CN101474994B - 用电机转矩约束和电池功率约束确定转矩极限的方法 - Google Patents

用电机转矩约束和电池功率约束确定转矩极限的方法 Download PDF

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CN101474994B
CN101474994B CN2008102421847A CN200810242184A CN101474994B CN 101474994 B CN101474994 B CN 101474994B CN 2008102421847 A CN2008102421847 A CN 2008102421847A CN 200810242184 A CN200810242184 A CN 200810242184A CN 101474994 B CN101474994 B CN 101474994B
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torque
constraint
motor
power
breakdown
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CN101474994A (zh
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A·H·希普
T·-M·谢
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GM Global Technology Operations LLC
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GM Global Technology Operations LLC
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Abstract

一种确定与电-机械变速箱相关联的极限转矩的方法，包括确定电机转矩约束和电池功率约束。确定极限转矩函数和该极限转矩函数的标准形式。极限转矩函数和电机转矩约束以及电池功率约束被置换到标准形式以便确定极限转矩。

Description

用电机转矩约束和电池功率约束确定转矩极限的方法
相关申请的交叉引用
本申请要求申请号为60/984457，2007年1月11日提交的美国临时专利申请的权益，该专利在这里整体引用作为参考。
技术领域
本发明涉及一种用于电-机械变速箱的控制系统。
背景技术
本部分的陈述仅仅提供与本发明相关的背景技术并不会构成现有技术。
已知的混合动力系结构可包括多种转矩产生装置，这些装置包括内燃发动机和非燃烧式机械(例如电机)，它们通过一变速箱装置传递转矩至一输出元件。一个示例性混合动力系包括双模式、混合-分离(compound-split)、电-机械变速箱和输出元件，该变速箱利用一输入元件接收来自于优选为内燃发动机的原动机动力源的牵引转矩。输出元件可以操作地连接至机动车辆的传动系，用于将牵引转矩传递给传动系。作为电动机或者发电机运转的机械能够向变速箱产生输入转矩，该输入转矩独立于来自内燃发动机的输入转矩。该机械可将通过车辆传动系传递的车辆动能转换成可存储在一电能存储装置中的能量。一控制系统监控来自于车辆和操作者的各种输入，并且对混合动力系提供操作控制，这些操作控制包括控制变速箱的运行状态和换档、控制转矩产生装置、以及调节电能存储装置和该电机之间的能量交换，以管理包括转矩和转速在内的变速箱输出。
发明内容
一种动力系包括机械地操作连接到内燃机和第一和第二电机上的电-机械变速箱，以便向输出元件输送功率。一种用于确定与电-机械变速箱相关联的极限转矩的方法包括：监测电-机械变速箱的运行，确定第一和第二电机的电机转矩约束以及电能储存装置的电池功率约束。确定极限转矩函数并且确定该极限转矩函数的原始形式。将极限转矩函数置换成标准形式，并且置换该电机转矩约束和电池功率约束。基于置换后的极限转矩函数、置换后的电机转矩约束以及置换后的电池功率约束，确定标准形式下的置换后的极限转矩。将该置换后的极限转矩从标准形式重新置换为原始形式，以确定原始形式下的极限转矩。
附图说明
通过举例，参考相关附图，将描述一个或多个实施例，其中：
图1是根据本发明的示例性的动力系原理图；和，
图2是根据本发明的控制系统和动力系的示例结构的原理图；和
图3-9是根据本发明的图解描述图。
具体实施例
现在参看附图，其中附图只是为了示出某些示例性实施例，而不是限制实施例，图1和2描绘了一示例性电-机械混合动力系。图1所描绘的本发明的该示例性电-机械混合动力系包括双模式、混合-分离、电-机械混合变速箱10，该变速箱10操作连接至发动机14和第一和第二电机(‘MG-A’)56和(‘MG-B’)72。发动机14和第一和第二电机56和72每个都产生能传递给变速箱10的功率。由发动机14和第一和第二电机56和72所产生的并且传递给变速箱10的功率用术语输入转矩和电机转矩及速度来描述，在本文中该输入转矩和电机转矩分别用TI、TA和TB来表示，该速度则分别用NI、NA和NB来表示。
示例性发动机14包括多缸内燃发动机，其选择性地在多个状态下运转，以经由输入轴12将转矩传递给变速箱10，该发动机14可以是点燃式或者压燃式发动机。发动机14包括操作联接到变速箱10的输入轴12上的曲轴(未示出)。转速传感器11监控输入轴12的转速。来自发动机14的包括转速和发动机转矩的功率输出可能与传递给变速箱10的输入速度NI和输入转矩TI不同，这是由于在发动机14和变速箱10之间的输入轴12上放置转矩消耗部件，例如液压泵(未示出)和/或转矩管理装置。
该示例性的变速箱10包含三组行星齿轮组24、26、28以及四个选择性接合的转矩传递装置，即离合器C1 70、C2 62、C3 73和C4 75。本文所使用的离合器是指任何类型的摩擦转矩传递装置，例如它们包括单盘式或复合盘式离合器或组件、带式离合器及制动器。优选由变速箱控制模块(下面用‘TCM’表示)17控制的液压控制回路(HYD)42操作控制离合器的状态。离合器C2 62和C4 75优选包括以液压方式施用的旋转摩擦离合器。离合器C1 70和C3 73优选包括可选择性地接到变速箱壳体68上的液压控制固定装置。离合器C1 70、C2 62、C3 73和C4 75中的每一个都优选是以液压方式施用的，选择性地通过液压控制回路42接收已加压的液压流体。
第一和第二电机56和72优选包括三相交流电机以及各自的第一和第二解算器(resolver)80和82，每个三相交流电机都包括定子(未示出)和转子(未示出)。每个电机的电机定子都接到变速箱壳体68的外部上，并且还包括定子心，盘绕的电绕组自该定子心开始延伸。第一电机56的转子支撑在毂盘齿轮(hubplate gear)上，该毂盘齿轮经由第二行星齿轮组26操作地附接到轴60上。第二电机72的转子固定地附接到衬套轴毂(sleeve shaft hub)66上。
第一和第二解算器80、82的每一个优选都包括可变磁阻装置，该可变磁阻装置包括解算器定子(未示出)和解算器转子(未示出)。第一和第二解算器80和82分别被适当地定位和安装在对应的第一和第二电机56和72上。该解算器80和82的定子分别操作连接到第一和第二电机56和72的定子之一上。解算器的转子操作连接到对应的第一和第二电机56和72的转子上。第一和第二解算器80和82每个都信号连接和操作连接到变速箱功率变换器控制模块(下面用‘TPIM’表示)19上，并且每个解算器检测和监控解算器转子相对于解算器定子的旋转位置，从而监控对应的第一和第二电机56和72的旋转位置。此外，将来自于第一和第二解算器80和82的信号输出进行解释，以分别提供第一和第二电机56和72的转速，即NA和NB。
变速箱10包括输出元件64，例如轴，其可操作地连接车辆(未示出)的传动系90以向该传动系90提供输出功率，该输出功率被传递给车轮93，在图1中示出了该车轮93中的一个。在输出元件64处的输出功率用术语输出转速NO和输出转矩TO来表征。变速箱输出速度传感器84监控输出元件64的转速和旋转方向。车轮93的每一个优选地都配有适于监测车轮速度的传感器94，该传感器94的输出由针对图2所描述的分布式控制模块系统中的一控制模块来监控，以确定用于制动控制、牵引控制和车辆加速管理的车辆速度以及绝对的和相对的车轮速度。
来自发动机14的输入转矩和来自第一和第二电机56和72的电机转矩(分别为TI、TA和TB)是由燃料或存储于电能存储装置(下面用‘ESD’来表示)74中的电势能的能量转化而产生的。ESD 74经由直流电传递导线27而高压直流地连接到TPIM 19。传递导线27包括接触器开关38。在正常工况下，当接触器开关38闭合时，电流能够在ESD 74和TPIM 19之间流动。当接触器开关38断开时，ESD 74和TPIM 19之间的电流流动则中断。通过传递导线29，TPIM 19将电能传递给第一电机56，及传递来自于第一电机56的电能，并且类似地，通过传递导线31，TPIM 19将电能传递给第二电机72，及传递来自于第二电机72的电能，以作为对电机转矩TA和TB的响应来满足对第一和第二电机56和72的转矩命令。电流被传递给ESD 74及从ESD 74中输出是要依据ESD 74是被充电还是被放电。
TPIM 19包括一对功率变换器(未示出)和对应的电机控制模块(未示出)，该电机控制模块配置成接受转矩命令并基于此来控制变换器状态，以便提供电机驱动或者再生功能，从而满足所命令的电机转矩TA和TB。功率变换器包括公知的互补型三相电力电子装置，每个装置都包括多个绝缘栅双极晶体管(未示出)，其通过高频下的转换而将来自ESD 74的直流电转变为交流电，用于为相应的第一和第二电机56和72提供功率。绝缘栅双极晶体管形成为用于接收控制命令的开关模式功率供给源。典型地，每一个三相电机的每一相都配有一对绝缘栅双极晶体管。通过控制绝缘栅双极晶体管的状态来提供电机驱动机械能的产生或者电能再生的功能。三相变换器通过直流电传递导线27接收或者提供直流电，并且把直流电转化为三相交流电或者将三相交流电转化为直流电，该交流电分别通过传递导线29和31传导给第一和第二电机56和72或从第一和第二电机56和72传导出，以便作为电动机或者发电机工作。
图2示出了分布式控制模块系统的示意性框图。下文中将描述的元件包括整个车辆控制结构的一个子集，其对图1所描述的示例性混合动力系提供了协调系统控制。该分布式控制模块系统综合有关的信息和输入，并且执行算法来控制各个致动器以实现控制目标，这些控制目标包括：燃油经济性、排放物、性能、驾驶性能以及包括ESD 74的电池及第一和第二电机56和72在内的硬件的保护。分布式控制模块系统包括发动机控制模块(下面用‘ECM’来表示)23、TCM 17、电池组控制模块(接下来用’BPCM’来表示)21以及TPIM 19。混合控制模块(下面用‘HCP’来表示)5对ECM 23、TCM 17、BPCM 21和TPIM19提供监督控制和协调。用户接口(‘UI’)13信号地连接至多个装置，通过这些装置，车辆操作者就能控制或者指挥电-机械混合动力系的运行。这些装置包括加速踏板113(‘AP’)、驾驶员制动踏板112(‘BP’)、变速箱档位选择器114(‘PRNDL’)和车辆速度巡航控制器(未示出)。变速箱档位选择器114可以具有离散数目的驾驶员可选位置，这些可选位置包括输出元件64的旋转方向，以便能实现前进和倒退方向之一。
前面提到的这些控制模块通过局域网(下面用‘LAN’来表示)总线6与其它控制模块、传感器和致动器通信。LAN总线6允许在各种控制模块之间进行运行参数状态和致动器命令信号的结构化通信。所采用的特定通信协议是专用的(application-specific)。LAN总线6和合适的协议在前面提到的控制模块之间以及和其他控制模块之间提供了鲁棒通讯和多控制模块接口连接，这些其他控制模块提供了包括例如防抱死制动、牵引控制和车辆稳定性等功能。可以用多个通信总线来改进通信速度，并提供某种水平的信号冗余性和完整性。使用直接链路，例如串行外围接口(‘SPI’)总线(未示出)，还可以进行各个控制模块之间的通信。
HCP 5能对混合动力系提供监督控制，用于ECM 23、TCM 17、TPIM 19和BPCM 21的协调运行。基于来自用户接口13和包括ESD 74在内的混合动力系的各种输入信号，HCP 5确定出操作者转矩请求、输出转矩命令、发动机输入转矩命令、用于变速箱10中所施用的转矩传递离合器C1 70、C2 62、C3 73、C4 75的离合器转矩、以及第一和第二电机56和72的电机转矩TA和TB。TCM17操作连接到液压控制回路42并提供各种功能，包括监测各种压力传感装置(未示出)和产生和传送控制信号至各种螺线管(未示出)，从而控制液压控制回路42内包含的压力开关和控制阀。
ECM 23操作连接至发动机14，其作用是在多条离散线路上从传感器获取数据并控制发动机14的致动器，为了简便起见，该多条离散线路图示为总的双向接口电缆35。ECM 23接收来自于HCP 5的发动机输入转矩命令。ECM 23根据监控到的发动机速度和负载确定出在那一时间点提供给变速箱10的实际发动机输入转矩TI，该实际发动机输入转矩TI被传送至HCP 5。ECM 23监控来自转速传感器11的输入，以确定到达输入轴12的发动机输入速度，该发动机输入速度转化为变速箱的输入速度NI。ECM 23监控来自传感器(未示出)的输入，以确定包括如歧管压力、发动机冷却液温度、环境空气温度以及环境压力在内的其他发动机运行参数的状态。例如，从歧管压力或者可替代地从监控给加速踏板113的操作者输入可以确定发动机负载。ECM 23产生命令信号，并且传输这些命令信号来控制发动机致动器，这些致动器包括例如喷油器、点火模块和节气门控制模块，这些在图中都没有示出。
TCM 17操作连接至变速箱10并且监控来自传感器(未示出)的输入，以确定变速箱运行参数的状态。TCM 17产生命令信号，并且传输这些信号以控制变速箱10，包括控制液压回路42。由TCM 17输入给HCP 5的输入包括：离合器(即C1 70、C2 62、C3 73和C4 75)中的每一个的估计离合器转矩，以及输出元件64的旋转输出速度NO。出于控制目的，其他致动器和传感器可用来自TCM 17向HCP 5提供附加信息。TCM 17监控来自于压力开关(未示出)的输入，并且选择性地致动液压回路42中的压力控制电磁阀(未示出)和换档电磁阀(未示出)，以选择性地致动各离合器C1 70、C2 62、C3 73和C4 75，进而实现如下面所描述的各种变速箱运行范围状态。
BPCM 21信号连接至传感器(未示出)以监控ESD 74，包括监控电流和电压参数的状态，以向HCP 5提供表示ESD 74的电池的参数状态的信息。该电池的这些参数状态优选包括电池荷电状态、电池电压、电池温度及用范围PBAT_MIN到PBAT_MAX来表示的可用电池电量。
制动器控制模块(下面用‘BrCM’来表示)22操作连接至车轮93的每一个上的摩擦制动器(未示出)。BrCM 22监控操作者对制动踏板112的输入，并产生控制信号以控制摩擦制动器，并且向HCP 5发送控制信号以基于此信号来运转第一和第二电机56和72。
控制模块ECM 23、TCM 17、TPIM 19、BPCM 21和BrCM 22的每一个优选都是通用数字计算机，该数字计算机包括微处理器或中央处理单元、存储介质(包括只读存储器(‘ROM’)、随机存储器(‘RAM’)，可电编程只读存储器(‘EPROM’))、高速时钟、模拟/数字(‘A/D’)和数字/模拟(‘D/A’)转换电路、以及输入/输出电路和装置(‘I/O’)、和适宜的信号调节和缓冲电路。每个控制模块都包括一组控制算法，该算法包括存储于存储介质之一中的驻留程序命令和校验(calibration)，执行该算法来提供各计算机的相应功能。控制模块之间的信息传递优选由LAN总线6和串行外围接口总线来完成。在预设的循环周期中执行该控制算法使得每个算法在每个循环周期中至少被执行一次。由中央处理单元之一采用预设的校验来执行存储于非易失性存储器装置中的算法，以监控来自于传感装置的输入，及执行控制致动器运行的控制和诊断程序。定期执行循环周期，例如在混合动力系运行期间每3.125、6.25、12.5、25和100毫秒执行一次。或者，响应事件的发生而执行算法。
示例性混合动力系可选择性地在若干运行范围状态之一下运行，这些状态可以用包含发动机开状态(‘ON’)和发动机关状态(‘OFF’)的发动机状态以及包含多个固定档位和无级变速运行模式的变速箱状态来描述，下面参考表1对这些状态进行描述。表1
表中描述了各个变速箱运行范围状态，并指出在每个运行范围状态中特定离合器C1 70、C2 62、C3 73和C4 75中的哪些被施用。通过使用离合器C170(只为了将第三行星齿轮组28的外部齿轮元件“接地”)，从而选择第一无级变速模式，即EVT模式1或M1。发动机状态可以是ON(‘M1_Eng_On’)或者OFF(‘M1_Eng_Off’)之一。通过使用离合器C2 62(只将轴60接到第三行星齿轮组28的架上)，从而选择第二无级变速模式，即EVT模式2或M2。发动机状态可以是ON(‘M2_Eng_On’)或者OFF(‘M2_Eng_Off’)之一。为了便于说明，当发动机状态是OFF时，发动机输入速度等于0转每分钟(‘RPM’)，即，发动机曲轴不旋转。固定档位运行提供了变速箱10的输入比输出速度的固定传动比运行，即NI/NO。通过使用离合器C1 70和C4 75，而选择第一固定档位运行(‘G1’)。通过使用离合器C1 70和C2 62而选择第二固定档位运行(‘G2’)。通过使用离合器C2 62和C4 75而选择第三固定档位运行(‘G3’)。通过使用离合器C2 62和C3 73而选择第四固定档位运行(‘G4’)。由于行星齿轮组24、26和28中的减小的传动比，输入比输出速度的固定传动比运行随着固定档位运行的升高而增加。第一和第二电机56和72的转速NA和NB分别取决于由离合操作所限定的该机构的内部旋转，且与在输入轴12处所测得的输入速度成比例。
作为对由用户接口13所捕获的经由加速踏板113和制动踏板112输入的驾驶员输入的响应，HCP 5和一个或多个其他控制模块确定出转矩命令，从而控制包括发动机14及第一和第二电机56和72在内的转矩产生装置，以满足在输出元件64处传递给传动系90的驾驶员转矩请求。基于来自用户接口13以及包括ESD 74在内的混合动力系的输入信号，HCP 5分别确定操作者转矩请求、变速箱10与传动系90之间的被命令的输出转矩、来自发动机14的输入转矩、变速箱10的转矩传递离合器C1 70、C2 62、C3 73、CA 75的离合器转矩以及第一和第二电机56和72的电机转矩，在下文中将描述它们。命令输出转矩可以是牵引转矩，其中，转矩流动开始于发动机14和第一第二电机56和72，并通过变速箱10传递到传动系90，并且也可以是反作用转矩，其中转矩流动开始于传动系90的车轮93并通过变速箱10传递到第一第二电机56和72以及发动机14。
最终的车辆加速可能受到其他因素的影响，这些其它因素包括，例如路面载荷、道路等级以及车辆重量。基于混合动力系的各种运行特性可以确定出变速箱的运行范围状态。这包括如前面所描述的，通过加速踏板113和制动踏板112传输给用户接口13的操作者转矩请求。在电能产生模式或转矩产生模式下，根据由运行第一和第二电机56和72的命令所导致的混合动力系的转矩要求，可以断定该运行范围状态。该运行范围状态可以通过优化算法或程序来确定，该优化算法或程序根据驾驶员的功率要求、电池荷电状态以及发动机14和第一和第二电机56和72的能效确定最优的系统效率。控制系统根据所执行的优化程序的结果来管理来自于发动机14及第一和第二电机56和72的转矩输入，并且由此使管理燃油经济性及电池充电的系统效率得到优化。此外，还可以根据部件或系统的故障来决定操作。HCP 5监控转矩产生装置，并且确定响应于在输出元件64处所需要的输出转矩而需要的变速箱10的功率输出，以满足驾驶员的转矩请求。根据上面所描述的，显然，ESD 74与第一和第二电机56和72操作电连接以便在它们之间形成能量流。此外，发动机14、第一和第二电机56和72以及电-机械变速箱10操作地机械连接以在它们之间传递功率，进而向输出元件64传递能量流。
发动机14和变速箱10的运行由发动机14、第一和第二电机56和72、ESD74以及离合器C1 70、C2 62、C3 73和C4 75的功率、转矩和速度极限来约束。对发动机14和变速箱10的运行约束可翻译为一套系统约束方程，该方程作为在控制模块之一(例如，HCP5)内的一个或多个算法而被执行。
再次参考图1，在总体运行中，变速箱10通过选择性致动一个或两个转矩传递离合器而在这些运行范围状态之一中运行。每个发动机14和第一第二电机56、72的转矩约束，每个发动机14和第一第二电机56、72以及变速箱10的输出轴64的速度约束被确定。ESD74的电池功率约束被确定，并且应用到进一步限制第一第二电机56、72的电机转矩约束。基于电池功率约束，电机转矩约束以及速度约束，采用系统约束方程来确定动力系的优选运行范围。该优选运行范围包括发动机14和第一第二电机56、72的允许运行转矩或速度的范围。
通过推导并同时求解变速箱10的动力学方程，转矩极限(在这个实施例中为输出转矩T0)可采用下述线性方程确定：TM1＝TAtoTM1*TA+TBtoTM1*TB+Misc_TM1                            [1]TM2＝TAtoTM2*TA+TBtoTM2*TB+Misc_TM2                            [2]TM3＝TAtoTM3*TA+TBtoTM3*TB+Misc_TM3                            [3]其中，在这个实施例中，TM1代表输出元件64处的输出转矩To。TM2代表输入轴12的输入转矩TI。TM3代表变速箱10的所施用的转矩传递离合器C1 70、C2 62、C3 73和C4 75的反作用离合器转矩。TAtoTM1，TAtoTM2，TAtoTM3分别为TA至TM1，TM2，TM3的影响因素。TBtoTM1，TBtoTM2，TBtoTM3分别为TB至TM1，TM2，TM3的影响因素。Misc_TM1，Misc_TM2和Misc_TM3是常数，该常数分别通过NI_DCT，NO_DOT，NC_DOT(输入速度、输出速度以及离合器打滑速度的时间率变化)而贡献于TM1，TM2，TM3。TA和TB为来自第一第二电机56、72的电机转矩。转矩参数TM1、TM2、TM3可为任意三个独立参数，依赖于应用。
由于机械和系统限制，发动机14和变速箱10以及第一第二电机56，72具有速度约束、转矩约束和电池功率约束。
速度约束可包括发动机14的NI＝0(发动机关闭状态)以及N1的范围从600rpm(怠速)到6000rpm的的发动机速度约束。第一第二电机56、72的速度约束如下：-10500rpm≤NA≤+10500rpm，以及-10500rpm≤NB≤+10500rpm
转矩约束包括发动机转矩约束和第一第二电机的电机转矩约束，发动机转矩约束包括TI_MIN＜TI＜TI_MAX，第一第二电机的电机转矩约束包括TA_MIN＜TA＜TA_MAX，TB_MIN＜TB＜TB_MAX。电机转矩约束TA_MAX和TA_MIN包括当第一电机分别作为转矩产生马达和发电机工作时的第一电机56的转矩极限。电机转矩约束TB_MAX和TB_MIN包括当第二电机分别作为转矩产生马达和发电机工作时的第二电机72的转矩极限。最大和最小电机转矩约束TA_MAX，TA_MIN，TB_MAX和TB_MIN优选地从一个控制模块的存储装置内的以表格形式存储的数据组中获得。这些数据组通过对电机与功率电子装置(例如功率变换器)的组合在各种温度和电压条件下进行常规测功试验而实验推导出。
电池功率约束包括PBAT_MIN到PBAT_MAX范围内的可用电池功率，其中，PBAT_MIN是最大允许电池充电功率，PBAT_MAX是最大允许电池放电功率。电池功率当放电时定义为正，当充电时定义为负。
为了控制发动机14、第一和第二电机56和72(下面也称为电机A 56和电机B 72)以及变速箱10的运行以满足操作者转矩需求和命令输出转矩，在正在运行过程中，TM1的最小和最大值在速度约束，电机转矩约束，离合器转矩约束以及电池功率约束中确定。
包括转矩输出范围的运行范围可基于ESD74的电池功率约束来确定。电池功率利用(usage)PBAT的计算如下：PBAT＝PA，ELEC+PB，ELEC+PDC_LOAD                                        [4]其中，PA，ELEC包括电机A 56的功率，PB，ELEC包括电机B 72的功率，以及PDC_LOAD包括已知的直流负载，包括附属负载。
PA，ELEC和PB，ELEC的替代方程，如下：PBAT＝(PA，MECH+PA，LOSS)+(PB，MECH+PB，LOSS)+PDC_LOAD    [5]其中，PA，MECH包括电机A 56的机械功率，PA，LOSS包括电机A 56的功率损失，PB，MECH包括电机B 72的机械功率，以及PB，LOSS包括电机B 72的功率损失。
方程5可作为以下的方程6重新表述，其中，速度NA和NB以及转矩TA和TB代替了功率PA和PB。这包括一个假设，即，电机和逆变器功率损失可基于转矩作为二次方程被构成数学模型，如下：PBAT＝(NATA+(a1(NA)TA 2+a2(NA)TA+a3(NA)))+(NBTB+(b1(NB)TB 2+b2(NB)TB+b3(NB)))+PDC_LOAD                                [6]其中，NA和NB包括电机A 56和B 72的速度，TA和TB包括电机A 56和B 72的转矩，a1，a2，a3，b1，b2，b3每一个包括二次系数，其为各自电机速度NA，NB的函数。
这可作为以下的方程7重新表述。PBAT＝a1*TA 2+(NA+a2)*TA                                        [7]+b1*TB 2+(NB+b2)*TB+a3+b3+PDC_LOAD
这可换算为方程8如下。PBAT＝a1[TA 2+TA(NA+a2)/a1+((NA+a2)/(2*a1))2]                [8]+b1[TB 2+TB(NB+b2)/b1+((NB+b2)/(2*b1))2]+a3+b3+PDC_LOAD-NA+a2)2/(4*a1)-(NB+b2)2/(4*b1)
这可换算为方程9如下。PBAT＝a1[TA+(NA+a2)/(2*a1)]2+b1[TB+(NB+b2)/(2*b1)]2         [9]+a3+b3+PDC_LOAD-(NA+a2)2/(4*a1)-(NB+b2)2/(4*b1)
这可换算为方程10如下。PBAT＝[SQRT(a1)*TA+(NA+a2)/(2*SQRT(a1))]2                   [10]+[SQRT(b1)*TB+(NB+b2)/(2*SQRT(b1))]2+a3+b3+PDC_LOAD-(NA+a2)2/(4*a1)-(NB+b2)2/(4*b1)
这可化简为方程11如下。PBAT＝(A1*TA+A2)2+(B1*TB+B2)2+C                [11]其中A1＝SQRT(a1)B1＝SQRT(b1)A2＝(NA+a2)/(2*SQRT(a1))B2＝(NB+b2)/(2*SQRT(b1))，以及C＝a3+b3+PDC_LOAD-(NA+a2)2/(4*a1)-(NB+b2)2/(4*b1)
电机转矩TA和TB可以变换(transform)为Tx和TY。 T X T Y = A 1 0 0 B 1 * T A T B + A 2 B 2 - - - [ 12 ] 其中，TX是TA的变换。TY是TB的变换，以及A1，A2，B1，B2包括专用的标量值
方程11可以进一步化简为如下。PBAT＝(TX 2+TY 2)+C                        [13]PBAT＝R2+C                               [14]
方程12详细说明了电机转矩TA到TX的变换以及电机转矩TB到TY的变换。这样，被称为TX/TY空间的一个新的坐标系统被定义，并且方程13包括被变换到TX/TY空间的电池功率PBAT。这样，位于最大和最小电池功率PBAT_MAX和PBAT_MIN之间的电池功率范围在该变换空间TX/TY中可以计算和画线成中心在点(0，0)处的半径RMAX和RMIN，在图3中用字母K指示，其中：RMin＝SQRT(PBAT_MIN-C)而且RMax＝SQRT(PBAT_MAX-C)
最小和最大电池功率PBAT_MIN和PBAT_MAX优选与电池物理，例如，荷电状态、温度、电压以及利用(安培-小时/小时)相关联。以上的参数C定义为在电机转矩极限内在给定电机速度NA和NB处的绝对最小可能电池功率。在物理上，当TA＝0和TB＝0，从第一和第二电机56和72的输出功率为0。在物理上，TX＝0和TY＝0与ESD74的最大充电功率状态相对应。正标记(‘+’)定义为从ESD74放电，并且，负标记(‘-’)定义为向ESD74充电。RMax定义了一最大电池功率，通常是放电功率，RMin定义了最大电池功率。
前述的到TX/TY空间的变换显示在图3中，为具有RMin和RMax半径(电池功率约束)的同心圆的电池功率约束表示和电机转矩约束(电机转矩约束)的直线表示限定了允许的运行范围。可以分析，在Eq.12方程确定的变换矢量[TxTy]可以与Eq.13中定义的矢量(包括用RMIN和RMAX标识的最小和最大电池功率)同时得到求解，以便确定在TX/TY空间中的允许转矩范围，该允许转矩范围由受最小和最大电池功率PBAT_MIN和PBAT_MAX约束的电机转矩TA和TB构成。在TX/TY空间中，允许转矩的范围在图3中表示，在图中，A，B，C，D和E表示这些边界，直线和半径被限定。
在TX/TY空间中定义了常数转矩线，如图3所示(TM1＝C1)，它包括Eq.1中描述的的极限转矩TM1。在该实施例中极限转矩TM1包括输出转矩TO，在TX/TY空间中Eq.1、2和3重新表示为以下方程。TM1＝TAtoTM1*(TX-A2)/A1+TBtoTM1*(TY-B2)/B1+Misc_TM1    [15]TM2＝TAtoTM2*(TX-A2)/A1+TBtoTM2*(TY-B2)/B1+Misc_TM2    [16]TM3＝TAtoTM3*(TX-A2)/A1+TBtoTM3*(TY-B2)/B1+Misc_TM3    [17]
定义TM1-XY，TM2-XY和TM3-XY作为TM1，TM2和TM3中仅由TA和TB贡献的部分。TM1-XY＝TAtoTM1*(TX-A2)/A1+TBtoTM1*(TY-B2)/B1    [18]TM2-XY＝TAtoTM2*(TX-A2)/A1+TBtoTM2*(TY-B2)/B1    [19]TM3-XY＝TAtoTM3*(TX-A2)/A1+TBtoTM3*(TY-B2)/B1    [20]
下面的系数被定义：TXtoTM1＝TAtoTM1/A1，TYtoTM1＝TBtoTM1/B1，TM1_Intercept＝TAtoTM1*A2/A1+TBtoTM1*B2/B1，TXtoTM2＝TAtoTM2/A1，TYtoTM2＝TBtoTM2/B1，TM2_Intercept＝TAtoTM2*A2/A1+TBtoTM2*B2/B1，TXtoTM3＝TAtoTM3/A1，TYtoTM3＝TBtoTM3/B1，以及TM3_Intercept＝TAtoTM3*A2/A1+TBtoTM3*B2/B1，
这样，方程1，2，3变换到TX/TY空间，如下所示。TM1_XY＝TXtoTM1*TX+TYtoTM1*TY+TM1_Intercept    [21]TM2_XY＝TXtoTM2*TX+TYtoTM2*TY+TM2_Intercept    [22]TM3_XY＝TXtoTM3*TX+TYtoTM3*TY+TM3_Intercept    [23]
速度约束，电机转矩约束以及电池功率约束可以在正在进行(ongoing)的工作中被确定而且在TX/TY变换空间中可以表示为线性方程。方程Eq.21构成一个极限转矩函数，该函数描述了输出转矩约束TM1，例如TO。该极限转矩函数可以与速度约束、电机转矩约束以及电池功率约束同时求解，以确定在TX/TY空间中变换的最小或最大极限转矩，它包括TM1-XYMax和TM1-XYMin(即，已经被变换的最大和最小输出转矩TO_Max和TO_Min)中的一个。然后，在TX/TY变换空间中被变换的最大或最小转矩可以被重新变换(retransform)出TX/TY空间，以确定最大或者最小极限转矩TM1_MAX和TM1_Min，以便管理变速箱14和第一第二电机56和72的控制和运行。
图4A和4B画出了包括在方程Eq.21中定义的极限转矩函数标准形式的第一种构造，如图4A中A线所示。在如下所示的标准方程中，极限转矩函数的标准形式包括变换为TX的最小电机转矩TA以及变换为TY的最大电机转矩TB的组合，并且具有带算术符号的系数TXtoTM1和TYtoTM1。TM1＝-TX+TY(‘Tm1＝-TX+Ty’)                            [24]
图4A和4B进一步表示了变换的电机转矩约束和变换的电池功率约束。与线A相关联的变换电机转矩约束和变换电池功率约束构成了变换电机转矩约束和变换电池功率约束的标准形式。TM1的该变换极限转矩是最大的极限转矩，也就是在电机转矩约束和电池功率约束内可得到的最大牵引转矩。
图4A的线B表示包括在方程Eq.21中定义的极限转矩函数的第二形式，系数TXtoTM1和TYtoTM1带有算术符号，如下所示。TM1＝TX-TY(‘Tm1＝TX-Ty’)                            [25]
图4B的线C表示包括在方程Eq.21中定义的极限转矩函数的第三形式，系数TXtoTM1和TYtoTM1带有算术符号，如下所示。TM1＝-TX-TY(‘Tm1＝-TX-Ty’)                                [26]
图4B的线D表示包括在方程Eq.21中定义的极限转矩函数的第四形式，系数TXtoTM1和TYtoTM1带有算术符号，如下所示。TM1＝TX+TY(‘Tm1＝TX+Ty’)                            [27]
图4A和4B的最大转矩表示为TM1_Max(A)，TM1_Max(B)，TM1_Max(C)和TM1_Max(D)，图示了约束方程中的最小极限转矩。系数TXtoTM1和TYtoTM1的算术符号(即，正和负)表示通过各自的第一和第二电机56和72的充电和放电行为。
图5A和5B表示电机转矩约束和电池功率约束。TM1的极限转矩是最小极限转矩，包括最小输出转矩，即，在电机转矩约束和电池功率约束内可得到的最大反作用转矩。
图5A的线A表示包括在方程Eq.21中定义的极限转矩函数的第五形式，包括最小输出转矩，具有带有算术符号的系数TXtoTM1和TYtoTM1，如下标准方程所示。TM1＝-TX+TY(‘Tm1＝-TX+Ty’)                            [28]
图5A的线B表示包括在方程Eq.21中定义的极限转矩函数的第六形式，系数TXtoTM1和TYtoTM1带有算术符号，如下所示。TM1＝TX-TY(‘Tm1＝TX-Ty’)                                [29]
图5B的线C表示包括在方程Eq.21中定义的极限转矩函数的第七形式，包系数TXtoTM1和TYtoTM1带有算术符号，如下所示。TM1＝-TX-TY(‘Tm1＝-TX-Ty’)                            [30]
图5B的线D表示包括在方程Eq.21中定义的极限转矩函数的第八形式，系数TXtoTM1和TYtoTM1带有算术符号，如下所示。TM1＝TX+TY(‘Tm1＝TX+Ty’)                            [31]
图5A和5B的最小极限转矩表示为TM1_Min(A)，TM1_Min(B)，TM1_Min(C)TM1_Min(D)，图示了约束方程中的最小极限转矩。系数TXtoTM1和TYtoTM1的算术符号(即，正和负)表示通过各自的第一和第二电机56和72的充电和放电行为。
有利的是，在上文中描述的将约束方程变换到TX/TY空间被简化成单个可执行算法，该算法可以同时求解Eq.12，Eq.14和Eq.21，以便在正在运行的过程中确定在变速箱10、第一和第二电机56和72和发动机14的最大极限转矩和最小极限转矩之一，以满足受电机转矩约束和电池功率约束限制的操作者转矩需求和转矩命令。该算法优选在运行过程中至少25毫秒执行一次循环以便控制变速箱14的运行
进一步，在上文参考图4A，4B，5A和5B描述的八个限制方程组合可以利用单个可执行算法，该算法可以同时求解Eq.12，Eq.14和Eq.21，以便确定最大极限转矩和最小极限转矩中的一个。这包括将电机转矩约束和电池功率约束置换(transpose)成标准形式后执行算法。这包括监测运行和确定电机转矩约束以及电池功率约束。标准转矩约束函数和极限转矩函数的原始形式被确定。极限转矩函数、电机转矩约束以及电池功率约束从原始形式置换到标准形式。基于置换的极限转矩函数、置换的电机转矩约束和置换的电池功率约束，通过执行算法，确定在标准形式下的置换的极限转矩状态。在标准形式下确定的置换转矩极限状态被重新置换(retranspose)到原始形式，以便确定在原始形式下的极限转矩状态。现在详细描述。
图6表示当方程21的极限转矩函数原始形式为TM1＝-TX+TY时确定最大极限转矩TM1_Max(A)。最大极限转矩TM1_Max(A)，即P点，通过执行算法确定，该算法计算所确定的电机转矩约束(‘电机转矩约束’)，电池功率约束(‘电池功率约束’)以及极限转矩函数(‘A’)的交叉点。为确定基于这些约束的最大值TM1_Max(A)而实时执行该算法。图6的原始形式设置被认为是标准形式。因为极限转矩函数的原始形式是标准形式，没有必要置换并且重新置换到原始形式。
图7A-7E表示当方程21的极限转矩函数(‘B’)原始形式为TM1＝TX-TY时确定最大极限转矩TM1_Max(B)。最大值TM1_Max(B)通过执行算法确定，该算法计算所确定的电机转矩约束(‘电机转矩约束’)，电池功率约束(‘电池功率约束’)以及极限转矩函数(‘B’)的交叉点，如图7A所示。与参考图4A线A的标准形式相比较，极限转矩函数(‘B’)关于TX轴和TY轴对称地置换。因此，电机转矩约束可以关于TX轴和TY轴置换，产生置换的电机转矩约束(‘置换电机转矩约束’)，它与置换转矩约束函数(‘B’’)相一致，如图7B所示。图7C示出了关于TX轴和TY轴置换的转矩约束函数(‘B’’)。关于TX轴和TY轴置换成标准形式之后，执行算法以基于电池功率约束和置换电机转矩约束确定置换极限转矩函数的最大值(‘Q’)。图7D表示置换的最大值(‘Q’)关于TX轴和TY轴重新置换到原始形式，以便确认相应于最大极限转矩TM1_Max(B)的最大值(‘R’)，即，在原始形式下的最大极限转矩。图7E证实了对应于最大极限转矩TM1_Max(B)的最大值(‘R’)也对应于电机转矩约束上的一个值。
图8A-8E表示当方程21的极限转矩函数(‘C’)原始形式为TM1＝-TX-TY时确定最大极限转矩TM1_Max(C)，如图8A所示。最大值TM1_Max(C)通过执行算法确定，该算法计算所确定的电机转矩约束(‘电机转矩约束’)，电池功率约束(‘电池功率约束’)以及极限转矩函数(‘C’)的交叉点。与参考图4A线A的标准形式相比较，方程21的极限转矩函数(‘C’)关于TX轴对称地置换。因此，电机转矩约束可以关于T X轴置换，产生置换电机转矩约束(‘置换电机转矩约束’)，它与置换转矩约束函数(‘C’’)相一致，如图8B所示。图8C表示方程21关于TX轴置换的置换极限转矩函数(‘C’’)。关于TX轴置换成标准形式之后，执行算法以在电池功率约束和置换电机转矩约束范围内确认最大极限转矩(‘Q’)。图8D表示置换的最大值(‘Q’)关于TX轴重新置换到原始形式，以便确认对应于最大极限转矩TM1_Max(C)的最大值(‘R’)，即，在原始形式下的最大极限转矩。图8E证实了对应于最大极限转矩TM1_Max(C)的最大值(‘R’)也对应于转矩约束上的一个值。
图9A-9E表示当方程21的极限转矩函数(‘D’)原始形式为TM1＝TX+TY时确定最大极限转矩TM1_Max(D)，如图9A所示。最大值TM1_Max(D)通过执行算法确定，该算法计算基于所确定的电机转矩约束(‘电机转矩约束’)，电池功率约束(‘电池功率约束’)以及极限转矩函数(‘D’)的交叉点。与参考图4A线A的标准形式相比较，方程21的极限转矩函数(‘D’)关于TY轴对称地置换到。因此，电机转矩约束可以关于TY轴置换，产生置换电机转矩约束(‘置换电机转矩约束’)，它与置换转矩约束函数(‘D’’)相一致，图9B所示的。图9C表示方程21关于TY轴置换成的置换极限转矩函数(‘D’’)。关于TY轴置换成标准形式之后，执行算法以确认在电池功率约束和置换电机转矩约束范围内的最大极限转矩(‘Q’)。图9D表示置换的最大值(‘Q’)关于TY轴重新置换成的原始形式，以便确认对应于最大极限转矩TM1_Max(D)的最大值(‘R’)，即，在原始形式下的最大极限转矩。图9E证实了对应于最大极限转矩TM1_Max(D)的最大值(‘R’)也对应于转矩约束上的一个值。
相似地，最小极限转矩TM1_Min(A)，TM1_Min(B)，TM1_Min(C)，TM1_Min(D)可以这样来确定：用同样的符号协定和关于TX轴和TY轴的一个或者两个轴的对称性，通过置换极限转矩函数的原始形式，确定置换极限转矩并重新置换，以确定最小极限转矩，即，最大反作用转矩。
对电机转矩TX/TY的最大或最小变换极限转矩被重新变换为电机转矩TA和TB如下表示。 T A T B = 1 / A 1 0 0 1 / B 1 * T X T Y + - A 2 / A 1 - B 2 / B 2 - - - [ 32 ]
控制系统根据电机转矩TA和TB控制第一第二电机56和72的运行。作为在TX/TY空间的算法执行方程减少了单个控制循环的执行时间，在该应用中循环周期为12.5毫秒。
可以理解在本发明的范围之内其改进是允许的，本发明通过参考优选实施例和改进进行了描述。其他人在阅读和理解说明书的基础上可进一步改进和替换。包括所有在公开范围之内进行的修改和替换。

Claims (19)

1.一种确定与电-机械变速箱相关联的极限转矩的方法，该电-机械变速箱与第一和第二电机相联，该第一和第二电机与电能储存装置电连接，从而将机械功率传递到输出元件，该方法包括：
监测电-机械变速箱的运行；
确定第一和第二电机的电机转矩约束以及电能储存装置的电池功率约束；
确定极限转矩函数并确定极限转矩函数的原始形式；
将该极限转矩函数置换到标准形式；
置换该电机转矩约束和该电池功率约束；
基于该置换的极限转矩函数和该置换的电机转矩约束和该置换的电池功率约束确定在该标准形式下的置换极限转矩；以及
将该置换极限转矩从标准形式重新置换到原始形式，以确定在原始形式下的极限转矩。
2.如权利要求1所述的方法，进一步包括：
在置换该极限转矩函数到标准形式之前，变换该第一和第二电机的电机转矩约束和电池功率约束和极限转矩函数，
将所确定的在原始形式下的极限转矩进行重新变换，和
基于该重新变换的极限转矩控制第一和第二电机。
3.如权利要求1所述的方法，进一步包括：基于该极限转矩控制电-机械变速箱以及第一第二电机的运行。
4.如权利要求3所述的方法，其中，该极限转矩包括到输出元件的输出转矩。
5.如权利要求3所述的方法，其中，该变速箱包括选择性施用的转矩传递离合器，并且该极限转矩包括该选择性施用的转矩传递离合器的反作用转矩。
6.如权利要求3所述的方法，其中，该变速箱包括输入元件，该极限转矩包括到该输入元件的输入转矩。
7.如权利要求2所述的方法，包括以这样的方式确定该置换的变换极限转矩，即，同时求解该置换的变换极限转矩函数，置换的变换电机转矩约束和置换的变换电池功率约束，以确定最大和最小变换极限转矩中的一个。
8.如权利要求1所述的方法，其中，该极限转矩包括在电机转矩约束和电池功率约束范围内可实现的到输出元件的最小输出转矩。
9.如权利要求8所述的方法，其中，输出到输出元件的该最小输出转矩包括用于产生电功率的最大再生转矩输出。
10.如权利要求1所述的方法，其中，该极限转矩包括在电机转矩约束和电池功率约束范围内可实现的到输出元件的最大输出转矩。
11.如权利要求10所述的方法，其中，输出到输出元件的该最大输出转矩包括用于产生牵引功率的最大机械转矩输出。
12.如权利要求1所述的方法，其中，该标准形式包括第一电机的最小转矩输出和第二电机的最大转矩输出的组合。
13.如权利要求1所述的方法，进一步包括：与将极限转矩函数置换到标准形式相一致地对电机转矩约束和电池功率约束进行置换。
14.一种确定与电-机械变速箱相关联的极限转矩的方法，该电-机械变速箱与第一和第二电机相联，该第一和第二电机与电能储存装置电连接，从而将机械功率传递到输出元件，该方法包括：
监测电-机械变速箱的运行；
确定第一和第二电机的电机转矩约束和电能储存装置的电池功率约束；
确定极限转矩函数并确定极限转矩函数的原始形式；
将该第一和第二电机的电机转矩约束、电能储存装置的电池功率约束和该极限转矩函数变换到TX/TY空间；
将该变换的极限转矩函数置换到标准形式，该标准形式包括第一电机的最小转矩输出和第二电机的最大转矩输出的组合；
将该变换的电机转矩约束和该变换的电池功率约束进行置换；
基于该置换的变换极限转矩函数和该置换的变换电机转矩约束以及该置换的变换电池功率约束，确定在标准形式中的置换的变换极限转矩；
将该置换的变换极限转矩从标准形式重新置换到原始形式，以便确定在原始形式下的变换极限转矩；
将在原始形式下的变换极限转矩进行重新变换。
15.如权利要求14所述的方法，进一步包括：基于该重新变换的极限转矩控制电-机械变速箱以及第一和第二电机的运行。
16.如权利要求15所述的方法，其中，该重新变换的极限转矩包括到输出元件的输出转矩。
17.如权利要求14所述的方法，其中，该变速箱包括选择性施用的转矩传递离合器，并且该重新变换的极限转矩包括该选择性施用的转矩传递离合器的反作用转矩。
18.如权利要求14所述的方法，其中，该变速箱包括输入元件，并且该重新变换的极限转矩包括输入到该输入元件的输入转矩。
19.如权利要求14所述的方法，包括以这样的方式确定该置换的变换极限转矩，即，同时求解该置换的变换极限转矩函数、置换的变换电机转矩约束和置换的变换电池功率约束，以确定最大和最小变换极限转矩中的一个。
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