CN107284436B - Oil-electricity hybrid electric vehicle, hybrid power system and gear shifting synchronous control method - Google Patents

Abstract

the invention provides a gear-shifting synchronous control method of a gasoline-electric hybrid electric vehicle, which at least comprises the following steps: reducing the torque of a power source motor, wherein the power source motor comprises an integrated starting motor and a driving motor; the first and second clutches are opened; the synchronizer is disengaged from the original gear and is engaged to a target gear, and the speed synchronization with the corresponding clutch is realized by controlling the operation of a power source motor; controlling the closing of the respective clutch; and raising the torque of the respective power source motor; wherein a battery is connected to the integrated starter motor and the drive motor, and shift synchronization control is performed based on at least power that can be absorbed by the battery or power that can be released by the battery. The invention also provides a corresponding hybrid power system of the oil-electricity hybrid electric vehicle and a corresponding oil-electricity hybrid electric vehicle. According to the idea of the invention, at least the slip control operation of the clutch is reduced, and correspondingly the development costs are also reduced.

Description

Oil-electricity hybrid electric vehicle, hybrid power system and gear shifting synchronous control method

Technical Field

the invention relates to a gear shifting synchronous control method of an oil-electricity hybrid electric vehicle, a hybrid power system of the oil-electricity hybrid electric vehicle and the oil-electricity hybrid electric vehicle.

background

with the increasing international importance on energy safety and environmental protection, the requirements of each country on pollutant emission of automobiles are more and more strict. The dependence on energy is reduced, energy conservation and emission reduction are realized, and the problem which needs to be solved urgently for the continuous development of the world economy is solved. The gasoline-electric hybrid electric vehicle combines the motor and the engine, has the advantages of reducing oil consumption, increasing driving range, higher technical maturity and the like, and is the preferred trend of development of various large automobile companies at present.

the oil-electricity hybrid electric vehicle is provided with a plurality of hybrid power systems, wherein one hybrid power system comprises an engine, a generator and a motor, the engine drives the generator to generate electricity, the electric energy is transmitted to a battery or the motor, and the motor drives the vehicle through a speed change mechanism. Meanwhile, the generator can also be used as a starting motor of an engine and a driving motor for driving an automobile through a speed change mechanism. The hybrid power system can improve the efficiency of the engine and reduce the exhaust emission.

In order to keep the vehicle in a good state during driving, the gears need to be changed according to different conditions. In the hybrid power system, the synchronizer can move towards one direction or the other opposite direction to realize corresponding engagement according to requirements, so that different gear shifting can be realized. In a transmission mechanism in which shift position switching is performed by a synchronizer, the existing flow of shift position switching is generally as follows: 1) the torque of the power source is reduced; 2) the clutch is opened; 3) the synchronizer is disengaged from the original gear and is engaged to a target gear; 4) synchronizing power source speeds; 5) after the speed synchronization, controlling the sliding and the engagement of the clutch; 6) the power source torque increases.

During gear shifting, synchronous control of the speed of the power source is required, and the synchronous control is usually realized by combining slip control of the clutch and control of the torque of the power source. Under the condition of realizing speed synchronization by means of sliding control and torque control, the requirement on a torque characteristic curve of the clutch is high, and self-learning of the clutch torque characteristic curve and a clutch joint point is required, so that not only is the development cost of a system increased, but also good gear shifting synchronization control performance is difficult to realize.

For this reason, there is a strong demand for improving shift synchronization control of such a hybrid system to improve shift performance and reduce development cost of the system.

Disclosure of Invention

The invention aims to provide a gear shifting synchronous control method of a gasoline-electric hybrid electric vehicle, a hybrid power system of the gasoline-electric hybrid electric vehicle and the gasoline-electric hybrid electric vehicle, so as to overcome the defects.

to this end, according to a first aspect of the present invention, there is provided a shift synchronization control method of a gasoline-electric hybrid vehicle, the method including at least the steps of:

reducing the torque of a power source motor, wherein the power source motor comprises an integrated starting motor and a driving motor;

The first and second clutches are opened;

The synchronizer is disengaged from the original gear and is engaged to a target gear, and the speed synchronization with the corresponding clutch is realized by controlling the operation of a power source motor;

controlling the closing of the respective clutch; and

increasing the torque of the motor of the corresponding power source;

wherein a battery is connected to the integrated starter motor and the drive motor, and shift synchronization control is performed based on at least power that can be absorbed by the battery or power that can be released by the battery.

According to an alternative embodiment of the present invention, power source motor operation is controlled by employing a PID control algorithm to achieve speed synchronization with the corresponding clutch.

According to an alternative embodiment of the invention, the following steps are performed during an upshift:

Finishing the reduction of the torque of a power source motor, controlling the first clutch and the second clutch to be opened, simultaneously performing gear-shifting control, and judging whether the power absorbed by the battery is smaller than the calculated power released by gear-shifting rotation speed synchronization within the preset rotation speed synchronization time;

if so:

controlling the integrated starting motor to drag the engine to a corresponding rotating speed, wherein the engine does not spray oil and provides friction torque so as to consume power released by synchronous speed regulation of the driving motor which is not absorbed by the battery;

After the synchronous speed regulation of the driving motor is finished and the target gear is engaged, controlling a second clutch connected with the driving motor to be closed;

the integrated starting motor and the engine are controlled to shift gears and synchronously regulate speed, and energy generated by the integrated starting motor is simultaneously used for charging a battery in the speed regulation process, so that the driving motor can be supplied to drive the whole vehicle through a closed second clutch;

After the speed regulation of the integrated starting motor and the engine is finished, closing the corresponding first clutch; and

After the first clutch is closed, the integrated starter motor and the engine work simultaneously to provide driving torque;

If not:

Controlling the integrated starting motor and the engine to perform gear shifting synchronous speed regulation, and simultaneously controlling the driving motor to perform gear shifting synchronous speed regulation;

After the synchronous speed regulation of the integrated starter motor and the engine is completed and the integrated starter motor and the engine are engaged to a target gear, controlling a first clutch to be closed; after the synchronous speed regulation of the driving motor is finished, controlling the second clutch to be closed; and

after the first clutch is closed, the integrated starter motor and the engine are subjected to torque output control to provide driving torque; and the second clutch is closed to control the torque output of the driving motor and provide driving torque.

according to an alternative embodiment of the invention, the following steps are performed during a downshift:

finishing the reduction of the torque of the power source, controlling the first clutch and the second clutch to be opened, simultaneously performing gear-shifting control, and judging whether the power released by the battery is smaller than the calculated consumed power required for performing gear-shifting rotation speed synchronization within the preset rotation speed synchronization time;

if so:

Controlling the engine to work, providing positive output power, and generating power while synchronously controlling the rotating speed of the integrated starting motor, wherein the generated power of the integrated starting motor can be simultaneously used for shifting and synchronously regulating the speed of the driving motor;

completing synchronous speed regulation of the engine and the integrated starter motor, and controlling the first clutch to be closed after the target gear is engaged;

After the first clutch is closed, controlling the engine and the integrated starting motor to output torque, wherein the integrated starting motor provides negative torque until the synchronous speed regulation of the rotating speed of the driving motor is finished; and

After the synchronous speed regulation of the rotating speed of the driving motor is finished, the integrated starting motor outputs positive driving torque, and simultaneously the engine is controlled to output the driving torque; if not:

and controlling the rotation speed of the driving motor to be synchronously regulated, then controlling the second clutch to be closed, and simultaneously controlling the driving motor to provide driving force. According to an alternative embodiment of the invention, if it is:

Controlling the engine to work, providing positive output power, and generating power while synchronously controlling the rotating speed of the integrated starting motor, wherein the generated power of the integrated starting motor can be simultaneously used for shifting and synchronously regulating the speed of the driving motor; and

and controlling the rotation speed of the driving motor to be synchronously regulated, then controlling the second clutch to be closed, and simultaneously controlling the driving motor to provide driving force.

according to a second aspect of the present invention, there is provided a hybrid system of a gasoline-electric hybrid vehicle, including: the starter comprises an engine, an integrated starter motor connected with the engine, a first clutch connected with the integrated starter motor, a synchronizer gear shifting mechanism, a second clutch, a driving motor connected with the second clutch and a battery connected with the integrated starter motor and the driving motor, wherein the synchronizer gear shifting mechanism is connected between the first clutch and the second clutch and comprises a synchronizer,

The shift synchronization control is executed by at least the following steps:

reducing the torque of the integrated starting motor and the driving motor;

The first and second clutches are opened;

the synchronizer is disengaged from the original gear and is engaged to a target gear, and the speed synchronization with the corresponding clutch is realized by controlling the operation of the integrated starting motor and/or the driving motor;

controlling the closing of the respective clutch; and

Correspondingly increasing the torque of the integrated starter motor and/or the drive motor;

wherein the shift synchronization control is performed based on at least power that can be absorbed by the battery or power that can be released by the battery.

according to an alternative embodiment of the invention, the speed synchronization with the respective clutch is achieved by controlling the operation of the integrated starter motor and/or drive motor using a PID control algorithm.

According to an alternative embodiment of the invention, the following steps are performed during an upshift:

the reduction of the torque of the integrated starting motor and the driving motor is completed, the first clutch and the second clutch are controlled to be opened, meanwhile, the gear-shifting control is carried out, and whether the power absorbed by the battery is smaller than the calculated power released by the gear-shifting rotating speed synchronization within the preset rotating speed synchronization time or not is judged;

If so:

controlling the integrated starting motor to drag the engine to a corresponding rotating speed, wherein the engine does not spray oil and provides friction torque so as to consume power released by synchronous speed regulation of the driving motor which is not absorbed by the battery;

after the synchronous speed regulation of the driving motor is finished and the target gear is engaged, controlling a second clutch connected with the driving motor to be closed;

the integrated starting motor and the engine are controlled to shift gears and synchronously regulate speed, and energy generated by the integrated starting motor is simultaneously used for charging a battery in the speed regulation process, so that the driving motor can be supplied to drive the whole vehicle through a closed second clutch;

after the speed regulation of the integrated starting motor and the engine is finished, closing the corresponding first clutch; and

After the first clutch is closed, the integrated starter motor and the engine work simultaneously to provide driving torque;

if not:

controlling the integrated starting motor and the engine to perform gear shifting synchronous speed regulation, and simultaneously controlling the driving motor to perform gear shifting synchronous speed regulation;

after the synchronous speed regulation of the integrated starter motor and the engine is completed and the integrated starter motor and the engine are engaged to a target gear, controlling a first clutch to be closed; after the synchronous speed regulation of the driving motor is finished, controlling the second clutch to be closed; and

after the first clutch is closed, the integrated starter motor and the engine are subjected to torque output control to provide driving torque; and the second clutch is closed to control the torque output of the driving motor and provide driving torque.

according to an alternative embodiment of the invention, the following steps are performed during a downshift:

The method comprises the steps of finishing reduction of torque of an integrated starting motor and a driving motor, controlling a first clutch and a second clutch to be opened, simultaneously performing gear-shifting control, and judging whether power which can be released by a battery is smaller than calculated consumed power required for performing gear-shifting rotation speed synchronization within preset rotation speed synchronization time;

If so:

controlling the engine to work, providing positive output power, and generating power while synchronously controlling the rotating speed of the integrated starting motor, wherein the generated power of the integrated starting motor can be simultaneously used for shifting and synchronously regulating the speed of the driving motor;

Completing synchronous speed regulation of the engine and the integrated starter motor, and controlling the first clutch to be closed after the target gear is engaged;

after the first clutch is closed, controlling the engine and the integrated starting motor to output torque, wherein the integrated starting motor provides negative torque until the synchronous speed regulation of the rotating speed of the driving motor is finished; and

after the synchronous speed regulation of the rotating speed of the driving motor is finished, the integrated starting motor outputs positive driving torque, and simultaneously the engine is controlled to output the driving torque; if not:

And controlling the rotation speed of the driving motor to be synchronously regulated, then controlling the second clutch to be closed, and simultaneously controlling the driving motor to provide driving force. According to an alternative embodiment of the invention, if it is:

controlling the engine to work, providing positive output power, and generating power while synchronously controlling the rotating speed of the integrated starting motor, wherein the generated power of the integrated starting motor can be simultaneously used for shifting and synchronously regulating the speed of the driving motor; and

and controlling the rotation speed of the driving motor to be synchronously regulated, then controlling the second clutch to be closed, and simultaneously controlling the driving motor to provide driving force.

According to a third aspect of the invention, there is provided a gasoline-electric hybrid vehicle including the hybrid system.

according to the idea of the invention, at least the slip control operation of the clutch is reduced, and correspondingly the development costs are also reduced.

Drawings

The principles, features and advantages of the present invention may be better understood by describing the invention in more detail below with reference to the accompanying drawings. The drawings comprise:

FIG. 1 illustrates a schematic diagram of a hybrid powertrain system according to an exemplary embodiment.

fig. 2 shows a flowchart of a shift control method at the time of an upshift under a condition where battery power is limited.

Fig. 3 shows a flowchart of a shift control method at the time of downshift under the condition that the battery power is limited.

Detailed Description

in order to make the technical problems, technical solutions and advantageous effects of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and several embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of the invention.

FIG. 1 illustrates a schematic diagram of a hybrid powertrain system according to an exemplary embodiment. As shown in fig. 1, the hybrid system includes an engine 1, an integrated starter motor 2, a first clutch 3, a synchronizer gear shift mechanism 4, a second clutch 5, a drive motor 6, and a battery 7, wherein the synchronizer gear shift mechanism 4 includes a synchronizer 8 and a transmission output shaft 7. In this hybrid system, the engine 1 (more specifically, the integrated starter motor 2) and the drive motor 6 are power sources that drive the automobile through a transmission mechanism.

Specifically, the engine 1 is connected to an integrated starter motor 2, and the integrated starter motor 2 can function as both a generator and a motor. When the integrated starter motor 2 is driven after the engine 1 is started, the integrated starter motor 2 functions as a generator to generate power to supply electric power to the battery 7 to charge the battery 7 or to supply electric power to the drive motor 6 to operate the drive motor 6. At the time of starting the engine 1, the starter motor 2 functions as a starter motor for the engine 1 by the battery 7. The integrated starter motor 2 may also function as a motor under the action of the battery 7 to drive the vehicle through the transmission mechanism when the engine 1 is not operating.

the synchronizer gear shift 4 shown in fig. 1 is a two-gear synchronizer gear shift, but it is obvious to those skilled in the art that a multi-gear synchronizer gear shift is also possible. In the following, for simplicity, the two-speed synchronizer shift mechanism will still be described.

as can be seen from fig. 1, in the hybrid system, the driving motor 6 and the starting motor 2 are integrated, and the motor has the characteristics of high torque precision, quick response and the like. Therefore, the invention provides an intelligent auxiliary speed regulation and gear shifting control method for multiple power sources by utilizing the characteristics.

according to an exemplary embodiment of the invention, the multi-power-source intelligent auxiliary speed-regulating gear-shifting control method at least comprises the following steps:

step 1: the torque of the power source is reduced;

step 2: the first clutch 3 and the second clutch 5 are open;

and step 3: the synchronizer 8 is disengaged from the original gear and is engaged to the target gear;

and 4, step 4: carrying out system speed regulation to realize speed synchronization;

And 5: after the speed synchronization is finished, controlling the first clutch 3 and the second clutch 5 to be closed;

step 6: after the first clutch 3 and the second clutch 5 are closed, the power source torque rises.

it is noted that the system throttling in step 4 may also be performed between step 2 and step 3, i.e. without waiting for the synchronizer 8 to start working. Of course, the system can also be regulated during the change of the synchronizer 8. In summary, it is sufficient that the shifting of the synchronizer and the system governor operation are completed between the opening and the reclosing of the first clutch 3 and the second clutch 5.

in order to realize the above control steps, the hybrid system is provided with control means for controlling the integrated starter motor 2 and the drive motor 6 as power sources. According to an exemplary embodiment, the control device may employ a PID control algorithm to control the integrated starter motor 2 and/or the drive motor 6 for speed synchronization to achieve speed synchronization of the respective clutches.

It can be seen that by the above control method, at least the slip control operation of the clutch is reduced, and accordingly the development cost is also reduced.

However, under the extreme conditions, for example, under the condition of low battery temperature, when the charging power and the discharging power of the battery are limited, the speed regulation capability of the integrated starter motor 2 and the integrated driving motor 6 is also limited, and if the speed of the motor is only controlled to carry out synchronous speed regulation, the synchronous time of the rotating speed is prolonged, and the shifting performance of the system is affected. In order to solve this problem, the invention proposes that the shift synchronization control is performed on the basis of at least the power that can be absorbed by the battery or the power that can be released by the battery, as will be exemplarily described below.

Fig. 2 shows a flowchart of a shift control method at the time of an upshift under a condition where battery power is limited. During an upshift, the rotation speed of the engine 1 needs to be reduced, and the rotation speed of the drive motor 6 needs to be reduced. It is now necessary to consider whether the power that can be absorbed by the battery 7 (i.e. the available battery charging power) is sufficient to absorb the power released by the integrated starter motor 2 and the drive motor 6 during the upshift synchronization process due to the reduction in rotational speed.

as shown in fig. 2, it is determined whether to upshift or not after the start, and if not, the control process is directly ended. If so, the reduction of the power source torque is completed, and the first clutch 3 and the second clutch 5 are controlled to be opened while the downshift control is performed.

then, it is determined whether the power that can be absorbed by the battery 7 is less than the calculated power released by the shift speed synchronization of the integrated starter motor 2 and the drive motor 6 within the predetermined speed synchronization time. If the power that the battery 7 can absorb is less than the power released by the shift speed synchronization, which means that the battery 7 cannot completely absorb the released power, the integrated starter motor 2 needs to be controlled to drag the engine 1 to the corresponding speed, and at this time, the engine 1 does not inject oil to provide friction torque, so as to consume the power released by the synchronous speed regulation of the driving motor 6, which is not absorbed by the battery 7.

subsequently, after the synchronous speed regulation of the driving motor 6 is completed and the target gear is engaged, the second clutch 5 coupled with the driving motor 6 is controlled to be closed.

Then, the integrated starter motor 2 and the engine 1 are controlled to perform gear shifting synchronous speed regulation, and the energy generated by the integrated starter motor 2 is simultaneously used for charging the battery 7 in the speed regulation process, so that the driving motor 6 can be supplied to drive the whole vehicle through the closed second clutch 5.

then, after the speed regulation of the integrated starter motor 2 and the engine 1 is completed, the first clutch 3 is closed.

finally, after the first clutch 3 is closed, the integrated starter motor 2 and the engine 1 are operated simultaneously, providing the drive torque.

if the power that can be absorbed by the battery 7 is not less than the power released by the shift speed synchronization, which means that the battery 7 is sufficient to absorb the entire released power, the integrated starter motor 2 and the engine 1 can be controlled to perform shift synchronization, and the drive motor 6 can also be controlled to perform shift synchronization.

then, after the synchronous speed regulation of the integrated starter motor 2 and the engine 1 is finished and the integrated starter motor and the engine are engaged to a target gear, controlling the first clutch 3 to be closed; and after the synchronous speed regulation of the driving motor 6 is finished, controlling the second clutch 5 to be closed.

finally, after the first clutch 3 is closed, the integrated starter motor 2 and the engine 1 are firstly subjected to torque output control to provide driving torque; the second clutch 5 is closed to control the torque output of the drive motor 6 to provide drive torque.

It is apparent that the step shown in fig. 2 of "determining whether the power that can be absorbed by the battery 7 is less than the calculated power to be released for the shift speed synchronization of the integrated starter motor 2 and the drive motor 6 within the predetermined speed synchronization time" may be performed before the step of "completing the reduction of the power source torque, controlling the first clutch 3 and the second clutch 5 to be open, and simultaneously performing the downshift control".

Fig. 3 shows a flowchart of a shift control method at the time of downshift under the condition that the battery power is limited. At the time of downshift, the rotation speed of the engine 1 needs to be increased, and the rotation speed of the drive motor 6 needs to be increased. It is necessary to consider whether the power that can be discharged by the battery 7 (i.e., the battery discharge power) is sufficient to satisfy the power required by the integrated starter motor 2 and the drive motor 6 due to the increase in the rotational speed during the downshift rotational speed synchronization.

as shown in fig. 3, it is determined whether or not to downshift after the start, and if not, the control process is ended directly. If so, the reduction of the power source torque is completed, and the first clutch 3 and the second clutch 5 are controlled to be opened while the downshift control is performed.

then, it is determined whether the power that can be discharged from the battery 7 is smaller than the power consumption calculated to perform the shift speed synchronization of the integrated starter motor 2 and the drive motor 6 within the predetermined speed synchronization time. If the power which can be released by the battery 7 is smaller than the power which is required by the gear shifting rotating speed synchronization, which indicates that the battery 7 can not provide the required power by itself, the engine 1 needs to be controlled to work to provide positive output power, the integrated starting motor 2 generates power while performing rotating speed synchronization control, and the generated power of the integrated starting motor 2 can be simultaneously used for gear shifting synchronous speed regulation of the driving motor 6.

subsequently, the synchronous speed regulation of the engine 1 and the integrated starter motor 2 is completed, and after the target gear is engaged, the first clutch 3 is controlled to be closed.

and then, after the first clutch 3 is closed, controlling the engine 1 and the integrated starter motor 2 to output torque, wherein the integrated starter motor 2 provides negative torque until the synchronous speed regulation of the rotating speed of the driving motor 6 is finished.

And finally, after the synchronous speed regulation of the rotating speed of the driving motor 6 is finished, the integrated starting motor 2 can output positive driving torque, and the engine 1 is controlled to output the driving torque.

Or, as shown in fig. 3, after the step of "controlling the engine 1 to operate to provide positive output power, performing power generation while performing rotation speed synchronous control on the integrated starter motor 2, and at this time, the generated power of the integrated starter motor 2 can be simultaneously used for gear shifting synchronous speed regulation of the driving motor 6", controlling the rotation speed synchronous speed regulation of the driving motor 6 to be completed, and then controlling the second clutch 5 to be closed while controlling the driving motor 6 to provide driving force.

if the power that can be released by the battery 7 is not less than the power required for the shift speed synchronization, which means that the battery 7 is sufficient to provide all the required power, the synchronous speed regulation of the driving motor 6 can be controlled to be completed, and then the second clutch 5 is controlled to be closed, and the driving motor 6 is controlled to provide the driving force.

It is apparent that the step shown in fig. 3 of "determining whether the power that can be discharged from the battery 7 is less than the power consumption calculated to be required for the shift speed synchronization of the integrated starter motor 2 and the drive motor 6 within the predetermined speed synchronization time" may be performed before the step of "completing the reduction of the power source torque, controlling the first clutch 3 and the second clutch 5 to be opened while performing the downshift control".

other advantages and alternative embodiments of the present invention will be apparent to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details, representative structures, and illustrative examples shown and described. On the contrary, various modifications and substitutions may be made by those skilled in the art without departing from the basic spirit and scope of the invention.

Claims (9)

1. a gear-shifting synchronous control method of a gasoline-electric hybrid electric vehicle at least comprises the following steps:

Reducing the torque of a power source motor, wherein the power source motor comprises an integrated starting motor and a driving motor;

the first and second clutches are opened;

The synchronizer is disengaged from the original gear and is engaged to a target gear, and the speed synchronization with the corresponding clutch is realized by controlling the operation of a power source motor;

controlling the closing of the respective clutch; and

increasing the torque of the motor of the corresponding power source;

Wherein a battery is connected with the integrated starter motor and the drive motor, and shift synchronization control is performed based on at least power that can be absorbed by the battery or power that can be released by the battery; and

Wherein, during upshifting, the following steps are performed:

Finishing the reduction of the torque of a power source motor, controlling the first clutch and the second clutch to be opened, simultaneously performing gear-shifting control, and judging whether the power absorbed by the battery is smaller than the calculated power released by gear-shifting rotation speed synchronization within the preset rotation speed synchronization time;

If so:

controlling the integrated starting motor to drag the engine to a corresponding rotating speed, wherein the engine does not spray oil and provides friction torque so as to consume power released by synchronous speed regulation of the driving motor which is not absorbed by the battery;

after the synchronous speed regulation of the driving motor is finished and the target gear is engaged, controlling a second clutch connected with the driving motor to be closed;

the integrated starting motor and the engine are controlled to shift gears and synchronously regulate speed, and energy generated by the integrated starting motor is simultaneously used for charging a battery in the speed regulation process, so that the driving motor can be supplied to drive the whole vehicle through a closed second clutch;

after the speed regulation of the integrated starting motor and the engine is finished, closing the corresponding first clutch; and

after the first clutch is closed, the integrated starter motor and the engine work simultaneously to provide driving torque;

if not:

controlling the integrated starting motor and the engine to perform gear shifting synchronous speed regulation, and simultaneously controlling the driving motor to perform gear shifting synchronous speed regulation;

After the synchronous speed regulation of the integrated starter motor and the engine is completed and the integrated starter motor and the engine are engaged to a target gear, controlling a first clutch to be closed; after the synchronous speed regulation of the driving motor is finished, controlling the second clutch to be closed; and

after the first clutch is closed, the integrated starter motor and the engine are subjected to torque output control to provide driving torque; and the second clutch is closed to control the torque output of the driving motor and provide driving torque.

2. the shift synchronization control method according to claim 1,

And the power source motor is controlled to run by adopting a PID control algorithm so as to realize speed synchronization with the corresponding clutch.

3. the shift synchronization control method according to claim 1 or 2,

during a downshift, the following steps are carried out:

Finishing the reduction of the torque of the power source, controlling the first clutch and the second clutch to be opened, simultaneously performing gear-shifting control, and judging whether the power released by the battery is smaller than the calculated consumed power required for performing gear-shifting rotation speed synchronization within the preset rotation speed synchronization time;

if so:

controlling the engine to work, providing positive output power, and generating power while synchronously controlling the rotating speed of the integrated starting motor, wherein the generated power of the integrated starting motor can be simultaneously used for shifting and synchronously regulating the speed of the driving motor;

Completing synchronous speed regulation of the engine and the integrated starter motor, and controlling the first clutch to be closed after the target gear is engaged;

after the first clutch is closed, controlling the engine and the integrated starting motor to output torque, wherein the integrated starting motor provides negative torque until the synchronous speed regulation of the rotating speed of the driving motor is finished; and

after the synchronous speed regulation of the rotating speed of the driving motor is finished, the integrated starting motor outputs positive driving torque, and simultaneously the engine is controlled to output the driving torque;

if not:

and controlling the rotation speed of the driving motor to be synchronously regulated, then controlling the second clutch to be closed, and simultaneously controlling the driving motor to provide driving force.

4. The shift synchronization control method according to claim 3,

if so:

Controlling the engine to work, providing positive output power, and generating power while synchronously controlling the rotating speed of the integrated starting motor, wherein the generated power of the integrated starting motor can be simultaneously used for shifting and synchronously regulating the speed of the driving motor; and

and controlling the rotation speed of the driving motor to be synchronously regulated, then controlling the second clutch to be closed, and simultaneously controlling the driving motor to provide driving force.

5. a hybrid system of a gasoline-electric hybrid vehicle, comprising: the starter comprises an engine, an integrated starter motor connected with the engine, a first clutch connected with the integrated starter motor, a synchronizer gear shifting mechanism, a second clutch, a driving motor connected with the second clutch and a battery connected with the integrated starter motor and the driving motor, wherein the synchronizer gear shifting mechanism is connected between the first clutch and the second clutch and comprises a synchronizer,

the shift synchronization control is executed by at least the following steps:

Reducing the torque of the integrated starting motor and the driving motor;

the first and second clutches are opened;

the synchronizer is disengaged from the original gear and is engaged to a target gear, and the speed synchronization with the corresponding clutch is realized by controlling the operation of the integrated starting motor and/or the driving motor;

controlling the closing of the respective clutch; and

correspondingly increasing the torque of the integrated starter motor and/or the drive motor;

Wherein the shift synchronization control is performed based on at least power that can be absorbed by the battery or power that can be released by the battery; and

Wherein, during upshifting, the following steps are performed:

the reduction of the torque of the integrated starting motor and the driving motor is completed, the first clutch and the second clutch are controlled to be opened, meanwhile, the gear-shifting control is carried out, and whether the power absorbed by the battery is smaller than the calculated power released by the gear-shifting rotating speed synchronization within the preset rotating speed synchronization time or not is judged;

if so:

Controlling the integrated starting motor to drag the engine to a corresponding rotating speed, wherein the engine does not spray oil and provides friction torque so as to consume power released by synchronous speed regulation of the driving motor which is not absorbed by the battery;

after the synchronous speed regulation of the driving motor is finished and the target gear is engaged, controlling a second clutch connected with the driving motor to be closed;

the integrated starting motor and the engine are controlled to shift gears and synchronously regulate speed, and energy generated by the integrated starting motor is simultaneously used for charging a battery in the speed regulation process, so that the driving motor can be supplied to drive the whole vehicle through a closed second clutch;

After the speed regulation of the integrated starting motor and the engine is finished, closing the corresponding first clutch; and

after the first clutch is closed, the integrated starter motor and the engine work simultaneously to provide driving torque; if not:

Controlling the integrated starting motor and the engine to perform gear shifting synchronous speed regulation, and simultaneously controlling the driving motor to perform gear shifting synchronous speed regulation;

After the synchronous speed regulation of the integrated starter motor and the engine is completed and the integrated starter motor and the engine are engaged to a target gear, controlling a first clutch to be closed; after the synchronous speed regulation of the driving motor is finished, controlling the second clutch to be closed; and

After the first clutch is closed, the integrated starter motor and the engine are subjected to torque output control to provide driving torque; and the second clutch is closed to control the torque output of the driving motor and provide driving torque.

6. the hybrid system according to claim 5,

And the integrated starting motor and/or the driving motor are controlled to run by adopting a PID control algorithm so as to realize speed synchronization with the corresponding clutch.

7. The hybrid system according to claim 5 or 6,

during a downshift, the following steps are carried out:

The method comprises the steps of finishing reduction of torque of an integrated starting motor and a driving motor, controlling a first clutch and a second clutch to be opened, simultaneously performing gear-shifting control, and judging whether power which can be released by a battery is smaller than calculated consumed power required for performing gear-shifting rotation speed synchronization within preset rotation speed synchronization time;

if so:

controlling the engine to work, providing positive output power, and generating power while synchronously controlling the rotating speed of the integrated starting motor, wherein the generated power of the integrated starting motor can be simultaneously used for shifting and synchronously regulating the speed of the driving motor;

completing synchronous speed regulation of the engine and the integrated starter motor, and controlling the first clutch to be closed after the target gear is engaged;

After the first clutch is closed, controlling the engine and the integrated starting motor to output torque, wherein the integrated starting motor provides negative torque until the synchronous speed regulation of the rotating speed of the driving motor is finished; and

after the synchronous speed regulation of the rotating speed of the driving motor is finished, the integrated starting motor outputs positive driving torque, and simultaneously the engine is controlled to output the driving torque;

if not:

and controlling the rotation speed of the driving motor to be synchronously regulated, then controlling the second clutch to be closed, and simultaneously controlling the driving motor to provide driving force.

8. the hybrid system according to claim 7,

if so:

Controlling the engine to work, providing positive output power, and generating power while synchronously controlling the rotating speed of the integrated starting motor, wherein the generated power of the integrated starting motor can be simultaneously used for shifting and synchronously regulating the speed of the driving motor; and

and controlling the rotation speed of the driving motor to be synchronously regulated, then controlling the second clutch to be closed, and simultaneously controlling the driving motor to provide driving force.

9. a gasoline-electric hybrid vehicle, characterized in that it comprises a hybrid system according to any one of claims 5 to 8.