CN101480950A - 控制具有附加约束的电-机变速器的运行的系统约束方法 - Google Patents

控制具有附加约束的电-机变速器的运行的系统约束方法 Download PDF

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CN101480950A
CN101480950A CNA2008101895846A CN200810189584A CN101480950A CN 101480950 A CN101480950 A CN 101480950A CN A2008101895846 A CNA2008101895846 A CN A2008101895846A CN 200810189584 A CN200810189584 A CN 200810189584A CN 101480950 A CN101480950 A CN 101480950A
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constraint
torque
power
battery
conversion
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CN101480950B (zh
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T·-M·谢
A·H·希普
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GM Global Technology Operations LLC
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GM Global Technology Operations LLC
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Abstract

本发明涉及控制具有附加约束的电－机变速器的运行的系统约束方法。电动－机械变速器的运行包括确定电动机转矩约束和电池功率约束。在电动－机械变速器上的附加约束被确定。优选的输出转矩被确定，其能在电动机转矩约束以内实现并且以附加约束和电池功率约束为基础。

Description

控制具有附加约束的电-机变速器的运行的系统约束方法
相关申请的交叉引用
【0001】本申请要求2007年11月2日提交的美国临时申请No.60/984826的权益，该申请在此作为参考引入。
技术领域
【0002】本申请涉及混合动力传动系统的控制系统。
背景技术
【0003】本节陈述仅仅提供与公开的本发明相关的背景技术，可能不会构成现有技术。
【0004】已知的混合动力传动体系结构包括多个转矩生成装置，包括内燃发动机和非燃烧机，例如电机，转矩生成装置通过传动装置传送转矩到输出部件。一种代表性的混合动力传动系统包括双模式复合-分解电动-机械变速器，该变速器利用输入部件和输出部件，输入部件用于从优选为内燃发动机的原动机动力源取得牵引转矩。输出部件可操作地连接到机动车辆的传动系以向其传送牵引转矩。作为电动机或发动机运行的机器能产生输入到变速器的转矩，该扭矩独立于从内燃发动机输入的转矩。机器可以将通过车辆传动系统传送的车辆动能转换为可存储在贮能装置中的能量。控制系统监控来自车辆和操作者的各种输入量并提供混合动力传动系统的运行控制，包括控制变速器运行状态和变速调档，控制转矩生成装置，以及调节在能量储存装置和机器之间的能量交换以管理变速器的包括转矩和旋转速度在内的输出。
发明内容
【0005】电动-机械变速器可操作地连接到第一和第二电机以传送动力到输出部件。控制电动-机械变速器的运行的方法包括确定第一和第二电机的电动机转矩约束和电连接到第一和第二电机的电能存储装置的电池功率约束。确定电动-机械变速器上的附加约束。确定电动-机械变速器的输出部件的优选输出转矩，该优选输出转矩能在电动机转矩约束以内实现并且以附加约束和电池功率约束为基础。基于电动机转矩约束、附加约束和电池功率约束控制电动-机械变速器和第一、第二电机的运行以在在输出部件处实现优选输出转矩。
附图说明
【0006】通过举例的方式，参考相应的附图，对本发明的一个或多个实施例进行说明，其中
【0007】图1是根据本发明的一个示例性的混合动力传动系统的原理图；
【0008】图2是根据本发明的用于控制系统和混合动力传动系统的一个示例性的结构体系的原理图；以及
【0009】图3-9是根据本发明的图解视图。
具体实施方式
【0010】现在参考附图，其中的图示仅仅是为了举例说明一些示例性实施例而不是限制这些实施例，图1和2描绘了一个示例性的电动-机械混合动力传动系统。根据本发明的示例性的电动-机械混合动力传动系统如图1所示，包括双模式复合-分解电动-机械混合变速器10，其可操作地连接到发动机14和第一电机(MG-A)56和第二电机(MG-B)72。发动机14和第一、第二电机56、72分别产生能传递到变速器10的动力。通过发动机14和第一、第二电机56、72产生的并传递到变速器10的动力将按照在此分别称为TI，TA，TB的输入转矩和电动机转矩以及在此分别称为NI，NA，NB的输入速度和电动机速度来描述。
【0011】示例性的发动机14包括选择地运转在多种状态下将转矩经由输入轴12传递到变速器10的多缸内燃发动机，且可以是火花点火或压燃发动机。发动机14包括可操作地连接到变速器10的输入轴12的曲轴(未示出)。旋转速度传感器11监控输入轴12的旋转速度。从发动机14输出的动力包括旋转速度和发动机转矩，其可以不同于输入到变速器10的输入速度NI和输入转矩TI，这是由于在发动机14和变速器10之间的输入轴12上放置有转矩消耗部件，例如液压泵(未示出)和/或转矩操纵装置(未示出)。
【0012】示例性的变速器10包括三个行星齿轮组24、26和28，四个选择性接合的转矩传递装置，也就是离合器C1 70、C2 62、C3 73和C4 75。在此应用的离合器指任何类型的摩擦转矩传递装置，包括例如单个或组合片式离合器或组件、带式离合器和制动器。优选被变速器控制模块(以下为TCM)17控制的液压控制回路42起到控制离合器状态的作用。离合器C2 62和C4 75优选包括应用液压的旋转摩擦离合器。离合器C1 70、C3 73优选包括可以选择地挡接到(groundedto)变速器箱68的液压控制固定装置。每一个离合器C1 70、C2 62、C3 73和C4 75优选被应用液压，经由液压控制回路42选择地取得加压的液压流体。
【0013】第一和第二电机56和72优选包括三相交流电机，每个包括定子(未示出)和转子(未示出)，以及各自的旋转变压器80和82。每个电机的电动机定子挡接到变速器箱68的外部，并包括定子铁芯，定子铁芯具有自其延伸的盘绕电绕组。第一电机56的转子被支撑在毂衬齿轮上，所述毂衬齿轮经由第二行星齿轮组26可操作地连接到轴60。第二电机72的转子固定地连接到套轴毂66。
【0014】每个旋转变压器80和82优选包括可变磁阻装置，可变磁阻装置包括旋转变压器定子(未示出)和旋转变压器转子(未示出)。旋转变压器80和82适当地被布置并安装在相应的第一和第二电机56和72上。旋转变压器80和82各自的定子可操作地连接到第一和第二电机56、72的相应定子。旋转变压器转子可操作地连接到相应的第一和第二电机56、72的转子。每个旋转变压器80和82以信号连接的方式可操作地连接到变速器功率变换器控制模块(以下为‘TPIM’)19，并且每个都感测并监控旋转变压器转子相对旋转变压器定子的旋转位置，从而监控相应的第一和第二电机56、72的旋转位置。另外，从旋转变压器80和82输出的信号被解译以提供第一和第二电机56、72各自的旋转速度，也就是NA和NB。
【0015】变速器10包括可操作地连接到车辆(未示出)传动系统90的输出部件64，例如轴，以提供输出到传动系统90的输出动力，所述输出动力传递给车轮93，图1中示出了其中一个车轮。在输出部件64处的输出功率表现为输出旋转速度NO和输出转矩TO。变速器输出速度传感器84监控输出部件64的旋转速度和旋转方向。每个车轮93优选装配有适合于监控车轮速度的传感器94，通过关于图2所述的分布式控制模块系统的控制模块来监控传感器94的输出，从而确定车辆速度以及用于制动控制、牵引控制和车辆加速管理的绝对和相对车轮速度。
【0016】来自发动机14的输入转矩和来自第一和第二电机56、72的电动机转矩(分别为TI，TA，TB)是由燃料或存储在电能存储装置(以下为‘ESD’)74中的电能的能量转换所产生的。ESD 74经由直流传递导体27高电压直流连接到TPIM19。传递导体27包括接触开关38。当接触开关38关闭时，在正常运行中，电流能在ESD 74和TPIM19之间流动。当接触开关38开启时，在ESD74和TPIM19之间的电流流动被切断。通过传递导体29在TPIM19和第一电机56之间来回传送电能，类似地，通过传递导体31在TPIM19和第二电机72之间来回传送电能，以满足第一和第二电机56、72响应电动机转矩TA和TB的转矩指令。根据ESD74正在充电还是放电，电流被传送到ESD74以及从ESD74输出。
【0017】TPIM19包括成对的功率变换器(未示出)和各自的电动机控制模块(未示出)，所述控制模块设置为接收转矩指令并由此控制变换器的状态，用于提供电动机驱动或再生功能以满足指令的电动机转矩TA和TB。功率变换器包括已知的互补三相电子设备，每个变换器包括多个绝缘栅双极晶体管(未示出)，通过高频切换将来自ESD74的直流电转换为交流电以驱动各自的第一和第二电机56、72。绝缘栅双极晶体管形成设置为接收控制指令的开关式电源。通常有用于每个三相电机的每一相的一对绝缘栅双极晶体管。绝缘栅双极晶体管的状态被控制以提供电动机驱动的机械功率生成或电功率再生功能。三相变换器经由直流传递导体27接收或供应直流电功率并将直流功率转换为三相交流功率或从三相交流功率转换为直流功率，所述交流功率分别经由传递导体29和31传导到第一和第二电机56和72或从第一和第二电机56和72传出，从而使电机作为电动机或发电机运行。
【0018】图2是分布式控制模块系统的原理框图。以下描述的元件包括总体车辆控制体系结构的子设备，并且提供图1所描绘的示例性的混合动力传动系统的协同系统控制。分布式控制模块系统综合相关信息和输入，并执行算法来控制多种致动器以满足控制目标，包括与燃料经济性、排放、性能、驾驶能力以及包括ESD74的电池和第一、第二电机56和72的硬件保护相关的目标。分布式控制模块系统包括发动机控制模块(以下为‘ECM’)23，TCM17，电池组控制模块(以下为‘BPCM’)21和TPIM19。混合控制模块(以下为‘HCP’)5提供ECM23、TCM17、BPCM21和TPIM19的监控和协调。用户界面(UI)13信号连接到多个装置，车辆驾驶者通过所述多个装置控制或指导电动-机械混合动力传动系统的运行。所述装置包括加速踏板113(‘AP’)、操作者制动踏板112(‘BP’)、变速器齿轮选择器114(‘PRNDL’)和车辆速度巡航控制器(未示出)。变速器齿轮选择器114可有多个非连续的操作者可选择位置，包括输出部件64的旋转方向以实现前进或倒退方向之一。
【0019】前面提到的控制模块和其它的控制模块、传感器和致动器通过局域网(以下为LAN)总线6进行通信。LAN总线6允许运行参数状态和致动器指令信号在各个控制模块之间的结构化通信。使用的特定通信协议是专用的。LAN总线6和适当的协议提供前述的控制模块和其它控制模块之间的鲁棒通信和多重控制模块接口，所述其它控制模块提供包括例如防抱死、牵引控制、车辆稳定性的功能。多重通信总线可用来改善通信速度并提供一定程度的信号冗余度和完整性。各个控制模块之间的通信也可使用直接连接来实现，例如串行外围接口(SPI)总线(未示出)。
【0020】HCP5提供混合动力传动系统的监控，用于协调ECM23、TCM17、TPIM19和BPCM21的运行。基于来自用户界面13和混合动力传动系统(包括ESD74)的多个输入信号，HCP5确定操作者转矩请求、输出转矩指令、发动机输入转矩指令、变速器10的应用的转矩传递离合器C170、C262、C373和C475的离合器转矩、第一和第二电机56、72的电动机转矩TA和TB。TCM17可操作地连接到液压控制回路42并提供多种功能，包括监控多个压力传感器(未示出)和生成并传送控制信号给多个螺线管(未示出)，因此控制包含在液压控制回路42内的压力开关和控制阀。
【0021】ECM23可操作地连接到发动机14，起到通过多条分离线路获取来自传感器的数据并控制发动机14的制动器的作用，为简单起见，所述线路以集合的双向接口电缆35示出。ECM23接收来自HCP5的发动机输入转矩指令。ECM23根据监控到的发动机速度和负载确定在该时间点传送到HCP5的提供给变速器10的实际发动机输入转矩TI。ECM23监控来自旋转速度传感器11的输入以确定输入轴12的发动机输入速度，其被转变成变速器输入速度NI。ECM23监控来自传感器(未示出)的输入以确定其它发动机运行参数(包括例如歧管压力、发动机冷却液温度、环境空气温度和环境压力)的状态。发动机负载能从例如歧管压力、或替代地通过监控操作者给加速器踏板113的输入来确定。ECM23生成并传递指令信号以控制发动机致动器，包括例如都没有示出的燃油喷射器、点火模块和节气门控制模块。
【0022】TCM17可操作地连接到变速器10并监控来自传感器(未示出)的输入以确定变速器运行参数的状态。TCM17生成并传递指令信号以控制变速器10，包括控制液压回路42。从TCM17到HCP5的输入包括每一个离合器(也就是C170、C262、C373和C475)估算离合器转矩和输出部件64的旋转输出速度NO。为了控制目的，其它致动器和传感器可用于从TCM17向HCP5提供另外的信息。TCM17监控来自压力开关(未示出)的输入，并选择地制动液压回路42的压力控制螺线管(未示出)和换档螺线管(未示出)来选择地制动不同的离合器C1 70、C2 62、C3 73和C4 75以获得不同的变速器运行范围状态，这将在下面进行说明。
【0023】BPCM21信号连接到传感器(未示出)以监控ESD74，包括电流和电压参数的状态，用来向HCP5提供表示ESD74电池参数状态的信息。电池的参数状态优选包括电池充电状态、电池电压、电池温度以及可得到的功率，称作PBAT_MIN到PBAT_MAX的范围。
【0024】制动控制模块(以下为‘BrCM’)22可操作地连接到每个车轮93上的摩擦制动器(未示出)。BrCM22监控操作者给制动踏板112的输入，并生成控制信号以控制摩擦制动器和向HCP5发送控制信号从而基于该控制信号操作第一和第二电机56和72。
【0025】每个控制模块ECM23、TCM17、TPIM19、BPCM21和BrCM22优选为通用数字计算机，其包括微处理器或中央处理单元、存储介质、高速时钟、模拟数字转换(A/D)和数字模拟转换(D/A)装置、输入/输出线路和装置(I/O)以及适当的信号调节和缓冲电路，其中存储介质包括只读存储器(ROM)、随机存取存储器(RAM)和电可编程只读存储器(EPROM)。每个控制模块具有一套控制算法，所述算法包括存储在一个存储介质中的固有程序指令和标准，并且被执行以提供每个计算机的各个功能。控制模块之间的信息传递优选通过LAN总线6和串行外围接口总线来完成。控制算法在预置的循环期间被执行，这样每套算法在每个周期内至少被执行一次。存储在非易失性存储器装置中的算法被一个中央处理单元执行以监控来自传感装置的输入并执行控制和诊断程序，从而采用预置的标准来控制致动器的运行。循环被定期地执行，例如在混合动力传动系统正在进行的运行期间每3.125、6.25、12.5、25和100毫秒。或者，可以响应于事件的发生来执行算法。
【0026】示例性的混合动力传动系统选择以多个运行范围状态中的一个运行，所述多个运行范围状态可以用发动机状态和变速器状态表示，其中发动机状态包括发动机运行状态(ON)和发动机停机状态(OFF)中的一个，变速器状态包括多个固定齿轮和连续变化的运行模式，下面参考表1描述这些状态。
表1
Figure A200810189584D00101
【0027】表中描述了每一个变速器运行范围状态，并指出每个运行范围状态具体使用离合器C1 70、C2 62、C3 73和C4 75中的哪几个。通过仅仅使用离合器C1 70而选中第一连续变化模式也就是EVT模式1或M1，以便“挡接”第三行星齿轮组28的外部齿轮构件。发动机状态可以是ON(‘M1_Eng_On’)或OFF(‘M1_Eng_Off’)中的一种。通过仅仅使用离合器C2 62而选中第二连续变化模式也就是EVT模式2或M2，从而将轴60连接到第三行星齿轮组28的行星齿轮架。发动机状态可以是ON(‘M2_Eng_On’)或OFF(‘M2_Eng_Off’)中的一种。对于此说明来说，当发动机状态是OFF时，发动机输入速度等于0转/分(RPM)，也就是发动机曲轴不旋转。固定齿轮运行提供变速器10的输入输出速度的固定比率运行，也就是NI/NO。第一固定齿轮运行(‘G1’)通过使用离合器C1 70和C4 75被选中。第二固定齿轮运行(‘G2’)通过使用离合器C1 70和C2 62被选中。第三固定齿轮运行(‘G3’)通过使用离合器C2 62和C4 75被选中。第四固定齿轮运行(‘G4’)通过使用离合器C2 62和C3 73被选中。由于行星齿轮24、26、28的传动比的减小，输入输出速度的固定比率运行随着增加的固定齿轮运行而增大。第一和第二电机56、72各自的转速NA、NB取决于通过离合限定的机械的内部旋转并与在输入轴12上测得的输入速度成比例。
【0028】响应于用户界面13记录的经由加速踏板113和制动踏板112的操作者输入量，HCP5和一个或多个其它控制模块确定转矩指令以控制包括发动机14和第一、第二电机56、72的转矩生成装置，从而满足在输出部件64的传递到传动系统90的操作者转矩要求。如下描述，基于来自户界面13和包括ESD74的混合动力传动系统的输入信号，HCP5分别确定操作者转矩请求、在变速器10和传动系统90之间的指令输出转矩、来自发动机14的输入转矩、变速器10的转矩传递离合器C1 70、C2 62、C3 73、C4 75的离合器转矩；以及用于第一和第二电机56、72的电动机转矩。指令输出转矩可以是牵引转矩，其中转矩流产生于发动机14和第一和第二电机56、72并通过变速器10传递到传动系统90；指令输出转矩也可以是反作用转矩，其中转矩流产生于传动系统90的车轮93并通过变速器10传递到第一和第二电机56、72和发动机14。
【0029】最终的车辆加速度会受到其它因素的影响，包括例如道路载荷、道路坡度和车辆重量。基于混合动力传动系统的多种运行特性确定变速器10的运行范围状态。这包括前面所述的通过加速踏板113和制动踏板112传送到用户界面13的操作者转矩请求。根据由指令引起的混合动力传动系统转矩要求可以预测运行范围状态，从而以发电模式或转矩生成模式来操纵第一和第二电机56、72。运行范围状态可以通过最优化算法或程序来确定，基于操作者的能量需求、电池充电状态以及发动机和第一、第二电机56、72的能量效率，所述算法或程序确定最优系统效率。基于执行的最优化程序的结果，控制系统管理来自发动机14和第一、第二电机56、72的转矩输入，因此系统效率被最优化以管理燃油经济性和电池充电。此外，可基于组件或系统的故障确定运行。HCP5监控转矩生成装置，响应于输出部件64处的期望输出转矩来确定需要从变速器10输出的功率以满足操作者转矩请求。根据上面的说明，很明显ESD74和第一以及第二电机56、72可操作地电气连接以便于在其间的能量流动。而且，发动机14、第一和第二电机56、72以及电动-机械变速器10是可操作地机械连接以在其间传递能量，从而生成到达输出部件64的能量流。
【0030】发动机14和变速器10的运行受到发动机14、第一和第二电机56、72、ESD74以及离合器C1 70、C2 62、C3 73、C4 75的能量、转矩以及速度极限的约束。发动机14和变速器10上的运行约束能被转变成一组系统约束方程，这些方程在一个控制模块例如HCP5中作为一种或多种算法被执行。
【0031】再次参见图1，在总体运行中，变速器10通过一个或两个转矩传递离合器的选择性致动来以一种运行范围状态运行。发动机14和第一、第二电机56、72各自的转矩约束、发动机14、第一、第二电机56、72以及变速器10的输出轴64各自的速度约束被确定。ESD74的电池功率约束被确定，并被用于进一步限定第一和第二电机56、72的电动机转矩约束。基于电池功率约束、电动机转矩约束和速度约束，利用系统约束方程确定动力传动系统的优选运行区。优选运行区包括发动机14和第一、第二电机56、72的可允许的运行转矩或者速度的范围。
【0032】通过推导并同时求解变速器10的动力学方程，能利用以下线性方程确定转矩极限值，即在本实施例中的输出转矩TO：
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，在该实施例中，
TM1表示在输出部件64处的输出转矩TO，
TM2表示在输入轴12处的输入转矩TI，
TM3表示变速器10的应用的转矩传递离合器C1 70、C2 62、C3 73、C4 75的反作用离合器转矩，
TAtoTM1、TAtoTM2、TAtoTM3分别是TA对TM1、TA对TM2、TA对TM3的影响因素，
TBtoTM1、TBtoTM2、TBtoTM3分别是TB对TM1、TB对TM2、TB对TM3的影响因素，
Misc_TM1、Misc_TM2、Misc_TM3分别是通过NI_DOT、NO_DOT、NC_DOT(输入速度、输出速度和离合器滑速的时间-速率变化)分配给TM1、TM2、TM3的常量，以及
TA和TB是来自第一和第二电机56、72的电动机转矩。
转矩参数TM1、TM2、TM3可以是取决于应用的任何三个独立的参数。
【0033】由于机械和系统的限制，发动机14和变速器10以及第一、第二电机56、72具有速度约束、转矩约束以及电池功率约束。
【0034】速度约束可包括发动机14的NI＝0(发动机停机状态)、NI处于从600转/分(空转)到6000转/分的范围的发动机速度约束。第一和第二电机56、72的速度约束如下：
-10500转/分≤NA≤+10500转/分，以及
-10500转/分≤NB≤+10500转/分
【0035】转矩约束包括发动机转矩约束和第一、第二电机的电动机转矩约束，其中发动机转矩约束包括TI_MIN<TI<TI_MAX；电动机转矩约束包括TA_MIN<TA<TA_MAX和TB_MIN<TB<TB_MAX。电动机转矩约束TA_MAX和TA_MIN包括第一电机56分别作为转矩生成电动机和发电机运行时的转矩极限值。电动机转矩约束TB_MAX和TB_MIN包括第二电机72分别作为转矩生成电动机和发电机运行时的转矩极限值。最大和最小电动机转矩约束TA_MAX、TA_MIN、TB_MAX和TB_MIN优选从以表格形式存储在一个控制模块的存储装置内的数据组获得。这些数据组是在不同的温度和电压条件下从组合的电动机和功率电子装置(例如功率变换器)的常规测功机试验中根据经验得到的。
【0036】电池功率约束包括在PBAT_MIN到PBAT_MAX范围内可得到的电池功率，其中PBAT_MIN是最大允许电池充电功率以及PBAT_MAX是最大允许放电功率。电池功率规定放电时为正，充电时为负。
【0037】在运行期间，TM1的最大和最小值在速度约束、电动机转矩约束、离合器转矩约束和电池功率约束内被确定，以便控制发动机14、第一和第二电机56、72(也指以下的电动机A 56、电动机B 72)和变速器10的运行以满足操作者转矩请求和指令输出转矩。
【0038】基于ESD74的电池功率约束确定包括转矩输出范围的运行范围。电池功率用量PBAT的计算如下：
PBAT＝PA，ELEC+PB，ELEC+PDC_LOAD                      [4]
其中，PA，ELEC包括来自电动机A 56的功率，
      PB，ELEC包括来自电动机B 72的功率，以及
      PDC_LOAD包括已知的直流负载，包括附加负载。
【0039】替换PA，ELEC和PB，ELEC的方程，得出：
PBAT＝(PA，MECH+PA，LOSS)+(PB，MECH+PB，LOSS)+PDC_LOAD   [5]
其中，PA，MECH包括来自电动机A 56的机械能，
      PA，LOSS包括电动机A 56的能量损耗，
      PB，MECH包括来自电动机B 72的机械能，以及
      PB，LOSS包括电动机B 72的能量损耗。
【0040】方程5可以以下面的方程6来重新描述，其中速度NA和NB、转矩TA和TB替换能量PA和PB。这包括假设电动机和变换器损失可以基于转矩数学地模拟成二次方程，如下：
PBAT＝(NATA+(a1(NA)TA 2+a2(NA)TA+a3(NA)))               [6]
    +(NBTB+(b1(NB)TB 2+b2(NB)TB+b3(NB)))
    +PDC_LOAD
其中，NA，NB包括电动机A 56和B 72的速度，
TA，TB包括电动机A 56和B 72的转矩，以及
a1，a2，a3，b1，b2，b3各包括二次系数，所述二次系数是相应电动机速度NA，NB的函数。
【0041】这可用下面的方程7重新描述。
PBAT＝a1*TA 2+(NA+a2)*TA                                 [7]
    +b1*TB 2+(NB+b2)*TB
    +a3+b3+PDC_LOAD
【0042】该方程变为下面的方程8。
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)
【0043】该方程变为下面的方程9。
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)
【0044】该方程变为下面的方程10。
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)
【0045】该方程变为下面的方程11。
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)
【0046】电动机转矩TA和TB能换算为下面的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。
【0047】因此方程11可进一步变为如下。
PBAT＝(TX 2+TY 2)+C            [13]
PBAT＝R2+C                  [14]
【0048】方程12指定了电动机转矩TA到TX的变换和电动机转矩TB到TY的变换。这样，定义了称为TX/TY空间的新坐标系统，方程13包括变到TX/TY空间的电池功率PBAT。因此，介于最大电池功率PBAT_MAX和最小电池功率PBAT_MIN之间的电池功率范围能够被计算并如图3所示，用字母K表示的变换空间TX/TY内的点(0，0)为中心、最大半径RMax和最小半径RMin的图形表示出，其中：
RMin＝SQRT(PBAT_MIN—C)，以及
RMax＝SQRT(PBAT_MAX—C)。
【0049】最小和最大电池功率PBAT_MIN和PBAT_MAX优选与电池物理性质有关，例如充电状态、温度、电压和用量(安培—小时/小时)。上面的参数C定义为在电动机转矩极限内在给定的电动机速度NA、NB时的电池功率可能的绝对极小值。在物理上，当TA＝0和TB＝0时，第一和第二电机56、72的输出能量为零。物理上TX＝0和TY＝0相当于给ESD74的最大充电功率。正号(+)定义为从ESD74放电，负号(-)定义为给ESD74充电。RMax定义了最大电池功率，一般为放电功率，以及RMin定义了最小电池充电功率。
【0050】前面的向TX/TY空间的变换如图3所示，表示电池功率约束的具有半径RMin、RMax(‘Battery Power Constraints’)的同心圆和表示电动机转矩约束(‘MotorTorque Constraints’)的直线确定出允许运行区域的界限。在方程12中确定的变换矢量[TX TY]与方程13中定义的矢量同时被解析求解，其中方程13中定义的矢量包括通过在TX/TY空间确定出允许转矩范围的RMin和RMax而确定的最小和最大电池功率，TX/TY空间由通过最小和最大电池功率PBAT_MIN、PBAT_MAX约束的TA和TB构成。在TX/TY空间中的允许转矩的范围如图3所示，其中定义了表示边界、线和半径的点A、B、C、D和E。
【0051】在TX/TY空间可以定义个恒定转矩线，如图3描绘(‘TM1＝C1’)，该恒定转矩线包括前面的方程1描述的极限转矩TM1。在本实施例中极限转矩TM1包括输出转矩TO，方程1-3在TX/TY空间中如下重新表示：
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]
【0052】定义TM1_XY、TM2_XY、TM3_XY作为仅仅通过TA、TB起作用的TM1、TM2、TM3的部分，那么
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]
【0053】下面的系数可被定义为：
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
TM3_Intercept＝TAtoTM3*A2/A1+TBtoTM3*B2/B1
【0054】这样，方程1-3如下变换到TX/TY空间。
TM1_XY＝TXtoTM1*TX+TYtoTM1*TY+TM1_Intercept             [21]
TM2_XY＝TAtoTM2*TX+TBtoTM2*TY+TM2_Intercept             [22]
TM3_XY＝TAtoTM3*TX+TBtoTM3*TY+TM3_Intercept             [23]
【0055】速度约束、电动机转矩约束和电池功率约束能在进行中的运行期间被确定并用转换到TX/TY空间的线性方程表示。方程21包括描述输出转矩约束TM1(例如TO)的极限转矩函数。
【0056】使用以方程22、23定义的TM2和TM3约束为条件的方程21可以确定变速器10的转矩极限值(在该实施例中的输出转矩TO)，从而确定在TX/TY空间内的变换的最大或最小极限转矩，包括TM1_XYMax和TM1_XYMin的一个，例如，已被变换的最大和最小输出转矩TO_Max、TO_Min。随后在TX/TY空间内变换的最大或最小极限转矩可以再从TX/TY空间变换出去以确定最大或最小极限转矩TM1_Max和TM1Min，从而管理变速器14和第一和第二电机56、72的控制和运行。
【0057】图4-9示出了电动机转矩约束，包括变换到TX/TY空间的变换的TA、TB的最小和最大电动机转矩(‘Tx_Min’，‘Tx_Max’，‘Ty_Min’，‘Ty_Max’)。电池功率约束变换到TX/TY空间(‘R_Min’，‘R_Max’)并具有包括(Kx，Ky)＝(0，0)的中心轨迹点K。包括表示线TM1_XY的恒定转矩线(‘Tm1＝C1’)的第一输出转矩约束具有方程24中一般形式的正斜率a/b：
Tm1＝a*Tx+b*Ty+C                  [24]
其中，a<0，b>0，C为常数项。在以后的说明中，为了便于说明，线TM1_XY具有正斜率1：1。示出了表示线TM2_XY的附加约束线(Tm2＝C2)。附加约束线TM2_XY在该实施例中包括输入转矩TI。或者，附加约束线TM2_XY可以包括离合器转矩或其它约束。
【0058】图4图解地示出了第一种情况，其中在变换的最小电动机转矩TA(‘Tx_Min’)和变换的最大电动机转矩TB(‘Ty_Max’)处的电池功率大于变换的最大电池功率(‘R_Max’)。电池功率约束不足以满足基于电动机转矩约束而达到最大输出转矩所要求的电池功率。点L1和L2是与变换的电动机转矩相交的的附加约束线TM2_XY(‘Tm2＝C2’)上的点。生成一条垂直于附加约束线TM2_XY并穿过中心轨迹点K的第二线L3L4，其与附加约束线TM2_XY相交于点Q。点Q确定出在附加约束线TM2_XY上最小化电池功率约束干扰的点。点Q在包括变换的TA和TB的最小和最大电动机转矩(‘Tx_Min’，‘Tx_Max’，‘Ty_Min’，‘Ty_Max’)的电动机转矩约束以内。点P是输出转矩约束TM1(‘Tm1＝C1’)与包括变换的最大电池功率(‘R_Max’)的电池功率约束相交的切点。这套约束的优选解是满足附加约束TM2_XY并具有最小的电池功率约束干扰的点Q。解集优选包括表示用于控制运行的优选解的(Tx，Ty)点，其中控制运行的优选解能被再变换成电动机转矩(TA，TB)以控制第一和第二电机56、72的运行。
【0059】图5图解地示出了第二种情况，其中在变换的最小电动机转矩TA(‘Tx_Min’)和变换的最大电动机转矩TB(‘Ty_Max’)处的电池功率大于变换的最大电池功率(‘R_Max’)。电池功率约束不足以满足基于电动机转矩约束而达到最大输出转矩所要求的电池功率。点L1和L2是与变换的电动机转矩相交的附加约束线TM2_XY(‘Tm2＝C2’)上的点。生成垂直于附加约束线TM2_XY并穿过中心轨迹点K的第二线L3L4，其与附加约束线TM2_XY相交于点Q。点Q确定出在附加约束线TM2_XY上最小化电池功率约束干扰的点。点Q在包括变换的最小和最大电动机转矩TA和TB(‘Tx_Min’，‘Tx_Max’，‘Ty_Min’，‘Ty_Max’)的电动机转矩约束以外。点P是常量线(‘Tm1＝C1’)与包括变换的最大电池功率(R_Max)的电池功率约束相交的切点。L1L2线段表示满足附加约束线TM2_XY和电动机转矩约束的解的边界。点Q是最佳解，但是，它超出了L1L2线段的边界。为了满足约束，点R设为L1L2线段的L2点，因为它是L1L2线段最靠近最佳解Q的点。这样，这组约束的优选解是满足TM2约束并具有电池功率约束的最小干扰的点R。解集包括表示用于控制运行的优选解点R的(Tx，Ty)点，其中控制运行的优选解点R能被再变换成电动机转矩(TA，TB)以控制第一和第二电机56、72的运行。
【0060】图6图解地示出了第三种情况，其中在变换的最小电动机转矩TA(‘Tx_Min’)和变换的最大电动机转矩TB(‘Ty_Max’)处的电池功率大于变换的最大电池功率(‘R_Max’)。电池功率约束不足以满足基于电动机转矩约束而达到最大输出转矩所要求的电池功率。点L1和L2是与变换的电动机转矩相交的附加约束线TM2_XY(‘Tm2＝C2’)上的点。线段L3L4定义为附加约束线TM2_XY上的点，其中点L3、L4定义了附加约束线TM2_XY和变换的最大电池功率的交点。附加约束线TM2_XY与输出转矩约束TM1(‘Tm1＝C1’)相交于点Q。点Q在包括变换的TA和TB的最小和最大电动机转矩(‘Tx_Min’，‘Tx_Max’，‘Ty_Min’，‘Ty_Max’)的电动机转矩约束以内，但是在电池功率约束以外。因此，这组约束的优选解是点R，附加约束线TM2_XY与变换的最大电池功率(‘R_Max’)在点R相交，也就是点L3。解集包括表示用于控制运行的优选解的(Tx，Ty)点，其中控制运行的优选解能被再变换成电动机转矩(TA，TB)以控制第一和第二电机56、72的运行。因此，优选的输出转矩基于电池转矩被约束。
【0061】图7图解地示出了第四种情况，其中在变换的最小电动机转矩TA(‘Tx_Min’)和变换的最大电动机转矩TB(‘Ty_Max’)处的电池功率大于变换的最大电池功率(‘R_Max’)。电池功率约束不足以满足基于电动机转矩约束而达到最大输出转矩所要求的电池功率。点L1和L2是与变换的电动机转矩相交的附加约束线TM2_XY(‘Tm2＝C2’)上的点。线段L3L4定义为附加约束线TM2_XY上的点，其中点L3、L4定义了附加约束线TM2_XY和变换的最大电池功率的交点。线段L3L4和线段L1L2之间具有重叠部分。附加约束线TM2_XY与输出转矩约束TM1(‘Tm1＝C1’)在点Q相交。点Q在包括变换的最小和最大电动机转矩TA和TB(‘Tx_Min’，‘Tx_Max’，‘Ty_Min’，‘Ty_Max’)的电动机转矩约束以内，但是在电池功率约束以外。L3L2线段表示满足TM2和电动机转矩约束的解的边界。点Q是最佳解，但是，它超出了L3L2线段的边界。为了满足约束，点R设置为等于线段上的L3点，因为它是线段上最靠近最佳解Q的点。这组约束的优选解是满足附加约束线TM2_XY并最大化输出转矩的点R。解集包括表示用于控制运行的优选解的(Tx，Ty)点，其中控制运行的优选解能被再变换成电动机转矩(TA，TB)以控制第一和第二电机56、72的运行。因此，优选的输出转矩基于电池转矩被约束。
【0062】图8图解地示出了第五种情况，其中在变换的最小电动机转矩TA(‘Tx_Min’)和变换的最大电动机转矩TB(‘Ty_Max’)处的电池功率大于变换的最大电池功率(‘R_Max’)。电池功率约束不足以满足基于电动机转矩约束而达到最大输出转矩所要求的电池功率。点L1和L2是与变换的电动机转矩相交的附加约束线TM2_XY(‘Tm2＝C2’)上的点。线段L3L4定义为附加约束线TM2_XY上的点，其中点L3、L4定义了附加约束线TM2_XY和变换的最大电池功率的交点。线段L3L4和线段L1L2之间没有重叠部分。附加约束线TM2_XY与输出转矩约束TM1(‘Tm1＝C1’)在点Q相交。点Q在包括变换的TA和TB的最小和最大电动机转矩(‘Tx_Min’，‘Tx_Max’，‘Ty_Min’，‘Ty_Max’)的电动机转矩约束以外，但是在电池功率约束以内。点P定义了电池功率约束与电动机转矩约束相交的最大点，但是并不满足附加约束线TM2_XY。点R设置为等于线段上的L2点，因为它是线段上最靠近最佳解Q的点。这组约束的优选解是满足电动机转矩约束和附加约束线TM2_XY并具有最小的电池功率约束干扰的点R。解集包括表示用于控制运行的优选解的(Tx，Ty)点，其中控制运行的优选解能被再变换成电动机转矩(TA，TB)以控制第一和第二电机56、72的运行。因此，优选的输出转矩基于电池转矩被约束。
【0063】图9图解地示出了第六种情况，其中附加约束线TM2_XY(‘Tm2＝C2’)与变换的最大电池功率(‘R_Max’)在具有Tx坐标X4和X1的点相交，并与变换的最小电池功率(‘R_Min’)在具有Tx坐标X3和X2的点相交。而且，附加约束线TM2_XY与变换的最小电动机转矩TA(‘Tx_Min’)在具有Tx坐标XS的点相交，并与变换的最大电动机转矩TA(‘Tx_Max’)在具有Tx坐标XL的点相交。第一线段X3X4被定义为存在于X3和X4之间；第二线段X1X2被定义为存在于X1和X2之间；第三线段XLXS被定义为存在于点XL和XS之间；第四线段X2XL被定义为存在于点X2和XL之间。第一输出转矩约束(‘Tm1’)没有被描绘出。当第一输出转矩约束与第一线段X3X4和第四线段X2XL之一相交时，优选解是附加约束线TM2_XY上的点，在该点上，第一输出转矩约束与线段(未示出)相交。当第一输出转矩约束不与第一线段X3X4或者第四线段X2XL相交时，优选解是点X4、X3、X2、XL中最靠近接近于第一输出转矩约束(未示出)的一点。(Tx，Ty)坐标表示用于控制运行的优选解，其能被再变换成电动机转矩(TA，TB)以控制第一和第二电机56、72的运行。因此，优选的输出转矩基于电池转矩被约束。
【0064】上面描述的实施例是以具有方程24(如上)中一般形式的正斜率a/b的线TM1_XY为基础的：
Tm1＝a*Tx+b*Ty+C              [24]
其中，为了便于关于可变的x_interceptC的说明，a<0，b>0，以及C为常数项，斜率a/b＝1：1。该说明也适用于a>0，b<0和小于1：1、大于1：1的斜率a/b的组合。
【0065】应当理解，在本发明的范围内允许改变。参照具体相关的优选实施例和改变描述了本发明。在阅读和理解说明书的基础上，进一步的改变和变换可以被他人想到。本发明包括所有这样的改变和变换，只要它们在本发明的范围内。

Claims (14)

1、一种控制电动-机械变速器的方法，其中电动-机械变速器可操作地连接到第一、第二电机以传送动力给输出部件，所述方法包括：
为第一和第二电机确定电动机转矩约束；
为电气连接到第一和第二电机的电能存储装置确定电池功率约束；
确定在电动-机械变速器上的附加约束；
确定传送到电动-机械变速器的输出部件的优选输出转矩，所述优选输出转矩能在电动机转矩约束以内实现并且以附加约束和电池功率约束为基础；以及
基于电动机转矩约束、附加约束和电池电能约束控制电动-机械变速器和第一、第二电机的运行以在输出部件处实现优选输出转矩。
2、如权利要求1所述的方法，其中优选输出转矩包括到输出部件以实现操作者转矩请求的指令输出转矩。
3、如权利要求2所述的方法，进一步包括确定电动-机械变速器的输出部件的优选输出转矩，所述优选输出转矩能在附加约束以内实现，并且当附加约束在电动机转矩约束以内能实现而且附加约束超出最大电池功率约束时，能最小化最大电池功率约束的干扰。
4、如权利要求2所述的方法，进一步包括确定电动-机械变速器的输出部件的优选输出转矩，所述优选输出转矩能在附加约束以内实现，并且当附加约束能在电动机转矩约束以及附加约束能在最大电池功率约束以内实现时所述优选输出转矩通过最大电池功率约束被约束。
5、如权利要求4所述的方法，进一步包括将电动-机械变速器的输出部件的优选输出转矩限定为在电动机转矩约束以内能实现并且在最大电池功率约束以内能实现的输出转矩。
6、如权利要求2所述的方法，进一步包括确定电动-机械变速器的输出部件的优选输出转矩，当附加约束能在电动机转矩约束以内实现且附加约束能超出最大电池功率约束和最小电池功率约束之一时，所述优选转矩能在附加约束以内实现并且在电池功率约束以内实现。
7、如权利要求6所述的方法，其中最大电池功率约束包括最大电池放电功率。
8、如权利要求7所述的方法，其中最小电池功率约束包括最小电池充电功率。
9、如权利要求1所述的方法，进一步包括确定电动-机械变速器的输出部件的优选输出转矩，所述优选转矩在电动机转矩约束以内并以附加约束和电池功率约束为基础。
10、如权利要求1所述的方法，其中附加约束包括从内燃发动机到输入轴的输入转矩。
11、如权利要求1所述的方法，其中附加约束包括变速器中应用的转矩传递离合器上的反作用转矩。
12、如权利要求1所述的方法，进一步包括：
建立表示第一和第二电机的最大、最小电动机转矩约束以及最大、最小电池功率约束的数学方程；
建立表示输出转矩的数学方程；
建立表示附加约束的数学方程；
变换表示最大和最小电池功率约束的数学方程为具有各自半径的同心圆方程；
变换表示第一和第二电机的最大和最小电动机转矩约束的数学方程为包括多条线的方程；
变换表示附加约束的数学方程为包括线的方程；以及
变换表示输出转矩的数学方程为包括线的方程。
13、如权利要求12所述的方法，进一步包括：
基于变换后的第一和第二电机的电动机转矩约束和变换后的电池功率约束以及变换后的附加约束确定至少一个变换后的能实现的输出转矩；
确定来自电动-机械变速器的变换后的能实现的最大输出转矩；以及
把变换后的能实现的最大输出转矩再变换以确定第一和第二电机的优选输出转矩。
14、如权利要求12所述的方法，包括计算表示最大和最小电池功率约束的变换后的数学方程、表示第一和第二电机的最大和最小电动机转矩约束的变换后的数学方程、表示附加约束的变换后的数学方程和表示输出转矩的变换后的数学方程的至少一个交点。
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