smooth-going gearshift of chaufeur is driven according to each drive motor controller of implementation status co-operative control of AMT controller.
When the ATM controller was carried out forward gear or reverse gear request according to the control command of entire car controller, the ATM controller was carried out the gearshift action through the control actr, and the ATM controller feeds back to entire car controller with its implementation status; Send information such as gearshift demand torque and engine speed simultaneously to it; Entire car controller then sends the gearshift torque compensation according to the feedback information of ATM controller to the rear-guard electric machine controller, and this moment, entire car controller can be applied to the moment of torsion that driving engine reduces on the rear-guard motor, utilized the rear-guard motor characteristic very fast to torque responsive; Compensate the moment of torsion that interrupts because of gearshift immediately; After the end of shifting gears, the compensation of rear-guard Motor torque finishes, and this moment, engine speed need return to the preceding rotating speed of gear shift as early as possible to satisfy the clutch rotational speed synchronisation requirement; Entire car controller is through control ISG controller; Make its control ISG motor rotation, utilize the speed characteristic of ISG motor, directly driving engine is dragged to gear shift front clutch working speed and carries out synchronization; Not only shorten the gearshift time, and improved the traveling comfort of AMT gearshift.
The present invention also provides a kind of 4 wheel driven strong hybrid automobile AMT coordinated control system, comprises that entire car controller is used to gather driving information, and is responsible for the demand torque of car load is managed and distributed;
The AMT controller is used to carry out the control command signal of said entire car controller, also comprises in the said control system,
Car load drive pattern determination module is used to choose the suitable drive pattern of the driving information of gathering with said entire car controller;
Torque compensator, it is controlled by said entire car controller, is used to compensate the moment of torsion that driving engine reduces, and realizes that the ride comfort of car load is driven;
Entire car controller carries out the judgement of drive pattern according to the driving information of being gathered through car load drive pattern determination module, chooses drive pattern, starts the said torque compensator that is associated with drive pattern simultaneously; Said AMT controller responds the control command of said entire car controller, and realizes the switching to gear through actr, and said torque compensator carries out torque compensation according to the gear that is switched.
As depicted in figs. 1 and 2, the torque compensator here comprises:
Rear-guard motor, rear-guard controller are controlled by entire car controller, are used to drive the running of car load trailing wheel; The engine speed synchronous device comprises ISG motor and ISG controller, is controlled by entire car controller, and the ISG motor is with the coaxial setting of driving engine;
Power battery management system is used to supply the propulsion source of rear-guard motor and ISG motor rotation; High-tension battery among the figure can be various high tension batterys.
Pure motorized motions pattern and tandem drive pattern are when low speed, and through the driving of rear-guard motor realization car load, said AMT controller responds the instruction of said entire car controller, makes car load be in neutral gear position.
Parallel drive pattern and four wheel drive pattern are when high speed, carry out the compensation that driving engine interrupts moment of torsion through the rear-guard motor when said AMT controller is carried out gearshift, and realize the speed synchronization of engine speed and clutch rotational speed through the ISG motor.
As shown in Figure 1, forerunner's power system is made up of the ISG motor coaxle of driving engine and 15KW, loads AMT auto-manual transmission system, and back drive system is the bigger rear-guard motor of a power, loads electronic transmission.This system can realize four wheel drive, pure driven by power and conventional series and parallel formula type of drive thereof by actv., and this work is that Full Vehicle System comes each subsystem component of co-operative control to realize by hybrid controller.
The invention described above embodiment sequence number is not represented the quality of embodiment just to description.
All or part of step in the embodiment of the invention can utilize software to realize that corresponding software programs can be stored in the storage medium that can read, like CD or hard disk etc.
The above is merely preferred embodiment of the present invention, and is in order to restriction the present invention, not all within spirit of the present invention and principle, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. 4 wheel driven strong hybrid automobile AMT control method for coordinating is gathered driving information through entire car controller, and is responsible for the demand torque of car load is managed and distributed, and it is characterized in that said method comprises:
Entire car controller is judged the drive pattern of car load according to the driving information of being gathered, and chooses the car load drive pattern that adapts with driving information;
Entire car controller sends command information according to the car load drive pattern to the AMT controller, carries out the instruction control of entire car controller through the AMT controller;
Entire car controller satisfies the demand that the smooth-going gearshift of chaufeur is driven according to each drive motor controller of implementation status co-operative control of AMT controller.
2. 4 wheel driven strong hybrid automobile AMT control method for coordinating according to claim 1 is characterized in that,
Said drive pattern comprises two types:
One type is the pure motorized motions pattern of low speed, and entire car controller sends the neutral command information for the AMT controller, and the AMT controller is carried out driving engine is hung into neutral, and cut-off clutch;
One type is the engine running drive pattern, and entire car controller sends shifting commands for the AMT controller, and the AMT controller coordinates to accomplish the control that car load is driven with entire car controller.
3. 4 wheel driven strong hybrid automobile AMT control method for coordinating according to claim 2 is characterized in that,
The pure motorized motions pattern of said low speed provides takeoff output by high-tension battery, and car load provides moment of torsion output by vehicle control unit controls rear-guard motor, and it comprises,
Pure motorized motions pattern, engine off has only the rear-guard motor that moment of torsion output is provided;
Tandem drive pattern, rear-guard motor-driven car load advance and by preceding ISG electric motor starting driving engine, and the ISG electric power generation of the coaxial setting of engine drives is used for replenishing the electric weight of high-tension battery.
4. 4 wheel driven strong hybrid automobile AMT control method for coordinating according to claim 2 is characterized in that,
Said engine running drive pattern participates in providing takeoff output by driving engine, and it comprises,
Parallel drive pattern; The rear-guard motor cuts out; And, the AMT controller activates when carrying out the gearshift action; Be used to provide the output of gearshift compensation torque, engine output torque is participated in car load and is driven, and the ISG motor then generates electricity, reclaims braking or participate in the assistive drive vehicle according to the instruction of entire car controller;
The four wheel drive pattern, wherein driving engine, ISG motor and rear-guard motor all participate in driving, and the torque of its output is carried out reasonable distribution by entire car controller.
5. 4 wheel driven strong hybrid automobile AMT control method for coordinating according to claim 4 is characterized in that,
Car load is under the engine running drive pattern, and entire car controller is accomplished the control that car load is driven with the AMT controller coordinate and may further comprise the steps:
Entire car controller sends the equivalent accelerator open degree of gearshift request and driving engine and ISG motor to the AMT controller; The gearshift request instruction of AMT controller response entire car controller, according to equivalent accelerator open degree and combine the current higher speed of a motor vehicle to carry out the gearshift of best gear, and the torque demand of will shifting gears sends to entire car controller; , according to the output torque situation before and after the gearshift smooth gear shifting property of car load is controlled by entire car controller.
6. 4 wheel driven strong hybrid automobile AMT control method for coordinating according to claim 5 is characterized in that,
When the control of car load smooth gear shifting property is comprised that compensation and gearshift that driving engine when carrying out gearshift reduces moment of torsion finish the speed synchronization of engine speed and clutch rotational speed is controlled.
7. 4 wheel driven strong hybrid automobile AMT control method for coordinating according to claim 6 is characterized in that,
The compensation that driving engine reduces moment of torsion is to pass through the co-operative control drive motor controller by entire car controller, and the moment of torsion that interrupts because of gearshift is compensated;
The speed synchronization of engine speed and clutch rotational speed is through control ISG motor driving engine to be dragged to gear shift front clutch working speed, thereby realizes the speed synchronization of the two.
8. a 4 wheel driven strong hybrid automobile AMT coordinated control system comprises,
Entire car controller is used to gather driving information, and is responsible for the demand torque of car load is managed and distributed;
The AMT controller is used to carry out the control command signal of said entire car controller, it is characterized in that,
Also comprise in the said control system,
Car load drive pattern determination module is used to choose the suitable drive pattern of the driving information of gathering with said entire car controller;
Torque compensator, it is controlled by said entire car controller, is used to compensate the moment of torsion that driving engine reduces, and realizes that the ride comfort of car load is driven;
Said entire car controller carries out the judgement of drive pattern according to the driving information of being gathered through car load drive pattern determination module, chooses drive pattern, starts the said torque compensator that is associated with drive pattern simultaneously; Said AMT controller responds the control command of said entire car controller, and realizes the switching to gear through actr, and said torque compensator carries out torque compensation according to the gear that is switched.
9. 4 wheel driven strong hybrid automobile AMT coordinated control system according to claim 8 is characterized in that,
Said torque compensator comprises:
The rear-guard motor is used to drive the running of car load trailing wheel, and is used to compensate the moment of torsion that driving engine reduces when shifting gears;
The engine speed synchronous device comprises the ISG motor, and said ISG motor is with the coaxial setting of driving engine;
Power battery management system is used to supply the propulsion source of rear-guard motor and ISG motor rotation;
10. 4 wheel driven strong hybrid automobile AMT coordinated control system according to claim 9 is characterized in that,
Said drive pattern comprises: pure motorized motions pattern, tandem drive pattern, parallel drive pattern and four wheel drive pattern;
Said pure motorized motions pattern and tandem drive pattern are when low speed, and through the driving of rear-guard motor realization car load, said AMT controller responds the instruction of said entire car controller, makes car load be in neutral gear position;
Said parallel drive pattern and four wheel drive pattern are when high speed, carry out the compensation that driving engine interrupts moment of torsion through the rear-guard motor when said AMT controller is carried out gearshift, and realize the speed synchronization of engine speed and clutch rotational speed through the ISG motor.
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