CN101492046A - Parallel type hybrid vehicles energy management and assembly coordinated control method - Google Patents
Parallel type hybrid vehicles energy management and assembly coordinated control method Download PDFInfo
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Abstract
The invention relates to a method for managing the whole vehicle energy of a parallel hybrid power vehicle and assembly coordination control, which belongs to the field of drive system control of the hybrid power vehicles. According to the running state of the hybrid power vehicle, the method respectively controls a control module for a control algorithm to enter the whole vehicle for electrified self-check and fault diagnosis, an ABS coordinated control module, a coordinated control module assisting an AMT to shift gear initiatively, a control module for motor initiative compensation, a control module for mode switching and energy management, a module for processing and displaying whole vehicle state information, and an initiative control module for the idling stop of an engine so as to control the energy distribution of a hybrid power drive system and the coordinated operation of each assembly of the system. The method can perform energy management on the hybrid power drive system and coordinated control on each assembly so as to achieve the optimal energy distribution among the assemblies of the hybrid power drive system, improve the fuel economical efficiency of the whole vehicle to the utmost extent, and reduce the exhaust emission of the engine, ensure that the while drive system can work reliably and efficiently to obtain the optimal performance of the whole vehicle running.
Description
Technical field
The invention belongs to drive system of hybrid power vehicle control field, be applicable to the motor vehicle driven by mixed power that adopts hybrid electric drive system in parallel, be actual travel state specifically according to motor vehicle driven by mixed power in parallel, propulsive effort and the reasonable distribution of braking force between each assembly of hybrid electric drive system to the chaufeur demand are controlled, and the operation of each assembly of coordination drive system, to reach energy-conservation and the control method environmental protection purpose.
Background technology
Today of 21 century, the energy and environment problem become day by day human survival and sustainable development the severe problem that must face.As 21 century one of clean energy resource vehicle technology motor vehicle driven by mixed power with plurality of advantages such as its low energy consumption, anti-emission carburetor and feasibility are strong, become the developing direction and the research focus of following vehicle.
So-called motor vehicle driven by mixed power (HEV, Hybrid Electric Vehicle), be with electric propulsion system and auxiliary power unit (APU, Auxiliary Power Unit) on aggregate erection to a car, by car load energy management control method conventional internal combustion and motor and closed-center system organically being integrated becomes the moving system of hybrid vehicle.Motor vehicle driven by mixed power car load energy management method is according to the actual travel state of vehicle, utilize motor vehicle driven by mixed power to eliminate the Energy saving mechanism that idling, engine working area control and regenerating braking energy reclaim, whole hybrid electric drive system is rationally controlled, realize power demand the reasonable distribution each assembly between of chaufeur to drive system, improve the fuel economy of vehicle ' to greatest extent, and reduce the exhaust emission of driving engine.
Motor vehicle driven by mixed power is installed on two cover drive systems (battery-motor and combustion engine) on the vehicle that a cover drive system only is installed originally, and this has increased the complexity of driving system structure greatly, and the difficulty of carrying out car load control and trouble diagnosing.For make hybrid electric drive system can be reasonably according to the actual travel situation of vehicle, under the prerequisite that satisfies the tractive performance requirement, improve fuel economy as much as possible, and guarantee that safety and the reliability that car load travels, the research of car load energy management control method have become the key of HEV research.
At present, there have been some domestic research institutions and institution of higher learning to begin research to motor vehicle driven by mixed power car load energy management control method, and some and the relevant patent application of motor vehicle driven by mixed power car load energy management proposed, but this wherein is the design about hardware control system mostly, for example application number is that the application for a patent for invention of 200310124511.6 " hybrid vehicle control system and control methods thereof " and application number are 97102923.7 " to be used for the controlling machine motor-car, especially the method for the electrical power distribution of hybrid power motor-car and device " application for a patent for invention, its claim mainly is based on the design of hardware control system, and allocation manager and drive pattern that the control method part has only proposed energy switch; Application number is the application for a patent for invention of 200510023717.9 " parallel connection mixed power driving system and driving methods thereof ", to the hybrid electric drive system and the basic control mode proposition claim that changes system of its proposition.
The application content of these patents is for complex structure, the motor vehicle driven by mixed power that the performance quality depends primarily on car load energy management method control effect is far from being enough, because the motor vehicle driven by mixed power control method of finished is not only wanted to carry out energy management as control method of finished, and want to coordinate the work of whole each assembly of hybrid electric drive system, overcome because a series of problems that the drive system hybrid powerization is brought, guarantee that whole drive system reliably works effectively, obtain optimal fuel economy and emission behavior that car load travels.
Summary of the invention
The objective of the invention is to overcome the deficiency of existing motor vehicle driven by mixed power control method of finished, provide a kind of and can guarantee that whole drive system reliably works effectively, obtain the travel method of optimal fuel economy and emission behavior of car load.
The present invention is the operation conditions according to motor vehicle driven by mixed power; control respectively control algorithm enter car load power-on self-test and trouble diagnosing control module c, with ABS coordinating control module d, auxiliary AMT initiatively shift gears coordinating control module e, motor Active Compensation control module f, mode switch and energy management control module g, whole vehicle state information processing and display module h and engine idle shutdown ACTIVE CONTROL module i, with the energy distribution of controlling hybrid electric drive system and the coordinated operation of each assembly of system.
Car load power-on self-test and trouble diagnosing control module c comprise car load power-on self-test and driving faults diagnosis control step.This control module be chaufeur open key door 8 car loads power on and the hybrid car travel process in, state and failure message according to each assembly of drive system is uploaded carry out trouble diagnosing to drive system, guarantee each assembly and vehicle member's safety.
With ABS coordinating control module d be in the motor vehicle driven by mixed power braking procedure, brake torque, motor status information and the ABS status information that can provide according to brake pedal 13 apertures, motor, with ABS ECU6 co-operative control, under the prerequisite that guarantees traffic safety, reclaim braking energy to greatest extent.If the braking force that motor provides can satisfy the requirement of vehicle to braking force, then carry out regenerative brake by motor fully; When the braking force that provides when motor was not enough to satisfy vehicle to the requiring of braking force, the braking force that is provided according to motor by the ABS system and the brake-pressure of the desired brake-power regulation brake system of brake pedal were to provide not enough braking force.When motor can not carry out regenerative brake owing to failure and other reasons, then by control brake system of ABS system vehicle is braked fully; When wheel generation locking, when the ABS system does not allow to carry out regenerative brake, no longer carry out the recovery of braking energy according to energy management policy control motor, by the ABS system car brakeing is controlled fully.
The auxiliary AMT coordinating control module e that initiatively shifts gears is in shift process, utilize motor to respond performance rapidly, the control motor is in the AMT shift process, the AMT input shaft end is carried out speed governing, the input shaft of AMT is reached rapidly and the synchronous desired rotating speed of output shaft, assist the AMT co-operative control of initiatively shifting gears, shorten the gearshift time, improve the shift quality of AMT.
Motor Active Compensation control module f is the reality that can not satisfy the vehicle performance requirement at current motor properties characteristic, the output characteristic of motor is carried out Active Compensation control, according to the requirement of motor output characteristic and the feedback of motor, design PID controller, determine that ratio, integration, differential parameter compensate control to motor, make motor can satisfy the control accuracy requirement of car load motor.
The system features equation of determining each parameter of PID controller is:
In the formula: T
m---require the torque of motor output
T '
m---the operation torque of real electrical machinery
K
p---proportionality coefficient
T
l---the integration time constant
T
d---derivative time constant
Mode switch and energy management control module g adopt the logic threshold control policy, utilize motor vehicle driven by mixed power to eliminate idling, the Energy saving mechanism that engine working area control and regenerating braking energy reclaim, in the motor vehicle driven by mixed power actual moving process, operation according to the motoring condition control hybrid electric drive system of the operation (acceleration pedal 10 and brake pedal 11 apertures) of chaufeur and vehicle, control-driven system enters the driving engine independent drive respectively, the associating driving, pure electronic, to groundwork patterns such as battery charge and regenerative brakes, and limp-home, back work patterns such as electric motor starting driving engine and stopping for charging, to adapt to the running state that vehicle constantly changes, reduce oil consumption and discharging that car load travels.
Whole vehicle state information processing and display module h are according to the status information of HCU9 by each assembly of hybrid electric drive system of CAN bus 10 collections, real-time analysis is handled the status information of car load operation, and operation point, the car load of driving engine and the motor information such as real-time fuel consumption, battery status (SOC, electric current, voltage and temperature etc.), AMT gear and motor status of travelling are sent on the CAN instrument 1 on the instrument carrier panel, make chaufeur can grasp the running state of car load in real time.
Engine idle is shut down ACTIVE CONTROL module i and chaufeur is waited in parking bide one's time, and the time that can wait for as required judges whether and need kill engine.If desired the time of Deng Daiing longer, chaufeur is by changing to neutral gear position with shift handle 12, behind the time-delay delta_t, the driving engine SELF CL can reach the elimination engine idle, saves fuel oil and reduces the purpose of discharging.This controlled engine idle is shut down control logic can reach the effect of eliminating engine idle on the basis that does not change the chaufeur driving habit.
The specifying of each module among the control algorithm module I V:
Car load power-on self-test and trouble diagnosing control module c comprise car load power-on self-test and driving faults diagnosis control step, and motor vehicle driven by mixed power is carried out car load power-on self-test and driving faults diagnosis control:
The power up of car load power-on self-test controlled step before to vehicle ' carried out trouble diagnosing and control.Because having maximum voltage on the motor vehicle driven by mixed power is the strong power system of 420V, the safety of driver and conductor and vehicle on the necessary strict guarantee car.Before the hybrid car travel, chaufeur is opened key door 8, the HCU9 operation that powers on, and after self check was normal, control algorithm entered car load power-on self-test control logic.HCU9 collection battery control unit 4, control unit of engine 3 and AMT control unit 5 send to the status information on the CAN bus 10, and the fault that exists is handled accordingly.For example, if battery control unit 4 is uploaded the information that has insulation or leak current fault, control logic will be controlled battery high-voltage relay switch and disconnect, and motor not powered.Car load power-on self-test controlled step enters the limp-home mode of operation with control vehicle, and oil turbine provides provides chaufeur required driving power separately; Then, car load power-on self-test control logic control battery high-voltage relay switch was powered to 2 short time of motor control unit, make motor control unit 2 carry out self check and to upload status information to motor and the state of itself, to judge whether motor can work at present normally, whether should power to motor by battery with decision.If there is fault in motor, car load power-on self-test controlled step also enters control vehicle the limp-home mode of operation, provides chaufeur required driving power separately by driving engine.Behind power-on self-test, control algorithm enters mode switch and energy management control module g.
Driving faults diagnosis control step is to contingent diagnosing malfunction and control in the vehicle ' process.In the hybrid car travel process, state and failure message that driving faults diagnosis control step is uploaded in real time according to each assembly carry out the real time fail diagnosis in the driving process, according to the order of severity of institute's et out of order, the fault that takes place is handled in real time, guaranteed the car load driving safety.For example: 1. divide when major failure takes place when the conventional drive of vehicle part or electric driving part, the driving faults diagnostic logic enters the limp-home mode of operation with control vehicle, with conventional drive part or motorized motions still working properly vehicle ' is keeped in repair to perch; When the motor of motorized motions part or battery because temperature or voltage former thereby can't reach rated performance the time, the status information that the driving faults diagnostic logic will be uploaded according to battery control unit 4 and motor control unit 2, electronic or generated output (mc_load) to motor limits, to guarantee the safety and the service life of assembly;
Mode switch and energy management control module g are the core contents of motor vehicle driven by mixed power car load control, this parallel hybrid vehicles mode switch and energy management control module g adopt the logic threshold control policy, utilize motor vehicle driven by mixed power to eliminate the Energy saving mechanism that idling, engine working area control and regenerating braking energy reclaim, according to function and the performance and the vehicle performance requirement of each assembly of hybrid electric drive system, set the operating range and the mode of operation of driving engine, motor and battery.In motor vehicle driven by mixed power actual travel process, according to travelling of the motoring condition control vehicle of operation of chaufeur (acceleration pedal 11 with brake pedal 13 apertures with position shift handle 12) and vehicle, control respectively hybrid electric drive system enter the driving engine independent drive, unite driving, pure electronic, to groundwork patterns such as battery charge and regenerative brakes, and back work patterns such as limp-home mode of operation, electric motor starting driving engine and stopping for charging, to adapt to the driving cycle that vehicle constantly changes, reach the effect of the discharging that reduces oil consumption.
● the driving engine independent drive
Precondition: SOC 〉=low_soc, eng_spd 〉=idle_spd, gear_num 〉=1, (acc_pedal 〉=low_trq_frac﹠amp; Acc_pedal≤high_trq_frac);
Controlled variable: eng_load=(T_total * acc_pedal)/eng_trq, eng_on/off=1, mc_on/off=0;
● unite driving
Precondition: SOC 〉=low_soc, eng_spd 〉=idle_spd, gear_num 〉=1, acc_pedal 〉=high_trq_frac;
Controlled variable: eng_load=eng_max_trq_frac, and mc_load=(T_total * acc_pedal-eng_trq)/mc_trq, mc_on/off=1, eng_on/off=1, mc_mode=2;
● pure electronic
Precondition: SOC＞low_soc, eng_spd 〉=idle_spd, gear_num 〉=1, veh_spd≤electric_launch_spd;
Controlled variable: mc_load=(T_total * acc_pedal)/mc_trq, mc_on/off=1, eng_on/off=0, mc_mode=2;
● engine drive and charging
Precondition: SOC＜low_soc, eng_spd 〉=idle_spd, gear_num 〉=1, eng_load＜high_trq_frac;
Controlled variable: eng_load=(T_total * acc_pedal+T_chg)/eng_trq, mc_load=T_chg/mc_trq, mc_mode=2, mc_on/off=1, eng_on/off=1;
● regenerative brake
Precondition: SOC＜high_soc, gear_num 〉=1, acc_pedal=0, brk_pedal 〉=5%, veh_spd 〉=gen_brk_spd;
Controlled variable: mc_load=(T_brake * brk_pedal)/mc_trq, mc_on/off=1, eng_on/off=0, mc_mode=2; The back work pattern of mode switch and energy management:
● limp-home: when engine operation is normal, the power drive system of being made up of motor and battery is because fault can't continue to move the time; Or working properly when power drive system, and during the driving engine et out of order, the control algorithm control-driven system enters the limp-home mode of operation.Under the limp-home mode of operation, control algorithm with chaufeur to the driving power of drive system require to send to can also normal operation driving engine or power drive system.Simultaneously, HCU9 sends corresponding failure information to CAN instrument 1, repairs the place place under repair to remind chaufeur to sail for as early as possible.
Precondition: mc_err=1 or bat_err=1; Or eng_err=1;
Controlled variable: eng_load=(T_total * acc_pedal)/eng_trq, eng_on/off=1, mc_on/off=0; Or mc_load=(T_total * acc_pedal)/mc_trq, mc_on/off=1, eng_on/off=0, mc_mode=2;
● the electric motor starting driving engine: after chaufeur is opened key door 8, to put one's foot down 11, when acceleration pedal 11 apertures greater than 20% and certain time t1, control algorithm has entered/the parking control logic, control electric motor starting driving engine.Motor is brought up to the startup rotating speed with the rotating speed of driving engine rapidly with high pulling torque, not only can improve fuel economy and emission behavior under the engine starting operating mode, and helps improving the startability of driving engine in the winter time the time.
Precondition: eng_spd=0, acc_pedal 〉=20%, time_elapse 〉=2s, gear_num=0;
Controlled variable: eng_load=0, mc_load=60%, mc_on/off=1, eng_on/off=1, mc_mode=2; Ifeng_spd 〉=idle_spd, then mc_load=0;
● stopping for charging: under extreme driving cycle, for example go up long slope or run at high speed for a long time, the electric weight of battery may consume in a large number, and this will limit the performance of motor vehicle driven by mixed power performance, therefore allow chaufeur under dead ship condition, utilize driving engine that battery is charged.At this moment, control algorithm enters the stopping for charging control logic, the control motor with suitable charging moment of torsion to battery charge, when satisfying normal vehicle operation to the requirement of battery charge state (SOC) (Soc_low＜SOC＜Soc_high);
Precondition: SOC＜low_soc, eng_spd 〉=idle_spd, veh_spd=0, gear_num=0, acc_pedal 〉=10%;
Controlled variable: eng_load=still_chg_frac, and mc_load=(T_eng * still_chg_frac)/mc_trq, mc_on/off=1, eng_on/off=1, mc_mode=2;
The auxiliary AMT coordinating control module e that initiatively shifts gears utilizes motor to respond performance rapidly, the control motor is in the AMT shift process, the AMT input shaft end is carried out speed governing, make input shaft reach synchronous desired range of speed rapidly, shorten the synchronization time of shifting gears, improve the shift quality of AMT, improve the ride comfort of vehicle '.Owing to adopt hybrid electric drive system in parallel, originally the AMT that was used for conventional truck, owing to install drive motor and moment of torsion synthesizer additional at its input shaft end, cause the rotor inertia of AMT input shaft end to increase, the synchronous torque that synchro is provided when making gearshift can't satisfy the synchronous requirement rapidly of input shaft and output shaft.Therefore, auxiliary AMT initiatively shifts gears coordinating control module e when AMT shifts gears according to the gearshift strategy, the auxiliary AMT co-operative control of initiatively shifting gears, shifting commands (if_shifting=1) and input shaft rotating speed of target (spd_req) according to AMT control unit (5), the control motor enters rotating speed master mode (mc_mode=1), makes the input shaft of motor-driven AMT reach synchronous desired rotating speed of target (spd_req) rapidly.
Whole vehicle state information processing and display control module h are to the status information of HCU9 by each assembly of hybrid electric drive system of CAN bus (10) collection, real-time analysis is handled, and operation point, the car load of driving engine and the motor information such as real-time fuel consumption, battery status (SOC, electric current, voltage and temperature etc.), AMT gear and motor status of travelling are sent on the CAN instrument (1) on the instrument carrier panel, make chaufeur can grasp the running state of car load drive system in real time;
Motor Active Compensation control module f can not satisfy the vehicle performance requirement at current motor properties characteristic and propose.All there are certain departure in the steady state characteristic and the dynamic characteristics of motor that present domestic motor vehicle driven by mixed power uses, and the controller characteristic curve of motor will directly influence the accuracy control of HCU9 to whole drive system, and then influence power and economic performance that car load travels.For improving vehicle performance, car load energy management control algorithm requires motor to have good controllability, and departure in allowed limits.Motor Active Compensation control module f adopts the Active Compensation method to the control of motor, according to the requirement of motor output characteristic and the feedback of motor, design PID control system, determine that ratio, integration, differential parameter compensate control to motor, make motor can satisfy the control accuracy requirement of car load motor;
With the operation of ABS coordinating control module d according to braking of ABS control information reconciliation traditional mechanical and motor regenerative brake.The braking of motor vehicle driven by mixed power comprises motor regenerative brake and mechanical braking two parts, best control effect is under the prerequisite that guarantees rate of braking and brake safe, to greatest extent braking energy is reclaimed,, reduce the wearing and tearing that mechanical braking loses to improve the fuel economy of car load.In the braking procedure, the brake torque size that motor can provide is sent to AMT control unit 5, provide remaining brake torque by AMT control unit 5 control mechanical braking sytems with ABS coordinating control module d.When motor can not carry out regenerative brake owing to fault, 5 control of AMT control unit mechanical braking sytem provided whole brake torques, guaranteed the requirement of chaufeur to brake torque.When wheel generation locking, when the ABS system need regulate brake torque, require to cut off the takeoff output of drive system, no longer carry out braking energy with ABS coordinating control module d control motor and reclaim, to guarantee traffic safety;
Engine idle is shut down ACTIVE CONTROL module i makes chaufeur when stopping the wait red light, and the time that can wait for as required judges whether and need kill engine.If desired the time of Deng Daiing longer, chaufeur is by changing to neutral gear position with shift handle 12, behind the time-delay delta_t, the driving engine SELF CL can reach the elimination engine idle, saves fuel oil and reduces the purpose of discharging.This controlled engine idle is shut down control logic can reach the effect of good elimination engine idle on the basis that does not change the chaufeur driving habit; If desired the time of Deng Daiing shorter, chaufeur can be selected shift handle (12) not to be changed to neutral gear position and kill engine, and treats directly to travel after traffic signal lamp become green light.This can be avoided because the mode of SELF CL driving engine when adopting the speed of a motor vehicle to be zero, and chaufeur just stops car when running into red light, and with regard to the SELF CL driving engine, but this moment, traffic signal lamp just became green light at once, the chaufeur start the engine of need going ahead of the rest.This has just increased the driver's operation step, is unfavorable for improving the efficient of city traffic.；
Precondition: mc_on/off=0, acc_pedal=0, veh_spd=0, gear_num=1 → 0;
Controlled variable: eng_on/off=1 → 0;
Below by representative type urban public traffic vehicles driving cycle of hypothesis, the function of coming the designed parallel hybrid vehicles Multi-Energy Dynamic Assemble Control System of casehistory the present invention to be had:
Public transit vehicle travels and this website passenger up and down of stopping to next website from the parking area start the engine, this comprising inspire motivation, cycling start, quicken, run at high speed, meet the red light ramp to stop, wait for become lamp, quicken, run at high speed, slow down, stop about the passenger.
In this driving process of motor vehicle driven by mixed power; This parallel hybrid vehicles Multi-Energy Dynamic Assemble Control System control enters following control model successively: the driver open key door 8 → car load power-on self-test (control module c) → driver to put one's foot down 11 → electric motor starting engine (control module g) → driver continue 11 → stopping for charging (control module g) → driver to put one's foot down with shift handle 12 change to D gear → AMT gearshift (control module e) → accelerator pedal 11 apertures less → motor-powered vehicle travel and to battery charging (control module g) → drive separately (control module g) → accelerator pedal 11 apertures large → unite drivings (control module g) → accelerator pedal 11 apertures and reduce → drive separately (control module g) → driver and depress brake pedal 13 → braking energy to reclaim time of (control module g and control module d) → parking → wait red light longer; The driver changes to shift handle 12 N and keeps off → kill engine (control module i) → traffic signals etc. and becomes green light, and driver to put one's foot down 11 → electric motor starting engine (control module g) → driver changes to D gear → AMT gearshift (control module e) → motor driven with shift handle 12 and to battery charging (control module g) → drive separately (control mould g) → unite drivings (control module g) → drive separately (control module g) → AMT gearshift (control module e) → braking energy to reclaim (control module g and control module d) → parking (control module g).
Good effect of the present invention is can be according to the actual travel state of motor vehicle driven by mixed power in parallel, hybrid electric drive system is carried out the co-operative control of energy management and each assembly, realize energy distribution best between each assembly of whole hybrid electric drive system, solve simultaneously because a series of problems such as drive system complexity raising that the driver for vehicle hybrid powerization is brought and structural changes, improve the fuel economy of car load to greatest extent, reduce the exhaust emission of driving engine, and whole drive system reliably and is effectively worked, obtain the optimum performance of car load operation.
Description of drawings
Fig. 1 is energy management of parallel hybrid vehicles car load and assembly coordinated control system scheme drawing
：I.II.HCUIII.HCUIV.1.CAN2.3.4.、5.AMT6.AMT7.8.9.HCU ( ) 10.CAN11.12.13.A.SRAMB.FlashC.D.E.F.RS232G..CANH.I.J.K.a.b.OSEK turbo OSc.d.ABSe.AMTf.g.h.i.
Fig. 2 is a car load power-on self-test control flow chart
Fig. 3 is auxiliary AMT gear shift control diagram of circuit
Fig. 4 is a motor Active Compensation control system control law scheme drawing
Fig. 5 is the principle schematic with the co-operative control of ABS
The specific embodiment
Be described further below in conjunction with accompanying drawing:
As shown in Figure 1: among the communication part I between each assembly of drive system, each assembly control unit of HCU9 and drive system (comprising: CAN instrument 1, motor control unit 2, control unit of engine 3, battery control unit 4, AMT control unit 5 and ABS control unit 6) constitutes the vehicle netbios of motor vehicle driven by mixed power by CAN bus 10.After car load powers on, HCU9 gathers the status information of each assembly control unit of drive system by vehicle netbios, and the control information of chaufeur (acceleration pedal 11 with the aperture of brake pedal 13 and the position of shift handle 12), for carrying out optimal control according to the real-world operation state of vehicle, car load energy management and assembly control method for coordinating provide foundation.
HCU software configuration III and HCU9 hardware circuit II (being made up of SRAM data memory A, Flash program store B, reset circuit C, clock circuit D, feed circuit E, RS232 serial interface circuit F, CAN bus interface circuit G, analog input/output circuit H, pulse input circuit I, digital input/output circuitry J and treater K) constitute motor vehicle driven by mixed power whole-control system HCU9.
.HCU software configuration III comprises that hardware bottom layer drives a, OSEKturbo OS real time operating system (RTOS) b and control algorithm module I V.
Hardware bottom layer driving a is configured the hardware bottom layer peripheral hardware of HCU9 hardware circuit, for example: baud rate, bit timing, interruption and the acceptance of CAN bus communication port and the ID and the data bit of transmission message are provided with.In addition, give control algorithm module I V variables corresponding with the whole vehicle state information assignment that the HCU9 hardware system is gathered, on the other hand, the control command that control algorithm module I V is exported is converted into control signal corresponding, sends to each assembly control unit of drive system.
OSEK turbo OS real time operating system (RTOS) b provides the interface between control algorithm module I V and the hardware bottom layer driving a, carries out an operation such as task management, resource management and interrupt handling.
Control algorithm module I V is according to the information of gathering; control algorithm enters different control modules (that is: car load power-on self-test and trouble diagnosing control module c; with ABS coordinating control module d; the auxiliary AMT coordinating control module e that initiatively shifts gears; motor Active Compensation control module f; mode switch and energy management control module g; whole vehicle state information processing and display control module h and engine idle are shut down ACTIVE CONTROL module i); with continuous conversion that adapts to vehicle running state and the operation of coordinating each assembly of drive system; under the prerequisite that guarantees vehicle power and safety, reach the target that improves fuel economy and reduce discharging.
As shown in Figure 2, after chaufeur is opened key door 8, the HCU9 operation that powers on, finish the power-on self-test of self after, control algorithm enters car load power-on self-test control logic.HCU9 gathers and handles battery status and failure message (CAN communication and insulation fault and the battery temperature in having or not that electrokinetic cell control unit 4 is uploaded by CAN bus 10, SOC, voltage and electric current), if battery status is normal, then pass through the ess_cmd instruction control high-voltage relay switch short time closure of message HCU_ESS, so that 2 short time of motor control unit are powered, make motor control unit 2 carry out self check to motor and controller state, and upload state and failure message (inverter and stator temperature, and have or not overcurrent, overvoltage, overheated, under-voltage, the coding fault, phase shortage and fault of converter).The information that control algorithm module I V uploads according to motor, whether whether judging that motor is current can normal operation, should power to motor with the decision battery.If motor status is normal, then control the high-voltage relay closure of battery, allow motor to carry out power division and other function, otherwise send corresponding failure message to CAN instrument 1.
As shown in Figure 3, the present invention is directed to the AMT of conventional truck because the change of structure has been not suitable for the reality that the motor vehicle driven by mixed power gearshift requires, but utilize the characteristic of motor at high speed speed governing, carry out the speed governing of AMT gearshift active synchronization control with auxiliary AMT, shorten the gearshift time, improve shift quality.Initiatively the shift gears specific implementation method of co-operative control logic of auxiliary AMT: when of the requirement of AMT control unit according to vehicle ', when shifting gears, control system is according to the shifting commands (if_shifting=1) and the input shaft rotating speed of target (spd_req) of AMT control unit, the control motor enters rotating speed master mode (mc_mode=1), make the input shaft of motor-driven AMT reach synchronous desired rotating speed of target (spd_req) rapidly, to shorten synchronization time, improve the shift quality of AMT, improve the ride comfort of vehicle '.
According to the shifting commands (if_shifting=1) and the input shaft rotating speed of target (spd_req) of AMT control unit, the control motor enters rotating speed master mode (mc_mode=1).
As shown in Figure 4, the present invention is directed to the problem that the motor properties characteristic can not satisfy the car load requirement and study, adopted the Active Compensation control to motor in the electric machine control of control algorithm, concrete control method as shown in Figure 4.This multipotency driving source assembly control method adopts PID control Active Compensation control method to the used power motor of the motor vehicle driven by mixed power compensate control of taking the initiative, according to the characteristic requirement of motor output and the actual feedback of motor are carried out Active Compensation control to motor, to guarantee on the basis of existing motor performance, reaching of the requirement of motor vehicle driven by mixed power car load to the power motor controller performance.
As shown in Figure 5, the present invention is at the parallel hybrid vehicles glancing impact, if the ABS self check normally allows motor to carry out regenerative brake, determine required braking force moment of torsion brake_trq with ABS coordinating control module d according to brake pedal 13 apertures (Brake_pedal) so, determine pairing max. output torque Tmax according to the current rotating speed of motor again.If brake_trq is greater than Tmax, motor carries out regenerative brake with 100% rate of load condensate, sends brake torque (Motore_brake_torque)=Tmax that motor provided to AMT control unit 5 then.If brake_trq is less than Tmax, the moment of torsion that is motor is exported the requirement that can satisfy car brakeing, then brake by motor fully, to greatest extent braking energy is reclaimed, to improve the fuel economy of vehicle, send brake torque (Motore_brake_torque)=brake_trq that motor provided to AMT control unit 5 simultaneously.When the braking force that provides when motor is not enough to satisfy vehicle braked and requires, by AMT control unit 5 according to connecing the braking force that motor provides and the brake-pressure of brake pedal 13 desired brake-pressure regulation brake system, so that not enough braking force to be provided.When motor can not carry out regenerative brake owing to failure and other reasons, then send Motore_brake_torque=0, by AMT control unit 5 control brake systems vehicle is braked fully.When owing to reasons such as wheel lockups, when the ABS system does not allow motor to carry out regenerative brake, send Motor_state=0, no longer carry out the recovery of braking energy, control by 5 pairs of car brakeings of AMT control unit fully according to energy management policy control motor with ABS coordinating control module d.
Claims (9)
1. parallel hybrid vehicles car load energy management and assembly control method for coordinating; it is characterized in that operation conditions according to motor vehicle driven by mixed power; control control algorithm respectively and enter car load power-on self-test and trouble diagnosing control module (c); with ABS coordinating control module (d); the auxiliary AMT coordinating control module (e) of initiatively shifting gears; motor Active Compensation control module (f); mode switch and energy management control module (g); whole vehicle state information processing and display module (h) and engine idle are shut down ACTIVE CONTROL module (i), with the energy distribution of control hybrid electric drive system and the coordinated operation of each assembly of system.
2. by the described method of claim 1, it is characterized in that described car load power-on self-test and trouble diagnosing control module (c) comprise car load power-on self-test and driving faults diagnosis control step.This control module be chaufeur open key door (8) car load power on and the hybrid car travel process in, state and failure message according to each assembly of drive system is uploaded carry out trouble diagnosing to drive system, guarantee each assembly and vehicle member's safety.
3. by the described method of claim 1, it is characterized in that described and ABS coordinating control module (d) are in the motor vehicle driven by mixed power braking procedure, brake torque, motor status information and the ABS status information that can provide according to brake pedal (13) aperture, motor, with ABS ECU (6) co-operative control, under the prerequisite that guarantees traffic safety, reclaim braking energy to greatest extent.If the braking force that motor provides can satisfy the requirement of vehicle to braking force, then carry out regenerative brake by motor fully; When the braking force that provides when motor was not enough to satisfy vehicle to the requiring of braking force, the braking force that is provided according to motor by the ABS system and the brake-pressure of the desired brake-power regulation brake system of brake pedal were to provide not enough braking force.When motor can not carry out regenerative brake owing to failure and other reasons, then by control brake system of ABS system vehicle is braked fully; When wheel generation locking, when the ABS system does not allow to carry out regenerative brake, no longer carry out the recovery of braking energy according to energy management policy control motor, by the ABS system car brakeing is controlled fully.
4. by the described method of claim 1, it is characterized in that the described auxiliary AMT coordinating control module (e) of initiatively shifting gears is in shift process, utilize motor to respond performance rapidly, the control motor is in the AMT shift process, the AMT input shaft end is carried out speed governing, the input shaft of AMT is reached rapidly and the synchronous desired rotating speed of output shaft, assist the AMT co-operative control of initiatively shifting gears, shorten the gearshift time, improve the shift quality of AMT.
5. by the described method of claim 1, it is characterized in that described motor Active Compensation control module (f) is to satisfy the reality of vehicle performance requirement at current motor properties characteristic, the output characteristic of motor is carried out Active Compensation control, according to the requirement of motor output characteristic and the feedback of motor, design PID controller, determine that ratio, integration, differential parameter compensate control to motor, make motor can satisfy the control accuracy requirement of car load motor.
6. by the described method of claim 1, it is characterized in that described mode switch and energy management control module (g) are to adopt the logic threshold control policy, utilize motor vehicle driven by mixed power to eliminate idling, the Energy saving mechanism that engine working area control and regenerating braking energy reclaim, in the motor vehicle driven by mixed power actual moving process, operation according to the motoring condition control hybrid electric drive system of the operation (acceleration pedal (10) and brake pedal (11) aperture) of chaufeur and vehicle, control-driven system enters the driving engine independent drive respectively, the associating driving, pure electronic, to groundwork patterns such as battery charge and regenerative brakes, and limp-home, back work patterns such as electric motor starting driving engine and stopping for charging, to adapt to the running state that vehicle constantly changes, reduce oil consumption and discharging that car load travels.
7. by the described method of claim 1, it is characterized in that described whole vehicle state information processing and display module (h) are according to the status information of HCU (9) by each assembly of hybrid electric drive system of CAN bus (10) collection, real-time analysis is handled the status information of car load operation, and operation point, the car load of driving engine and the motor information such as real-time fuel consumption, battery status (SOC, electric current, voltage and temperature etc.), AMT gear and motor status of travelling are sent on the CAN instrument (1) on the instrument carrier panel, make chaufeur can grasp the running state of car load in real time.
8. by the described method of claim 1, it is characterized in that it is chaufeur to be waited in parking bide one's time that described engine idle is shut down ACTIVE CONTROL module (i), the time that can wait for as required judges whether and need kill engine.If desired the time of Deng Daiing longer, chaufeur is by changing to neutral gear position with shift handle (12), behind the time-delay delta_t, the driving engine SELF CL can reach the elimination engine idle, saves fuel oil and reduces the purpose of discharging.This controlled engine idle is shut down control logic can reach the effect of eliminating engine idle on the basis that does not change the chaufeur driving habit.
9. by the described method of claim 5, it is characterized in that the system features equation of determining each parameter of PID controller is:
In the formula, T
m---require the torque of motor output
T '
m---the operation torque of real electrical machinery
K
p---proportionality coefficient
T
1---the integration time constant
T
d---derivative time constant.
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| CNA2008100514654A CN101492046A (en) | 2008-11-25 | 2008-11-25 | Parallel type hybrid vehicles energy management and assembly coordinated control method |
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