CN101549688B - 控制混合动力变速器的方法 - Google Patents
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Abstract
通过选择性应用转矩传递离合器,混合动力变速器可操作以多个固定档位和连续可变操作范围状态中的一个在输入部件和转矩装置以及输出部件之间传递转矩。转矩装置可以用于从能量存储装置传递功率。控制混合动力变速器的方法包括:以一个操作范围状态下操作混合动力变速器;确定传递给输出部件的输出转矩的第一组内部系统约束;确定传递给输出部件的输出转矩的第二组内部系统约束;和确定传递给输出部件的输出转矩的第一组内部系统约束和第二组内部系统约束内可获得的允许输出转矩范围。
Description
相关申请的交叉引用
本申请请求享有2007年11月5日提交的美国临时专利申请No.60/985,404的优先权;其在本文中作为参考引入其中。
技术领域
本申请涉及用于混合动力系统的控制系统。
背景技术
本部分的说明仅仅是提供于本申请相关的背景信息,且可能不构成现有技术。
公知的混合动力系结构可以包括多个转矩产生装置,包括内燃机以及电机,它们通过变速器装置将转矩传递给输出部件。一种典型的混合动力系包括双模式、复合分离、机电变速器,其可以使用输入部件和输出部件,输入部件用于从原动力源接收牵引转矩,原动力源优选是内燃机。输出部件可操作地连接到机动车的传动系上,以便为其输送牵引转矩。电机,作为电动机或发电机工作,产生输送到变速器的输入转矩,而与内燃机的输入转矩无关。电机可以将通过车辆传动系统传递的车辆动能转换为能够存储在能量存储装置中的电能。控制系统监控来自车辆和操作者的各种输入,并且提供混合动力系的操作控制,包括控制变速器工作状态与换档,控制转矩发生装置,以及调整在能量存储装置和电机之间的功率交换,以控制变速器的输出,该输出包括转矩与转速。
发明内容
通过可选择地应用转矩传递离合器,混合动力变速器可操作以多个固定档位和连续可变操作范围状态中的一种在输入部件和转矩装置以及输出部件之间传递转矩。转矩装置可以操作以从能量存储装置传递功率。控制混合动力变速器的方法包括:在一个操作范围状态操作混合动力变速器;确定传递给输出部件的输出转矩的第一组内部系统约束;确定传递给输出部件的输出转矩的第二组内部系统约束;和确定传递给输出部件的输出转矩的第一组内部系统约束和第二组内部系统约束之中可以获得的允许输出转矩范围。
根据本发明的一方面,一种控制混合动力变速器的方法,通过可选择地应用转矩传递离合器,混合动力变速器可操作以多个固定档位和连续可变操作范围状态中的一个在输入部件和转矩装置以及输出部件之间传递转矩,转矩装置可操作从能量存储装置传递功率,该方法包括:
在一个操作范围状态下操作混合动力变速器;
确定传递给输出部件的输出转矩的第一组内部系统约束;
确定传递给输出部件的输出转矩的第二组内部系统约束;和
确定传递给输出部件的输出转矩的第一组内部系统约束和第二组内部系统约束内可获得的允许输出转矩范围;
其中确定输出转矩的第一组内部系统约束包括确定系统约束,所述系统约束根据一个约束中的线性变化而在输出转矩上展现出线性变化;以及
线性转矩约束包括用于应用转矩传递离合器的最小离合器作用转矩和最大离合器作用转矩。
根据本发明的另一方面,一种控制混合动力变速器的方法,通过可选择地应用转矩传递离合器,混合动力变速器可操作以多个固定档位和连续可变操作范围状态中的一个在输入部件和转矩装置以及输出部件之间传递转矩,转矩装置可操作从能量存储装置传递功率,该方法包括:
应用转矩传递离合器,并且在一个操作范围状态下操作混合动力变速器;
确定应用离合器的离合器作用转矩范围、转矩装置的电机转矩范围和从能量存储装置传递的功率;
根据应用离合器的离合器作用转矩范围确定传递给输出部件的输出转矩的约束;
根据转矩装置的电机转矩范围确定传递给输出部件的输出转矩的约束;
根据从能量存储装置传递的功率确定传递给输出部件的输出转矩的约束;
根据应用离合器的离合器作用转矩范围、转矩装置的电机转矩范围和从能量存储装置传递的功率确定传递给输出部件的输出转矩的约束内可获得的允许输出转矩范围;和
根据允许输出转矩范围控制变速器的输出转矩。
根据本发明的又一方面,一种控制混合动力变速器的方法,通过可选择地应用转矩传递离合器,混合动力变速器可操作以多个固定档位和连续可变操作范围状态中的一个在输入部件和第一、第二转矩装置以及输出部件之间传递转矩,转矩装置可操作从能量存储装置传递功率,该方法包括:
确定操作者转矩请求;
确定应用离合器的离合器作用转矩范围、转矩装置的电机转矩范围和从能量存储装置传递的功率;
根据应用离合器的离合器作用转矩范围确定传递给输出部件的输出转矩的约束;
根据转矩装置的电机转矩范围确定传递给输出部件的输出转矩上的约束;
根据从能量存储装置传递的功率确定传递给输出部件的输出转矩上的约束;
在一个应用离合器的离合器作用转矩范围引入约束;
根据一个应用离合器的离合器作用转矩范围上引入的约束确定传递给输出部件的输出转矩上的约束;
根据应用离合器的离合器作用转矩范围、转矩装置的电机转矩范围、从能量存储装置传递的功率和在一个应用离合器的离合器作用转矩范围上引入的约束确定传递给输出部件的输出转矩的约束内可获得的允许输出转矩范围;和
根据允许输出转矩来控制转矩装置的的电机转矩。
附图说明
参照附图,下面示范性地将介绍一个或多个实施例,其中:
图1为根据本发明的示范性混合动力变速器的示意图;
图2为根据本发明的控制系统和混合动力变速器的典型结构示意图;
图3是根据本发明的控制系统结构的示意流程图,该系统结构是用于控制和管理混合动力系中的转矩;
图4是根据本发明的示意图;
图5A和5B根据本发明的控制系统结构的示意流程图,该系统结构是用于控制和管理混合动力系中的转矩;
图6A和6B是根据本发明的示意图;
图7、8和9是根据本发明的算法流程图;
图10、11和12是根据本发明的示意图。
具体实施方式
参见附图,其显示仅用于图示特定典型实施例,而不是限制该实施例,图1与2表示了典型混合动力系。图1描绘了根据本发明的典型混合动力系,其包括双模式、复合分离、机电混合动力变速器10,该变速器可操作地连接至发动机14及转矩装置,例如第一与第二电机(‘MG-A’)56与(‘MG-B’)72。发动机14及第一与第二电机56与72均产生能够传递至变速器10的机械功率。在本实施例中,发动机14、变速器10和包括第一和第二电机的转矩装置包括转矩执行器。由发动机14及第一与第二电机56与72产生的,并且传递至变速器10的功率在下文中描述为输入转矩和电机转矩(在此分别称之为TI、TA和TB)和速度(在此分别称之为NI、NA和NB)。
典型发动机14包括多缸内燃机,其能在几种状态选择性地工作,将转矩经过输入轴12传递至变速器10,并且其可以是点燃式或压燃式发动机。发动机14包括操作地连接到变速器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。发动机14的功率输出包括转速和发动机转矩,由于在发动机14与变速器10之间的输入轴12上设置了转矩消耗部件,功率输出可能与变速器10的输入转速NI和输入转矩TI不同,转矩消耗部件例如是液压泵(未示出)和/或转矩控制装置(未示出)。
典型变速器10包括三套行星齿轮组24、26与28,以及四个可选择地接合的转矩传递装置,也就是离合器C1 70、C2 62、C3 73以及C4 75。如在此使用的,离合器指任何类型的摩擦转矩传递装置,其包括例如单个或复合片式离合器或离合器组件、带式离合器以及制动器。液压控制电路(‘HYD’)42,优选地由变速器控制模块(此后为‘TCM’)17控制,该液压控制电路可操作地控制离合器状态。离合器C2 62与C4 75优选地包括液压应用的旋转摩擦离合器。离合器C1 70与C3 73优选地包括液压控制的固定装置,该固定装置选择性地固定至变速箱68。每个离合器C1 70、C2 62、C3 73以及C4 75均优选地是液压应用的,经由液压控制电路42选择性地接收加压的液压流体。
第一与第二电机56与72优选地包括三相AC电机以及各自的解析器80与82,每个电机均包括定子(未示出)与转子(未示出)。每个电机的电机转子固定至变速箱68的外部,并且包括定子铁心,该定子铁心具有从其中延伸出来的绕成线圈的电绕组。第一电机56的转子支撑于毂衬齿轮上,该齿轮经由第二行星齿轮组26操作地连接至轴60。第二电机72的转子固定地连接至套轴毂66。
每个解析器80与82优选地包括可变磁阻装置,该可变磁阻装置包括解析器定子(未示出)与解析器转子(未示出)。解析器80与82适当地定位,并且装配在相应第一与第二电机56与72上。解析器80与82的定子可操作地连接至第一与第二电机56与72的一个定子。解析器转子可操作地连接至相应的第一与第二电机56与72的转子。每个解析器80与82信号地并且操作地连接至变速器功率变换器控制模块(以下为‘TPIM’)19,并且每个都能感应与监控解析器转子相对于解析器定子的旋转位置,因此监控相应第一与第二电机56与72的旋转位置。此外,来自解析器80与82的信号输出被编译用来分别提供第一与第二电机56与72的转速,即,NA与NB。
变速器10包括输出部件64,例如,可操作地连接至车辆的传动系统90的轴(未示出),以给传动系统90提供输出功率,输出功率被传递至车轮93,一个车轮在图1中表示。输出部件64的输出功率用输出转速NO与输出转矩TO表示。变速器输出速度传感器84监控输出部件64的转速与旋转方向。每个车轮93优选地装配有一个适宜于监控轮速的传感器94,每个车轮的输出由图2中描绘的分布式控制模块系统的控制模块监控,以确定用于制动控制、牵引控制、以及车辆加速控制的车速、以及绝对与相对轮速。
来自发动机14的输入转矩及第一与第二电机56与72的电机转矩(分别为TI、TA、以及TB)作为由于燃料或存储在电能存储装置(以下为‘ESD’)74中的电势进行功率转化而生成。ESD 74经由DC传递导体27高压直流连接至TPIM19上。传递导体27包括接触器开关38。当接触器开关38闭合时,在正常工作条件下,电流可以在ESD 74与TPIM 19之间流动。当接触器开关38断开时,在ESD 74与TPIM 19之间的电流中断。响应于电机转矩指令TA与TB,TPIM 19通过传递导体29将电功率传递至第一电机56,并且从第一电机56获得电功率,TPIM 19同样地通过传递导体31将电功率传递至第二电机72,并且从第二电机72获得电功率,以满足第一与第二电机56与72的转矩指令。根据ESD 74是充电还是放电,电流传递至ESD 74或从ESD 74输出。
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),它们构造成接收电机转矩指令,并且根据指令控制变换器状态,用于提供电机驱动或再生功能,以满足指令的电机转矩TA与TB。功率变换器包括公知的互补三相功率电子装置,并且每个均包括多个绝缘栅双极晶体管(未示出),该绝缘栅双极晶体管通过高频率切换,用于将ESD 74的DC功率转换为AC功率,以便为相应的第一与第二电机56与72供电。绝缘栅双极晶体管形成开关型电源,其构造成接收控制指令。每个三相电机的每一相典型地都具有一对绝缘栅双极晶体管。控制绝缘栅双极晶体管的状态,以产生电机驱动机械功率产生或电功率再生功能。三相变换器经由DC传递导体27接收或提供DC电功率,并且将其转换为三相AC功率或从AC功率转换而来,该AC功率分别经由传递导体29与31传导至第一与第二电机56与72或从第一与第二电机56与72传导而来,用于作为电动机或发电机运行。
图2为分布式控制模块的示意性结构图。以下描述的元件包括总车辆控制结构的的子系统,并且提供图1中典型混合动力系的协调系统控制。分布式控制模块系统综合相关信息与输入,并且执行算法控制各种执行器,以实现控制目标,包括关于燃料经济性、排放、性能、操作性以及硬件保护的目标,所述硬件包含ESD 74的电池以及第一与第二电机56与72。分布式控制模块包括发动机控制模块(以下为‘ECM’)23、TCM 17、电池组控制模块(以下为‘BPCM’)21、以及TPIM 19。混合动力控制模块(以下为‘HCP’)5提供ECM 23、TCM 17、BPCM 21与TPIM 19的监督控制以及协调。用户界面(‘UI’)13可操作地连接至多个装置,通过该用户界面,车辆操作者控制或指挥机电混合动力系的运行。装置包括加速踏板113(‘AP’)、操作者制动踏板112(‘BP’)、变速器档位选择器114(‘PRNDL’)以及车速巡航控制(未示出)。变速器档位选择器114可以具有离散数量的操作者可选择位置,包括输出部件64的旋转方向,以允许向前和向后方向之一。
前述控制模块经由局域网(以下为‘LAN’)总线6与其他控制模块、传感器以及执行器相通信。LAN总线6允许介于各个控制模块之间的操作参数的状态与执行器指令信号的结构化通信。使用的特定通信协议为专用的。LAN总线6与适当的协议为上述控制模块之间以及其他提供例如防抱死制动、牵引控制、以及车辆稳定性功能的模块之间提供鲁棒通信及多控制模块交接。可使用多路通信总线来提高通信速度,并且提供一定级别的信号冗余与完整性。单个控制模块之间的通信还可以使用直接链路实现,例如串行外围接口(‘SPI’)总线(未示出)。
HCP 5提供混合动力系的监督控制,用于协调ECM 23、TCM 17、TPIM 19、以及BPCM 21的操作。根据来自用户界面13以及动力系、包括ESD 74的各种输入信号,HCP 5确定操作者转矩请求、输出转矩指令、发动机输入转矩指令、用于变速器10的所施加转矩传递离合器C1 70、C2 62、C3 73、C4 75的离合器转矩;以及第一与第二电机56与72的电机转矩指令TA和TB。
ECM 23可操作地连接至发动机14,用作经过多条分离的线从发动机14的传感器获取数据以及控制执行器,为了简化起见,多条分离的线以总的双向接口电缆35表示。ECM 23从HCP 5接收发动机输入转矩指令。ECM 23基于监控的发动机速度与载荷及时确定在该时间点处提供给变速器10的实际发动机输入转矩TI,该实际发动机输入转矩TI传送给HCP 5。ECM 23监控来自转速传感器11的输入,以确定输入轴12的发动机输入速度,该速度转化为变速器输入速度NI。ECM 23监控来自传感器(未示出)的输入,以确定其他发动机运行参数的状态,其中包括,例如歧管压力、发动机冷却剂温度、环境空气温度以及环境压力。可以例如由歧管压力,或者由监控加速踏板113的操作者输入而确定发动机载荷。ECM 23产生并传输指令信号,以控制发动机执行器,包括,例如燃料喷射器、点火模块、以及节气门控制模块,这些均未示出。
TCM 17可操作地连接至变速器10,并且监控来自传感器(未示出)的输入,以确定变速器操作参数的状态。TCM 17产生并传输指令信号,以控制变速器10,包括控制液压控制电路42。从TCM 17至HCP 5的输入包括每个离合器,即C170、C262、C373、以及C475的估算离合器转矩以及输出部件64的输出转速NO。为了进行控制,可使用其他执行器与传感器将TCM 17的附加信息提供至HCP 5。TCM 17监控来自压力开关(未示出)的输入,并且选择性地致动压力控制电磁线圈(未示出),切换液压控制电路42的电磁线圈(未示出),以便有选择地致动各种离合器C1 70、C2 62、C3 73、以及C4 75,从而实现如下文所述的各种变速器操作范围状态。
BPCM 21信号地连接至传感器(未示出),以监控ESD 74的状态,包括电流与电压参数,以将表示ESD 74的电池参数状态的指示信息提供至HCP 5。电池的参数状态优选地包括电池荷电状态、电池电压、电池温度、以及可用电池功率(称之为PBAT_MIN至PBAT_MAX的范围)。
制动控制模块(以下为‘BrCM’)22可操作地连接到位于每个车轮93的摩擦制动器上(未示出)。BrCM22监控制动踏板112的操作者输入,并产生控制摩擦制动器的控制信号,并将控制信号传递给HCP5来根据该信号操作第一和第二电机56和72。
每个控制模块ECM 23、TCM 17、TPIM 19、BPCM 21与BrCM22优选地为通用数字计算机,其包括:微处理器或中央处理单元、存储介质、模数(‘A/D’)与数模(‘D/A’)电路、高速时钟、输入/输出电路与装置(‘I/O’)以及合适的信号调节与缓冲电路,存储介质包括只读存储器(‘ROM’)、随机存取存储器(‘RAM’)、电可编程只读存储器(‘EPROM’)。每个控制模块均具有一套控制算法,包括存储在存储介质之一中、并且执行以提供每个计算机的各自功能的驻存程序指令以及标定。控制模块之间的信息传递优选地使用LAN总线6与SPI总线实现。在预期循环过程中执行控制算法,以使得每个算法在每个循环中执行至少一次。存储在非易失存储装置中的算法由中央处理单元之一执行,以监控来自传感装置的输入,并且执行控制与诊断程序,以使用预期标定控制执行器的运行。以规则时间间隔执行循环,例如在混合动力系的实时运行过程中每隔3.125、6.25、12.5、25以及100毫秒。或者,响应于事件的发生而执行算法。
典型的混合动力系可选择地以几种操作范围状态之一运行,这些操作范围状态可根据发动机状态与变速器状态描述,其中发动机状态包括发动机运行状态(‘ON’)与发动机停机状态(‘OFF’)之一,变速器操作范围状态包括多个固定档位与连续可变工作模式,以下参照表1描述。
表1
表中描述了每个变速器操作范围状态,并且显示对于每一操作范围状态而言应用了哪些特定离合器C1 70、C2 62、C3 73以及C4 75。第一连续可变模式,即EVT模式1,或者M1,通过仅应用离合器C1 70而选择,以“固定”第三行星齿轮组28的外部齿轮元件。发动机状态可以为ON(‘M1_Eng_On’)或者OFF(‘M1_Eng_Off’)之一。第二连续变化模式,即EVT模式2,或者M2,通过仅应用离合器C2 62选定,以将轴60连接至第三行星齿轮组28的行星架。发动机状态可以为ON(‘M2_Eng_On’)或者OFF(‘M2_Eng_Off’)之一。为了便于说明,当发动机状态为OFF时,发动机输入速度等于每分钟零转(‘RPM’),即发动机曲轴不旋转。固定档位操作提供变速器10的输入-输出速度的固定比率操作,即NI/NO。通过应用离合器C1 70和C4 75可以选择第一固定档位操作(‘G1’)。通过应用离合器C1 70和C2 62而选择第二固定档位操作(‘G2’)。通过应用离合器C2 62和C4 75而选择第三固定档位操作(‘G3’)。通过应用离合器C2 62和C373而选择第四固定档位操作(‘G4’)。由于行星齿轮24、26及28中的传动比降低,输入-输出速度的固定比率操作随着固定档位操作的增加而增加。第一与第二电机56与72转速NA和NB分别取决于由离合器确定的机构的内部旋转,并且与输入轴12处测量的输入速度成比例。
根据经由加速踏板113与制动踏板112、作为通过用户界面13获取的操作者输入,HCP 5及一个或更多其他控制模块确定转矩指令,来控制包括发动机14和第一和第二电机56和72在内的转矩发生装置,从而满足在输出部件64处并且传递至传动系统90的操作者转矩请求。根据用户界面13和包括ESD74在内的混合动力系的输入信号,HCP5确定操作者转矩请求、从变速器10到传动系统90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的离合器转矩和用于第一和第二电机56和72的电机转矩,如下所述。
最终的车辆加速度被其他因素影响,包括,例如道路载荷、道路坡度以及车辆重量。基于混合动力系的各种操作特性,可以确定发动机状态和变速器的操作范围状态。这包括操作者转矩请求,如前所述通过加速踏板113与制动踏板112而与用户界面13通信。变速器操作范围状态和发动机状态可以由混合动力系转矩需求表示,该需求由在电能发生模式或转矩发生模式下操作第一和第二电机56和72的指令来确定。变速器操作范围状态和发动机状态可以由优化算法或程序确定,它们可以根据操作者请求功率、电池荷电状态、以及发动机14及第一与第二电机56与72的能量效率确定最优系统效率。控制系统基于执行优化程序的结果来管理发动机14及第一与第二电机56与72的转矩输入,并且因此优化系统效率,以控制燃料经济性与电池充电。而且,可以基于元件或系统的故障而确定操作。HCP 5监控转矩发生装置,并且确定变速器10的输出部件64的所需的功率输出,以满足操作者转矩请求,同时满足其它动力系操作需求,例如给ESD74充电。正如从以上描述中显而易见的,ESD 74及第一与第二电机56与72电力地操作地连接,用于它们之间的功率流。而且,发动机14、第一与第二电机56与72、以及机电变速器10机械地操作地连接,以传递它们之间的功率,从而产生至输出部件64的功率流。
图3表示了一种控制系统结构,用于控制和管理在具有多个转矩产生装置的混合动力系统中的信号流,可以参见图1和2中的混合动力系统描述,该控制系统结构以可执行算法和标定形式存储在上述控制模块中。控制系统结构也可以用于具有多个转矩产生装置的其它混合动力系统,包括例如具有发动机和单个电机的混合动力系统、具有发动机和多个电机的混合动力系统。可替换地,混合动力系统可以使用非电转矩装置和能量存储系统,例如使用液压驱动的转矩装置(未示出)的液压-机械混合动力变速器。
在操作中,监控加速踏板113和制动踏板112的操作者输入,以便确定操作者转矩请求(‘To_req’)。监控发动机14和变速器10的操作以便确定输入速度(‘Ni’)和输出速度(‘No’)。战略优化控制方案(’Strategic Control’)310根据输出速度和操作者转矩请求来确定优选输入速度(’Ni_Des’)和优选发动机状态和变速器操作范围状态(’Hybrid Range State Des’),并根据混合动力系的其它操作参数进行优化,包括电池功率极限值和发动机14、变速器10、第一和第二电机56和72的响应极限值。战术优化控制方案310优选由HCP5在每个100毫秒周期和每个25毫秒周期中执行。变速器10的期望操作范围状态和发动机14到变速器10的期望输入速度被输入到换挡执行和发动机启动/停机控制方案320中。
换挡执行和发动机启动/停机控制方案320指令改变变速器操作(’Transmission Commands’),包括根据动力系统的输入和操作改变操作范围状态。这包括如果优选操作范围状态与现有操作范围状态不同,则通过指令改变转矩传递离合器C1 70、C2 62、C3 73、C4 75中一个或多个的应用情况以及其它变速器指令,指令执行变速器的操作范围的改变。因此就可以确定当前操作范围状态(‘Hybrid Range State Actual’)和输入速度曲线(‘Ni_Prof’)。输入速度曲线是对即将到来的输入速度的估计值,优选包括一个标量参数值,该值是下个循环周期的目标输入速度。在变速器操作范围状态转换过程中,发动机操作指令和操作者转矩请求基于输入速度曲线。包括当前应用的离合器和没有应用的离合器在内的每个离合器的离合器转矩(‘Tcl’)也在TCM17中被估算。
战术控制方案(‘Tactical Control and Operation’)330在一个控制循环周期中反复执行,以基于输出速度、输入速度和操作者转矩请求和变速器的当前操作范围状态确定用于操作发动机的发动机指令(‘Engine Command’),其包括从发动机14到变速器10的优选输入转矩。发动机指令还包括发动机状态,包括全缸操作状态和气缸停用操作状态,在气缸停用操作状态中,发动机气缸的一部分停用并不供应燃料;发动机状态还包括燃料供应状态和燃料切断状态中的一个。在输入部件12上起作用的当前发动机输入转矩(‘Ti’)在ECM23中确定。
输出和电机转矩确定方案(‘Output and Motor Torque Determination’)340被执行来确定动力系的优选输出转矩(‘To_cmd’)。这包括在该实施例中通过控制第一和第二电机56和72来确定电机转矩指令(‘TA’、‘TB’)以将净指令输出转矩传递给变速器10的输出部件64以便满足操作者转矩请求。即时加速输出转矩请求、即时制动输出转矩请求、发动机14的当前输入转矩和估计应用的离合器转矩、变速器10的当前操作范围状态、输入速度、输入速度曲线和车轴转矩响应类型是输入。在一个循环周期的每次迭代过程中执行输出和电机转矩确定方案340来确定电机转矩指令。输出和电机转矩确定方案340包括逻辑代码,在6.25毫秒和12.5毫秒循环周期中要规律执行逻辑代码以确定优选电机转矩指令。
当变速器档位选择器114的操作者选择位置指令车辆的操作向前运动的时候,控制混合动力系以便将输出转矩传递给输出部件64,使得传动系90在车轮93处产生牵引转矩,从而响应于加速踏板113的操作者输入向前推动车辆。类似的,当变速器档位选择器14的操作者选择位置指令车辆的操作反向运动的时候,控制混合动力系以便将输出转矩传递给输出部件64,使得传动系90在车轮93处产生牵引转矩,从而响应于加速踏板113的操作者输入反向推动车辆。优选地,只要输出转矩足以克服车上的载荷,例如由于道路坡度、空气动力载荷以及其它载荷,则驱动车辆就可以使车辆加速。
通过发动机14、第一和第二电机56和72、ESD74和离合器C1 70、C2 62、C3 73和C4 75的功率、转矩和转速极限值,就可以约束发动机14和变速器10的操作。发动机14和变速器10的操作约束可以转化成一组系统约束方程,在一个控制模块,例如HCP5中,作为一个或多个算法执行。
参见附图1,在一个实施例中,在所有的操作下,通过有选择地致动转矩传递离合器使得变速器10在一个操作范围状态下操作。确定对于发动机14和第一和第二电机56和72中的每个的转矩约束和速度约束。确定用于ESD74的电池功率约束,即可用电池功率,该约束用于进一步限制第一和第二电机56和72的操作。使用基于电池功率约束、电机转矩约束、速度约束和离合器作用转矩约束的系统约束方程来确定动力系的优选操作区,优选操作区包括发动机14和第一和第二电机56和72的允许操作转矩或速度的范围。通过微分同时求解变速器10的动态方程,转矩极限值,在本实施例中是输出转矩To,可以使用下面的线性方程来确定:
TM1=TAtoTM1*TA+TBtoTM1*TB+Misc_TM1[1]
TM2=TAtoTM2*TA+TBtoTM2*TB+Misc_TM2 [2]
TM3=TAtoTM3*TA+TBtoTM3*TB+Misc_TM3 [3]
在一个实施例中,转矩值包括:TM1表示输出部件64的输出转矩TO,TM2表示输入轴12的输入转矩TI,TM3表示变速器10应用的转矩传递离合器C1 70、C2 62、C3 73、C4 75的离合器转矩。
系数TAtoTM1、TAtoTM2、TAtoTM3分别是TAtoTM1、TM2、TM3的决定因素。系数TBtoTM1、TBtoTM2、TBtoTM3分别是TBtoTM1、TM2、TM3的决定因素。系数Misc_TM1、Misc_TM2和Misc_TM3是常数,它们由非TA、TB、TM1、TM2和TM3参数对TM1、TM2和TM3作出贡献,非TA、TB、TM1、TM2和TM3参数取决于应用例如输入部件12速度的时间变化率、输出部件64速度的时间变化率、转矩传递离合器C1 70、C2 62、C3 73、C4 75的滑动速度,这将在下面介绍。转矩参数TA和TB是第一和第二电机56和72的电机转矩。转矩参数TM1、TM2和TM3是任意三个独立参数,取决于操作范围状态和应用。
由于机械和系统限制,发动机14和变速器10以及第一和第二电机56和72具有速度约束、转矩约束和电池功率约束。速度约束包括NI=0(发动机停机状态)、NI从600rpm(怠速)到6000rpm的时候发动机14的输入速度约束。本实施例中用于第一和第二电机56和72的典型速度约束可以为:
-10,500rpm≤NA≤+10,500rpm,和
-10,500rpm≤NB≤+10,500rpm,
它们还可以根据操作条件而变化。转矩约束包括对输入部件12的发动机输入转矩约束,包括TI_MIN≤TI≤TI_MAX。转矩约束包括用于第一和第二电机56和72的电机转矩约束,包括第一和第二电机56和72的最大和最小电机转矩(‘TA_MAX’、‘TA_MIN’、‘TB_MAX’、‘TB_MIN’),这些转矩优选从储存在表格中的数据集中获得的,表格存储在一个控制模块的一个储存装置。这样的数据集是在不同温度和电压条件下,对电机和功率电子装置(例如第一和第二电机56和72和TPIM19)的测力计测试根据经验得到的。第一和第二电机56和72的电机转矩输出设定成:TA_MIN≤TA≤TA_MAX和TB_MIN≤TB≤TB_MAX,并且要取决于电机速度。转矩极限值包括基于速度的转矩线。电机转矩约束TA_MAX和TA_MIN包括第一电机56分别作为转矩发生电机和发电机时的转矩极限值。电机转矩约束TB_MAX和TB_MIN包括第二电机72分别作为转矩发生电机和发电机时的转矩极限值。项PBAT_MIN是ESD74的最大允许充电电池功率,PBAT_MAX是ESD74的最大允许放电电池功率,极限值是基于与ESD74的耐用性和充电容量相关的因素施加的。
操作范围,包括输出转矩范围,是根据ESD74的电池功率约束确定的。电池功率使用率PBAT的计算如下:
PBAT=PA,ELEC+PB,ELEC+PDC_LOAD [4]
其中,PA,ELEC包括来自第一电机56的功率,
PB,ELEC包括来自第二电机72的功率,和
PDC_LOAD包括已知的DC载荷,包括附件载荷。
把PA,ELEC和PB,ELEC代入方程,可以得到下面的方程:
PBAT=(PA,MECH+PA,LOSS)+(PB,MECH+PB,LOSS)+PDC_LOAD [5]
其中PA,MECH包括来自第一电机56的机械功率,
PA,LOSS包括来自第一电机56的功率损失,
PB,MECH包括来自第二电机72的机械功率,和
PB,LOSS包括来自第二电机72的功率损失。
方程5可以用下面的公式6重新表示,其中速度NA和NB,转矩TA和TB代替功率PA和PB。这包括假定电机和变换器损失可以用基于转矩的二次方程来建立数学模型,如下所示:
其中,NA和NB包括第一和第二电机56和72的电机速度,
TA和TB包括第一和第二电机56和72的电机转矩,
a1、a2、a3、b1、b2、b3都代表二次系数,是对应电机速度NA和NB的函数。
可以用下面的方程来重新表示:
这简化为:
这简化为:
PBAT=a1[TA+(NA+a2)/(2*a1)]2+b1[TB+(NB+b2)/(2*b1)]2
+a3+b3+PDC_LOAD-(NA+a2)2/(4*a1)-(NB+b2)2/(4*b1)
[9]
这简化为:
PBAT=[SQRT(a1)*TA+(NA+a2)/(2*SQRT(a1))]2
+[SQRT(b1)*TB+(NB+b2)/(2*SQRT(b1))]2
+a3+b3+PDC_LOAD-(NA+a2)2/(4*a1)-(NB+b2)2/(4*b1)
[10]
这简化为:
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)),和
C=a3+b3+PDC_LOAD-(NA+a2)2/(4*a1)-(NB+b2)2/(4*b1)
这可以用下面的方程来重新表示:
PBAT=PA_ELEC+PB_ELEC+PDC_LOAD [11A]
其中PA_ELEC=(A1*TA+A2)2+CA
PB_ELEC=(B1*TB+B2)2+CB
其中CA=a3-(NA+a2)2/(4*a1)
CB=b3-(NB+b2)2/(4*b1)
C=CA+CB+PDC_LOAD
电机转矩TA和TB可以如下方法转换成TX和TY:
其中TX是TA的变形,TY是TB的变形,A1、A2、B1、B2包括取决于应用的标量值。
公式11还可以简化成以下形式:
PBAT=R2+C [14]
公式12表示电机转矩TA到TX的变形和电机转矩TB到TY的变形。这样,定义了一个称为TX/TY的新坐标系,公式13包括转换成TX/TY空间的电池功率PBAT。因此,在最大和最小电池功率PBAT_MAX到PBAT_MIN之间的可用电池功率可以用在TX/TY空间中位于点(0,0)的半径(‘RMAX’和‘RMIN’)来计算和图示,并用字母K来表示,其中:
RMIN=SQRT(PBAT_MIN-C)
RMAX=SQRT(PBAT_MAX-C)
最小和最大电池功率PBAT_MIN到PBAT_MAX优选与各种条件相关,例如荷电状态、温度、电压和使用率(安培小时/小时)。上述参数C定义为在特定电机转速NA、NB下的绝对最小可能电池功率,忽略电机转矩限制值。实际上,当TA=0且TB=0的时候,第一和第二电机56和72的机械输出功率为零。实际上TX=0且TY=0对应ESD74的最大充电电池功率条件。正号(‘+’)定义为从ESD74放电,负号(‘-’)定义为对ESD74充电。RMAX定义最大电池功率,通常为放电电池功率,RMIN定义最小电池功率,通常是充电电池功率。
上述对TX/TY空间的变型用第二坐标系K在图4中表示,电池功率约束用具有半径为RMIN和RMAX的同心圆来表示(‘电池功率约束’),用线性表示的电机转矩约束(‘电机转矩约束’)限定了允许操作区。经过分析,在公式12中确定的变形向量[TX/TY]与在公式13中定义的向量同时求解,来确定TX/TY空间中的允许转矩范围,其由最小和最大电池功率PBAT_MIN到PBAT_MAX限定的电机转矩TA和TB构成。TX/TY空间中的允许电机转矩范围在图4中表示,其中确定了表示边界、线和半径的点A、B、C、D和E。第一坐标系L表示与TX/TY空间相关的TA/TB空间。
图5A和5B表示了控制方案,图6A和6B表示了图5A和5B的控制方案的操作,以确定具有多个转矩发生装置的动力系统的优选输出转矩,参考图1和2中的动力系统在下文描述,其以可执行算法和标定的形式存储在上述控制模块中,优选是在图3的控制系统结构中使用。
图5A表示在一个连续可变模式操作范围状态下的操作。在一个操作范围状态的操作中,监控加速踏板113和制动踏板112的操作者输入来确定操作者转矩请求。系统根据输入计算出补偿电机转矩,输入包括变速器10的操作范围状态、输入转矩和基于系统惯性、系统阻尼和离合器滑动的项(‘TA Misc Opt’、‘TBMisc Opt’、‘TCL1 Misc Opt’),参见方程17、18和19在下文描述(510)。项‘CL1’表示第一应用离合器,即在所示实施例中离合器C1 70和C2 62中的一个,‘TCL1’是传递经过CL1的转矩。补偿电机转矩和离合器转矩是输入以计算对输出转矩的线性转矩约束(520),和计算对输出转矩的无约束二次解(530)。
输出转矩的无约束二次解(530)使用ESD74的功率限制值(即可用可用电池功率PBAT_MIN到PBAT_MAX)、补偿电机转矩约束、电机转矩特性和其它标量项(‘KTA from To’、‘KTB from To’、‘KTCL1 from To’)来计算,电机转矩特性定义为在机械转矩和电功率之间转换的系数(‘Donut Space Coefficient’),该系数与第一和第二电机56和72的效率和功率损失有关,标量项与第一和第二电机56和72转矩输出和所应用离合器的作用转矩相关。上述输入用来计算作用在变速器10输出转矩上的第一约束,其包括无约束二次解,该解包括优化输出转矩(‘To*’)和优化电池功率(‘P* BAT’),用来在不考虑其它系统约束的情况下使系统工作。能量存储装置74的功率可以如方程15表示的变速器输出转矩To的函数来在数学上表示。
其中a1和b1表示根据特定应用的标量值。方程15可以解出输出转矩,如方程16所示:
对于可用电池功率范围PBAT_MIN到PBAT_MAX,可以从方程16确定四个不同的输出转矩,包括正根情况的最大和最小二次输出转矩约束(‘ToPBATMaxOpt(PosRoot)和‘ToPBATMinOpt(PosRoot)),负根情况的最大和最小二次输出转矩约束(‘ToPBATMaxOpt(NegRoot)’和‘ToPBATMinOpt(NegRoot)’),在图6A中用曲线表示。图6A表示了根据电池功率约束确定的输出转矩的有效的,即可用范围。
对输出转矩的线性转矩约束,即最小和最大线性输出转矩(‘ToMinLinear’和‘ToMaxLinear’)(520)是根据补偿电机转矩、与第一和第二电机56和72的电机转矩和所应用离合器的作用转矩相关的标量项(‘KTAfromTo’、‘KTBfromTo’、‘KTCL1fromTo’)来确定的,电机转矩约束包括第一和第二电机56和72的最小和最大电机转矩限制值。应用的离合器CL1(和CL2)的最小和最大离合器作用转矩是相对第一应用离合器和如图所示的第二应用离合器(需要的话)的电机转矩约束画出的(‘TCL1MIN’、‘TCL1MAX’)和(‘TCL2MIN’、‘TCL2MAX’)。
图6B示意性的表示了根据补偿电机转矩、第一和第二电机56和72的最小和最大可获得电机转矩以及应用离合器的最小和最大离合器作用转矩确定的最小和最大线性输出转矩(‘ToMinLin’和‘ToMaxLin)(520)。最小和最大线性输出转矩是能满足电机转矩约束且满足应用的离合器转矩约束的最小和最大输出转矩。示范性表示了典型动力系的操作区,包括电机转矩约束(‘Motor TorqueConstraints’),在一个实施例中,该约束包括第一和第二电机56和72的最大和最小可获得电机转矩(‘TA_MAX’、‘TA_MIN’、‘TB_MAX’、‘TB_MIN’)。应用的离合器CL1和CL2的最小和最大离合器作用转矩是相对第一应用离合器和如图所示的第二应用离合器(需要的话)的电机转矩约束(‘TCL1MIN’、‘TCL1MAX’)和(‘TCL2MIN’、‘TCL2MAX’)表示。最小和最大线性输出转矩(‘ToMinLin’和‘ToMaxLin)可以根据补偿电机转矩、第一和第二电机56和72的最小和最大可获得电机转矩以及应用离合器的最小和最大离合器作用转矩确定。最小和最大线性输出转矩是能满足电机转矩约束且满足应用离合器转矩约束的最小和最大输出转矩。在所示的实施例中,第二应用离合器CL2的最小和最大离合器作用转矩限制更少,并且位于电机转矩约束之外,这样就不会限制输出转矩。操作限制在第一应用离合器CL1的最小和最大离合器作用转矩和第二电机72的最大和最小电机转矩约束即TB_MAX’和‘TB_MIN’限定的区域内。最大线性输出转矩是该区域中的最大输出转矩,即,在第二电机72的最大电机转矩约束和第一应用离合器的最小离合器作用转矩(‘TCL1Min’)之间交点处的输出转矩。最小线性输出转矩是该区域中的最小输出转矩,即,在第二电机72的最小电机转矩约束和第一应用离合器的最大离合器作用转矩(‘TCL1Max’)之间交点处的输出转矩。
图5B表示了在一个固定档位操作范围状态下的操作。在固定档位操作范围状态之一的操作,要监控加速踏板113和制动踏板112的操作者输入来确定操作者转矩请求。系统根据输入计算出补偿转矩,输入包括变速器10的操作范围状态、输入转矩和基于系统惯性、系统阻尼和离合器滑动的项(‘TO Misc Opt’、‘TCL1MiscOpt’、‘TCL2MiscOpt’),参见方程20、21、22和23在下文描述(510’)。‘CL1’表示第一应用离合器,即在所示实施例中离合器C1 70和C2 62中的一个,‘TCL1’是传递经过CL1的转矩。‘CL2’表示应用时的第二应用离合器,即在所示实施例中离合器C2 62、C3 73和C4 75中的一个,‘TCL2’是传递经过CL2的转矩。补偿转矩是输入,以计算线性输出转矩约束(520’),和计算输出转矩的无约束二次解(530’)。
对输出转矩的无约束二次解(530’)使用ESD74的功率限制值(即可用电池功率PBAT_MIN到PBAT_MAX)、补偿电机转矩约束、电机转矩特性和其它标量项(‘KTAfromTo’、‘KTBfromTo’、‘KTCL1fromTo’)来计算,电机转矩特性定义为在机械转矩和电能之间的转换系数(‘Donut Space Coefficient’),该系数与在第一和第二电机56和72之间的效率和功率损失有关来确定的,其在公式11中详细表示,其它标量项是与第一和第二电机56和72转矩输出和所应用离合器的作用转矩相关,都是优选沿着最优电机转矩分离线确定的。上述输入用来计算变速器10输出转矩上的第一约束,其包括无约束二次解,该解包括优化输出转矩(‘To*’)和优化电池功率(‘P* BAT’),用来在不考虑其它系统约束(530)的情况下使系统工作,其在上面已经参照方程15和16介绍过了,并在图6A中表示。
对输出转矩的线性转矩约束,即最小和最大线性转矩约束(‘ToMaxLinear’和‘ToMinLinear)(520’)是根据补偿转矩、与所应用离合器的输出转矩和作用转矩有关的标量项(‘KT0fromTA’、‘KTOfromTB’、‘KTAfromTCL1’、‘KTBfromTCL1’、‘KTAfrom TCL2’‘KTBfromTCL2’)、第一和第二电机56和72的包括最小和最大电机转矩限制的电机转矩范围(‘TAMin’、‘TAMax’、‘TBMin’、‘TBMax’)来确定的。确定应用的转矩传递离合器的最小和最大离合器作用转矩约束(‘TCL1MIN’、‘TCL1MAX’)和(‘TCL2MIN’、‘TCL2MAX’),其包括在选定操作范围状态下特定应用的离合器。确定包括最小和最大线性输出转矩(‘ToMinLinear’和‘ToMaxLinear’)的约束,最小线性输出转矩优选包括上述最小转矩值的最大值,最大线性输出转矩优选包括上述最大转矩值的最小值。
在模式操作范围状态和固定档位操作范围状态中,对输出转矩的无约束二次解和最大和最小线性输出转矩与优选输出转矩结合起来计算优选输出转矩(‘ToOpt’)和输出转矩约束(‘ToMinRaw’、‘ToMaxRaw’)(540)。优选输出转矩用搜索范围(‘ToMinSearch’、‘ToMaxSearch’)来表示,其优选包括操作者转矩请求或另一个允许转矩约束。在实施例中,优选输出转矩可以包括输出转矩,其在输出转矩范围内使电池功率消耗最小,并且满足操作者转矩请求。
输出转矩约束(‘ToMinRaw’、‘ToMaxRaw’)包括最大和最小未滤波输出转矩,它们根据输入来确定,输入包括输入速度、输出速度、电机转矩约束、应用离合器的作用离合器转矩约束、发动机输入转矩、和输入和输出加速度。优选输出转矩要受到输出转矩约束的影响,并且根据允许输出转矩范围来确定,该范围可以是变化的,还包括即时加速输出转矩请求。优选输出转矩可以包括与最小电池放电电池功率对应的输出转矩或与最大电池充电电池功率对应的输出转矩。优选输出转矩是基于动力系通过第一和第二电机56和72传递和将电能转换成机械转矩的容量,以及即时或当前转矩、速度、和作用离合器转矩约束以及电功率输入来确定的。
包括了最大和最小未滤波输出转矩(‘ToMinRaw’、‘ToMaxRaw’)的输出转矩约束和优选输出转矩(‘ToOpt’)可以通过执行和求解空档、模式和固定档位操作的操作范围状态之一中的优化函数来确定。输出转矩约束包括在当前输入转矩下在可用电池功率(‘PBATMin/Max’)以及电机转矩约束范围内范围内的优选输出转矩范围,,电机转矩约束包括可用电机转矩范围(‘TAMin/Max’、‘TBMin/Max’),受应用转矩传递离合器的作用离合器转矩(‘TCL1Min’,‘TCL1Max’、‘TCL2Min’,‘TCL2Max’)的限制。在非制动操作中,输出转矩请求被限制在最大输出转矩容量之内。
用来确定输出转矩上的最大和最小约束和优选输出转矩的输入包括ESD74的功率输出容量(包括可用电池功率和作用在ESD74上的任何DC载荷)、电机转矩特性,该特性由在机械转矩和电功率之间转换系数根据在第一和第二电机56和72中的效率和功率损失(‘Donut Space Coefficient’)来限定。而且,监控变速器的当前操作范围状态(‘HybridRange State’)、输入转矩、输入速度(‘NI’)、输出速度(‘NO’)、离合器速度(‘NC’)、滑动离合器的加速度(‘Ncsdot’)、输出部件64的的加速度(‘Nodot’)和输入部件12的加速度(‘Nidot’),以及应用离合器的最小和最大作用离合器转矩(‘TCL1Min’‘TCL1Max’、‘TCL2Min’‘TCL2Max’)以及未应用、滑动离合器的估计转矩(‘Tcs’)。上述加速度优选是基于带有目标加速度变化率的加速度曲线,但是也可以是实际加速度。第一和第二电机56和72的可用电机转矩范围也可以如上所述进行监控和使用。
优化函数优选包括线性方程,该方程可以在系统的正在操作中以可执行的算法执行并求解,来确定能将电池功率消耗最小化并满足操作者转矩请求的优选输出转矩范围。线性方程要考虑输入转矩(‘Ti’)、系统惯性和线性阻尼。优选地,对于模式操作中的每个操作范围状态都有一个线性方程。
当变速器14处于一个模式操作范围状态的时候,系统的线性方程是方程17:
方程17可以求解来确定能将电池功率最小化并满足操作者转矩请求的优选输出转矩。TCL1项表示对于模式操作而言传递经过应用离合器(即在模式1下的离合器C1 62和模式2下的离合器C2 70)的作用转矩。项Tcs1、Tcs2和Tcs3表示对于特定模式操作而言传递经过未应用、滑动离合器的转矩。
项 表示由于输入转矩TI对传递经过应用离合器TCL1的电机转矩(TA、TB)和作用转矩的贡献。标量项是基于第一和第二电机56和72的转矩输出和与根据特定系统应用确定的输入转矩相关的所应用离合器的作用转矩(‘KTA fromTI’、‘KTB fromTI’、‘KTCL1fromTI’)。
项 表示由于输出转矩TO对电机转矩(TA、TB)和传递经过应用离合器TCL1的作用转矩的贡献。标量项是基于第一和第二电机56和72的转矩输出和与根据特定系统应用确定的输入转矩相关的所应用离合器的作用转矩(‘KTAfromTo’、‘KTBfromTo’、‘KTCL1fromTo’)。
项 表示具有两个自由度的由于系统惯性对电机转矩(TA、TB)和传递经过应用离合器TCL1的作用转矩的贡献。输入加速度项和输出加速度项选择为两个线性独立的系统加速度,都可以用来表征动力系统部件的惯性。a 11-a32项是根据特定系统应用确定的系统特定标量值。
项 表示由于线性阻尼对电机转矩(TA、TB)和传递经过应用离合器TCL1的作用转矩的贡献,线性阻尼具有两个自由度,选择为两个线性独立的系统速度,即输入速度和输出速度,它们用来表征动力系统部件的阻尼。b11-b32项是根据特定系统应用确定的系统特定标量值。
项 表示由于未应用、滑动离合器转矩对电机转矩(TA、TB)和传递经过应用离合器TCL1的作用转矩的贡献。Tcs1、Tcs2和Tcs3项表示传递经过未应用、滑动转矩传递离合器的离合器转矩。c11-c33项是根据特定系统应用确定的系统特定标量值。
方程17可以改写成方程18:
带有根据输入确定的补偿电机转矩,输入包括变速器10的操作范围状态、输入转矩和基于合成单个向量的系统惯性、系统阻尼和离合器滑动的项(‘TAMisc’、‘TB Misc’、‘TCL1 Misc’)。
对于输入转矩TI来说,方程18可以如下简化为方程19:
方程19可以使用优选输出转矩(‘TO Opt’)来求解,以确定第一和第二电机56和72的优选电机转矩(‘TA Opt’、‘TB Opt’)(550)。据此也可以计算出优选电池功率(‘PBAT Opt’、‘PA Opt’、‘PB Opt’)(560)。
当变速器14处于一个固定档位操作范围状态下时,系统的线性方程是方程20。
可以求解方程20来确定能将电池功率最小化并满足操作者转矩请求的优选输出转矩。TCL1和TCL2项表示在固定档位操作下传输经过应用离合器的作用转矩。项Tcs1和Tcs2表示对于特定固定档位操作而言传递经过未应用、滑动离合器的转矩。
项 表示由于输入转矩TI对输出转矩TO和传递经过应用离合器TCL1和TCL2的作用转矩的贡献。标量项基于输出转矩和与根据特定系统应用确定的输入转矩有关的所应用离合器的作用转矩(‘KTofromTI’、‘KTCL1fromTI’、‘KTCL2from TI’)。
项 表示由于电机转矩TA和TB对输出转矩和传递经过应用离合器的作用转矩的贡献。标量项基于输出转矩和与根据特定系统应用而确定的来自于第一和第二电机56和72转矩输出相关的所应用离合器的作用转矩。
项 表示由于具有单自由度的系统惯性对输出转矩和传递经过应用离合器(TCL1、TCL2)的作用转矩的贡献。输入加速度项选择为线性独立的系统加速度,即用来表征动力系统部件的惯性。b11-b31项是根据特定系统应用确定的系统特定标量值。
项 表示由于单自由度的线性阻尼对输出转矩和传递经过应用离合器TCL1和TCL2的作用转矩的贡献,线性阻尼选择为线性独立的系统速度用来表征动力系统部件的阻尼。a11-a31项是根据特定系统应用确定的系统特定标量值。
项 表示由于未应用、滑动离合器转矩对输出转矩和传递经过应用离合器TCL1和TCL2的作用转矩的贡献。Tcs1和Tcs2项表示传递经过未应用、滑动转矩传递离合器的离合器转矩。c11-c32项是根据特定系统应用确定的系统特定标量值。
方程20可以改写成方程21:
对于输入转矩TI来说,方程21可以如下简化为方程22:
带有根据变速器10的操作范围状态的电机转矩所确定的输出转矩和传递经过应用离合器TCL1和TCL2的作用转矩,以及合成单个向量的根据输入转矩、系统惯性、系统阻尼和离合器滑动的项(‘TO Offset’、‘TCL1Offset’、‘TCL2_Offset’)。方程22可以使用方程20中所确定的优选输出转矩(‘TO Opt’)来求解,以确定第一和第二电机56和72的优选电机转矩,包括确定优选电机转矩分离(‘TAOpt’、‘TB Opt’)(550’)。
电机转矩指令可以用来控制第一和第二电机56和72,以便将输出转矩传递给输出部件64以及传动系90,在车轮93处产生牵引转矩,从而根据加速踏板113的操作者输入向前推动车辆。优选地,只要输出转矩足以克服车上的外部载荷,例如道路坡度、空气动力载荷以及其它载荷,则驱动车辆就可以使车辆加速。
图7表示了确定优选输出转矩(‘To Opt’)的过程(700),优选输出转矩包括用于控制第一和第二电机56和72(‘TAOpt’、‘TBOpt’)的优选电机转矩、和基于它们的优选电池功率(‘PBAT Opt’)。这包括确定最小和最大线性输出转矩(‘ToMinLinear’和‘ToMaxLinear)(710),由此确定最小和最大输出转矩(‘ToMin’)(720)和(‘ToMax)(730)。要执行搜索以确定最小输出转矩,并计算优选输出转矩(‘TO Opt’)(740)。这包括选择暂时输出转矩,其包括最小输出转矩搜索范围的最小值(‘TO Min Search’)和最大输出转矩(‘TO Max’)。优选输出转矩选择为暂时输出转矩、最小输出转矩和最小线性输出转矩的最大值。优选电机转矩和电池功率(‘TA Opt’、‘TB Opt’和‘PBAT Opt’)可以根据优选输出转矩来确定(750),并用来控制动力系统的工作。
图8表示了确定最小输出转矩(‘TO Min’)的流程图720。图10和11表示了当在固定档位操作范围状态下操作时构思的结果。最大充电电池功率(‘ToPBATMinPosRoot)下的优选输出转矩(‘DOPT’)可以确定,如图6和方程15和16所示(802)。最大充电电池功率下的优选输出转矩与最小线性输出转矩(‘ToMinLin’)进行比较(804)。当最小线性输出转矩大于或等于最大充电电池功率下的优选输出转矩的时候,输出转矩被设定为等于最小线性输出转矩(806)。这就是作为最小输出转矩ToMin在720处返回到过程700中的优选输出转矩。
当最小线性输出转矩小于最小充电电池功率下的优选输出转矩的时候,应用离合器的离合器转矩被确定为最大充电电池功率下的优选输出转矩使得动力系统工作(808)。处于附图目的,应用离合器是指‘CL1’和‘CL2’,其中应用离合器对于选定的变速器操作范围状态来说是特定的。当变速器10在一个模式操作范围状态下即在本实施例中是M1和M2中操作时,就忽略离合器CL2的转矩和力。当第一和第二应用离合器CL1和CL2的离合器转矩位于各自最小和最大离合器作用转矩之间并且可以获得的时候(810),输出转矩就被设定为等于最大充电电池功率下的优选输出转矩(812)。
当第一应用离合器CL1的离合器转矩位于各自最小和最大离合器作用转矩之间并且可以获得的时候(814),第二应用离合器CL2的离合器转矩就与最大可获得离合器转矩进行比较(816),如果大于,则优选输出转矩(‘TOMin’)就被确定为在点(‘DCL2MAX’)处的最大充电电池功率(‘ToPBATMin),在该点,输出转矩满足第二应用离合器CL2的最大可获得离合器转矩(‘TCL2Max’)并位于电池功率约束和电机转矩约束内(818)。这是作为最小输出转矩ToMin在720处返回到过程700中(819)的优选输出转矩。
当第二应用离合器CL2小于最大可获得离合器转矩,即小于TCL2Min的时候(816),优选输出转矩(‘TOMin’)就被确定为在点(‘DCL2MIN’)处的最大充电电池功率(‘ToPBATMin’),在该点,输出转矩满足第二应用离合器CL2的最小可获得离合器转矩(‘TCL2Min’)并位于电池功率约束和电机转矩约束内(820)。这是作为最小输出转矩ToMin在720处返回到过程700中(821)的优选输出转矩。
当第一应用离合器CL1的离合器转矩不在各自最小和最大离合器作用转矩之间的时候(814),就要确定第二应用离合器CL2的离合器转矩是否位于各自最小和最大离合器作用转矩之间因而是可获得的(822)。当第二应用离合器CL2的离合器转矩位于各自最小和最大离合器作用转矩之间,就要将输出转矩线(‘To’)的斜度与第一应用离合器CL1的离合器转矩斜度进行比较(824)。当输出转矩线(‘To’)与第一应用离合器CL1的离合器转矩(‘TCL1’)平行的时候,最小输出转矩(‘TO Min’)就被确定为最小线性输出转矩(‘ToMinLin’)(826)。这是作为最小输出转矩ToMin在720处返回到过程700中的优选输出转矩。
当第一应用离合器CL1的离合器转矩(‘TCL1’)大于第一应用离合器CL1的最大离合器转矩(‘TCL1MAX’)的时候(828、830),优选输出转矩(‘TOMin’)就被确定为在点(‘DCL1MAX’)处的最大充电电池功率(‘ToPBATMin),在该点,输出转矩满足CL1的最大可获得离合器转矩(‘TCL1Max’)并位于电池功率约束和电机转矩约束内(830)。这是作为最小输出转矩ToMin在720处返回到过程700中的优选输出转矩(831)。
当输出转矩线(‘To’)不与第一应用离合器CL1的离合器转矩(‘TCL1’)平行的时候,且第一应用离合器CL1的离合器转矩(‘TCL1’)小于第一应用离合器CL1的最小离合器转矩(‘TCL1MAX’)即小于TCL2Min的时候(828、834),优选输出转矩(‘TO Min’)就被确定为在点(‘DCL1MIN’)处的最大充电电池功率(‘ToPBATMin),在该点,输出转矩满足CL1的最小可获得离合器转矩(‘TCL1Min’)并位于电池功率约束和电机转矩约束内(834)。这是作为最小输出转矩ToMin在720处返回到过程700中的优选输出转矩(835)。
当第二应用离合器CL2的离合器转矩位于各自最小和最大离合器作用转矩之外的时候,第一应用离合器CL1的离合器转矩极限值(‘TCL1Limit’)就要设定为第一应用离合器CL1的最大离合器转矩(‘TCL1MAX’)以及第一离合器转矩(‘TCL1’)和第一应用离合器CL1的最小离合器转矩(‘TCL1MIN’)中的最大值中的最小值。第二应用离合器CL2的离合器转矩极限值(‘TCL2Limit’)就要设定为第二应用离合器CL2的最大离合器转矩(‘TCL2MAX’)和第二离合器转矩(‘TCL2’)和第二应用离合器CL2的最小离合器转矩(‘TCL2MIN’)中的最大值中的最小值(836)。
因此输出转矩线(‘To’)的斜度就要与第一应用离合器CL1的离合器转矩斜度进行比较(838)。当输出转矩线(‘To’)与第一应用离合器CL1(‘TCL1’)的离合器转矩平行的时候,确定在某点的最大充电电池功率(‘ToPBATMin)处的输出转矩(‘Return To’),在该点位于电池功率约束和电机转矩约束内,并且满足第二应用离合器CL2的离合器转矩极限值(‘TCL2Limit’)(840)。最小输出转矩(‘To min’)就被确定为最大线性输出转矩(‘ToMaxLin’)和返回输出转矩(‘Return To’)中的最大值(841)。这是作为最小输出转矩ToMin在720处返回到过程700中的优选输出转矩。
当输出转矩线(‘To’)不与第一应用离合器CL1的离合器转矩(‘TCL1’)平行的时候,第一输出转矩就可以在某点的最大充电电池功率(‘ToPBATMin)处确定,在该点处位于电池功率约束和电机转矩约束内,并且满足第一应用离合器CL1的离合器转矩极限值(‘TCL1Limit’)。第二输出转矩就可以在某点处的最大充电电池功率(‘ToPBATMin)处确定,在该点处位于电池功率约束和电机转矩约束内,并且满足第二应用离合器CL2的离合器转矩极限值(‘TCL2Limit’)(842)。优选输出转矩就被确定为第一和第二输出转矩的最大值,其作为最小输出转矩ToMin在720处返回到过程700中(844)。
图9表示了确定最大输出转矩(‘TOMin’)的流程图30。图10和11表示了构思结果。包括图6中的‘ToPBATMax Pos Root’的最大放电电池功率下的优选输出转矩(‘ToPBATMax Opt’)可以确定(‘COPT’),如图6和方程15和16所示(902)。最大放电电池功率下的优选输出转矩要与最大线性输出转矩(‘ToMaxLin’)进行比较(904)。当最大放电电池功率下的优选输出转矩大于最大线性输出转矩的时候,输出转矩(‘COPT’)被设定为等于最大线性输出转矩(906)。这是作为最大输出转矩ToMax在720处返回到过程700中的优选输出转矩。
当最大放电电池功率下的优选输出转矩小于或等于最大线性输出转矩的时候,就要确定应用离合器的离合器转矩以使得动力系统在最大放电电池功率下的优选输出转矩工作(908)。处于附图目的,应用离合器是指‘CL1’和‘CL2’,其中应用离合器对于选定的变速器操作范围状态来说是特定的。当变速器10在一个模式操作范围状态下(即在本实施例中是M1和M2中)工作时,就忽略离合器CL2的转矩和力。当第一和第二应用离合器CL1和CL2的离合器转矩位于各自最小和最大离合器作用转矩之间并且因而是可获得的时候(910),输出转矩就被设定为等于最大放电电池功率下的优选输出转矩(912)。
当第一应用离合器CL1的离合器转矩位于各自最小和最大离合器作用转矩之间并且因而是可获得的时候(914),第二应用离合器CL2的离合器转矩与最大可获得离合器转矩进行比较(916),如果大于,则优选输出转矩(‘TO Max’)就被确定为在点(‘CCL2MAX’)的最大放电电池功率(‘ToPBATMax’),在该点,输出转矩满足第二应用离合器CL2的最大可获得离合器转矩(‘TCL2Max’)并位于电池功率约束和电机转矩约束内(918)。这是作为最大输出转矩ToMax在720处返回到过程700中(919)的优选输出转矩。
当第二应用离合器CL2小于最大可获得离合器转矩的时候(916),优选输出转矩(‘TO Max’)就被确定为在点(‘CCL2MIN’)的最大放电电池功率(‘ToPBATMax’),在该点,输出转矩满足第二应用离合器CL2的最小可获得离合器转矩(‘TCL2Min’)并位于电池功率约束和电机转矩约束内(920)。这是作为最大输出转矩ToMax在720处返回到过程700中的优选输出转矩(921)。
当第一应用离合器CL1的离合器转矩没有位于各自最小和最大离合器作用转矩之间的时候(914),就要确定第二应用离合器CL2的离合器转矩是否位于最小和最大离合器作用转矩之间并且因而是可获得的(922)。当第二应用离合器CL2的离合器转矩位于最小和最大离合器作用转矩之间时,将输出转矩线(‘To’)的斜度与第一应用离合器CL1的离合器转矩斜度进行比较(924)。当输出转矩线(‘To’)与第一应用离合器CL1的离合器转矩(‘TCL1’)平行的时候,优选输出转矩(‘TO Max’)就被确定为最大线性输出转矩(‘ToMaxLin’)(926)。这是作为最大输出转矩ToMax在720处返回到过程700中的优选输出转矩。
当输出转矩线(‘To’)不与第一应用离合器CL1的离合器转矩(‘TCL1’)平行的时候,且第一应用离合器CL1的离合器转矩(‘TCL1’)大于第一应用离合器CL1的最大离合器转矩(‘TCL1MAX’)的时候(928、930),优选输出转矩(‘TOMax’)就被确定为在点(‘CCL1MAX’)的最大放电电池功率(‘ToPBATMax),在该点,输出转矩满足CL1的最大可获得离合器转矩(‘TCL1MAX’)并位于电池功率约束和电机转矩约束内(930)。这是作为最大输出转矩ToMax在720处返回到过程700中的优选输出转矩(931)。
当第一应用离合器CL1的离合器转矩(‘TCL1’)小于第一应用离合器CL1的最大离合器转矩(‘TCL1MAX’)的时候(928、934),优选输出转矩(‘TO Max’)就被确定为在点(‘CCL1MIN’)的最大放电电池功率(‘ToPBATMax’),在该点,输出转矩满足CL1的最小可获得离合器转矩(‘TCL1 MIN’)并位于电池功率约束和电机转矩约束内(934)。这是作为最大输出转矩ToM ax在720处返回到过程700中的优选输出转矩(935)。
当第二应用离合器CL2的离合器转矩位于各自最小和最大离合器作用转矩之外的时候,第一应用离合器CL1的离合器转矩极限值(‘TCL1Limit’)设定为第一应用离合器CL1的最大离合器转矩(‘TCL1MAX’)与第一离合器转矩(‘TCL1’)和第一应用离合器CL1的最小离合器转矩(‘TCL1MIN’)中的最大值中的最小值。第二应用离合器CL2的离合器转矩极限值(‘TCL2Limit’)设定为第二应用离合器CL2的最大离合器转矩(‘TCL2MAX’)与第二离合器转矩(‘TCL2’)和第二应用离合器CL2的最小离合器转矩(‘TCL2MIN’)中的最大值中的最小值(932)。随后,输出转矩线(‘To’)的斜度与第一应用离合器CL1的离合器转矩斜度进行比较(938)。当输出转矩线(‘To’)与第一应用离合器CL1的离合器转矩(‘TCL1’)平行的时候,确定为在某点处的最大放电电池功率(‘ToPBATMax)处的输出转矩(‘Return To’),在该点处位于电池功率约束和电机转矩约束内,并且满足第二应用离合器CL2的离合器转矩极限值(‘TCL2Limit’)(940)。最大输出转矩(‘To Max’)就被确定为最大线性输出转矩(‘ToMaxLin’)和返回输出转矩(‘ReturnTo’)中最小值(941)。这是作为最大输出转矩ToMax在720处返回到过程700中的优选输出转矩。
当输出转矩线(‘To’)不与第一应用离合器CL1的离合器转矩(‘TCL1’)平行的时候,第一输出转矩就可以确定在某点处的最大放电电池功率(‘ToPBATMax)处确定,在该点处位于电池功率约束和电机转矩约束内,并且满足第一应用离合器CL1的离合器转矩极限值(‘TCL1Limit’)。第二输出转矩就可以在某点处的最大放电电池功率(‘ToPBATMax)处确定,在该点处位于电池功率约束和电机转矩约束内,并且满足第二应用离合器CL2的离合器转矩极限值(‘TCL2Limit’)(942)。优选输出转矩就被确定为第一和第二输出转矩的最小值。这作为最大输出转矩ToMax在720处返回到过程700中(944)。
图10、11和12表示了用来控制图1、2和3中动力系统的控制方案的操作过程,其使用了参照图4和6所示的图形数学结构。第一坐标系L表示TA/TB空间,且基于电机转矩TA和TB。第二坐标系K表示了变换到TX/TY空间的电机转矩TA和TB,参见图4和方程1-12,其与第一坐标系L和TA/TB空间的关系用图形表示。第三坐标系M表示了PBAT/TO空间,是基于与参考图6和方程1-12描述的输出转矩TO有关的电池功率PBAT。在所示的操作中,变速器10是在CL1=C1 70、CL2=C2 62的G2中工作。
独立确定的参数包括PBATMin和PBATMax,在相对于第二坐标系K的TX/TY空间中用RMIN和RMAX表示。表示了净零电池功率线R0。可以确定变换的电机转矩约束(‘Motor Torque Constraints’),并在TX/TY空间中或TA/TB空间中用图表示。第一坐标系L表示TA=0且TB=0的TA/TB空间,其可以在TX/TY空间中确定,并相对于K坐标系表示。两个点TA=0、TB=0和TX=0、TY=0确定了优选电机转矩分离线(‘Optimal Motor Torque Split Line’),其包括在第一和第二电机56和72之间的转矩分离,该分离可以获得最小功率损失,并且可以根据电机转矩约束确定,并且可以将输出转矩所需的电池功率最小化。离合器作用转矩范围包括第一离合器的最小、最大和零离合器转矩(‘TCL1MIN’、‘TCL1MAX’、‘TCL1=0’)和第二离合器的最小、最大和零离合器转矩(‘TCL2MIN’、‘TCL2MAX’、‘TCL2=0’),该范围可以相对于电机转矩约束和电池功率约束确定,并且相对于第二坐标系K在TX/TY空间中表示,或者相对于第一坐标系L在TA/TB空间中表示。电池功率PBATMin和PBATMax可以相对于表示了电池功率PBAT与输出转矩TO之间关系的第三坐标系M表示。第三坐标系M表示了电池功率PBAT与输出转矩TO之间的关系,从零输出转矩(‘TO=0’)开始增加输出转矩,包括表示了最大和最小线性输出转矩(‘ToMaxLin’、‘ToMinLin’)的线。最大和最小输出转矩在第三坐标系中表示(‘ToPBATMAX Opt’、‘ToPBATMAX Opt’),并表示了正根的情况,其推导过程已经参照附图6予以说明。最大和最小输出转矩如图所示转换成TX/TY空间。
这样,在操作过程中,通过选择性应用转矩传递离合器,,例如离合器C170、C2 62、C3 73以及C4 75混合动力变速器14以固定档位和连续可变操作范围状态之一将转矩在输入部件12和转矩装置(例如第一和第二电机56和72)以及输出部件64之间进行传递。离合器作用转矩范围是根据所应用的离合器确定,电机转矩范围是根据转矩装置确定。确定从ESD74传递的电功率。对于传递给输出部件64的输出转矩上的约束是根据所应用离合器的离合器作用转矩范围确定的。对于传递给输出部件64的输出转矩上的约束是根据转矩装置的电机转矩范围确定的。传递给输出部件64的输出转矩上的约束是根据从能量存储装置传递的功率确定的。确定输出部件64的允许输出转矩范围,它是在传递给输出部件64的输出转矩上的约束内可获得的,基于所应用离合器的离合器作用转矩范围、转矩装置的电机转矩范围和从能量存储装置传递的功率。根据允许输出转矩范围和约束控制混合动力变速器以便从变速器10产生输出转矩。这可以包括在所应用离合器之一的离合器作用转矩范围上的约束,例如离合器所传递的补偿转矩以便允许离合器在不滑动的情况下停用。如上所述,就可以根据在一个所应用离合器的离合器作用转矩范围上引入的约束来确定传递给输出部件的输出转矩上的约束。确定允许输出转矩范围,其是根据应用离合器的离合器作用转矩范围在传递给输出部件的输出转矩上的约束和其它约束(如果有的话)的范围内可获得的,其它约束包括转矩装置的电机转矩范围、能量存储装置所传递的功率和在一个应用离合器的离合器作用转矩范围上引入的约束。下面介绍动力系统确定在输出转矩上的约束的操作。
图10表示了当操作不受第一和第二离合器CL1和CL2的离合器转矩约束限制的时候以一个固定档位的操作,即在图1和2所示实施例中固定档位G2。当最大充电电池功率下的优选输出转矩(‘ToPBATMax Opt’)大于最小线性输出转矩(‘ToMIN Lin’)的时候,只要优选输出转矩不违反离合器转矩约束,则优选输出转矩(‘DOPT’)是最大充电电池功率(‘ToPBATMIN Opt’)。当最大充电电池功率下的优选输出转矩(‘ToPBATMax Opt’)小于最大线性输出转矩(‘ToMax Lin’)的时候,只要优选输出转矩不违反离合器转矩约束,则优选输出转矩(‘COPT’)是最大充电电池功率(‘ToPBATMax Opt’)。
图11表示了以一个固定档位(即,在图1和2所示实施例中G2)和在过渡到模式2操作期间的操作,这时一个离合器CL1卸载。在这种情况下,CL1的离合器转矩会影响操作。最大放电电池功率下的优选输出转矩(‘ToPBATMaxOpt’)小于最大线性输出转矩(‘ToMaxLin’),但是包括了最大放电电池功率(‘ToPBATMAX Opt’)的在优选输出转矩(‘COPT’)处的第一离合器转矩TCL1要小于第一离合器的最小离合器转矩约束(‘TCL1MIN’)。在这种情况下,优选最大输出转矩(‘CCL1MIN’)包括满足电池功率约束(‘PBATMAX’)并满足第一离合器的最小离合器转矩约束(‘TCL1MIN’)的输出转矩。优选输出转矩(‘CCL1MIN’)不会与优选电机转矩分离线(‘Optimal Motor Torque Split Line’)相交,在第一和第二电机56和72之间的电机转矩分离TA和TB不会在离合器约束工作期间得到最小功率损失。电机转矩分离可以根据CL1转矩约束确定。
最大充电电池功率下的优选输出转矩(‘ToPBATMINOpt’)大于最小线性输出转矩(‘ToMIN Lin’),且包括了最大放电电池功率(‘ToPBATMAX Opt’)的优选输出转矩(‘DOPT’)在第一离合器的离合器转矩约束(‘TCL1MIN’)中。在这种情况下,优选最小输出转矩(‘DCL1MIN’)包括满足电池功率约束(‘PBATMIN’)和满足最大充电电池功率(‘ToPBATMIN Opt’)的输出转矩。
图12表示了以一个固定档位(在图1和2所示实施例中固定档位G2)向模式1过渡的过程中的操作,这时第二个离合器CL2卸载。在这种情况下,CL2的离合器作用转矩影响操作。最大充电电池功率下的优选输出转矩(‘ToPBATMINOpt’)小于最小线性输出转矩(‘ToMinLin’),但是包括了最大充电电池功率(‘ToPBATMIN Opt’)的优选输出转矩(‘DOPT’)超过第二离合器的最大离合器转矩约束(‘TCL2MAX’)。在这种情况下,优选最小输出转矩(‘ToMin Lin’)构成最小线性输出转矩。优选最小输出转矩不会与优选电机转矩分离线(‘Optimal Motor Torque Split Line’)相交,在第一和第二电机56和72之间的电机转矩分离TA和TB不会在离合器约束工作期间得到最小功率损失。电机转矩分离可以根据CL2的转矩约束确定。
可以理解的是,在本说明书的范围内变型是允许的。说明书是参照优选实施例及其变型作出的。在阅读和理解说明书的基础上,可以作出其它变型或改变。所有这样的变型和改变都应该处于本发明的范围中。
Claims (15)
1.一种控制混合动力变速器的方法,通过可选择地应用转矩传递离合器,混合动力变速器可操作以多个固定档位和连续可变操作范围状态中的一个在输入部件和转矩装置以及输出部件之间传递转矩,转矩装置可操作从能量存储装置传递功率,该方法包括:
在一个操作范围状态下操作混合动力变速器;
确定传递给输出部件的输出转矩的第一组内部系统约束;
确定传递给输出部件的输出转矩的第二组内部系统约束;和
确定传递给输出部件的输出转矩的第一组内部系统约束和第二组内部系统约束内可获得的允许输出转矩范围;
其中确定输出转矩的第一组内部系统约束包括确定系统约束,所述系统约束根据一个约束中的线性变化而在输出转矩上展现出线性变化;以及
线性转矩约束包括用于应用转矩传递离合器的最小和最大离合器作用转矩。
2.如权利要求1所述的方法,其特征在于,线性转矩约束包括用于转矩装置的最小和最大可获得电机转矩。
3.根据权利要求1所述的方法,其特征在于,确定输出转矩的第二组内部系统约束包括确定系统约束,所述系统约束根据一个约束中的线性变化而在输出转矩上展现出非线性变化。
4.如权利要求3所述的方法,其特征在于,非线性系统约束包括来自能量存储装置的可用功率。
5.根据权利要求1所述的方法,其特征在于,
在传递给输出部件的输出转矩上引入外部系统约束;
确定传递给输出部件的输出转矩的第一组内部系统约束和第二组内部系统约束内可获得的允许输出转矩范围,所述允许输出转矩范围响应于外部系统约束。
6.如权利要求5所述的方法,其特征在于,外部系统约束根据操作者转矩请求确定。
7.如权利要求5所述的方法,其特征在于,还包括确定优选输出转矩,其将从能量存储装置传递给转矩装置的功率最小化,并是在允许输出转矩范围内可获得的。
8.一种控制混合动力变速器的方法,通过可选择地应用转矩传递离合器,混合动力变速器可操作以多个固定档位和连续可变操作范围状态中的一个在输入部件和转矩装置以及输出部件之间传递转矩,转矩装置可操作从能量存储装置传递功率,该方法包括:
应用转矩传递离合器,并且在一个操作范围状态下操作混合动力变速器;
确定应用离合器的离合器作用转矩范围、转矩装置的电机转矩范围和从能量存储装置传递的功率;
根据应用离合器的离合器作用转矩范围确定传递给输出部件的输出转矩的约束;
根据转矩装置的电机转矩范围确定传递给输出部件的输出转矩的约束;
根据从能量存储装置传递的功率确定传递给输出部件的输出转矩的约束;
根据应用离合器的离合器作用转矩范围、转矩装置的电机转矩范围和从能量存储装置传递的功率确定传递给输出部件的输出转矩的约束内可获得的允许输出转矩范围;和
根据允许输出转矩范围控制变速器的输出转矩。
9.如权利要求8所述的方法,其特征在于,还包括:
在一个应用离合器的离合器作用转矩范围引入约束;
根据一个应用离合器的离合器作用转矩范围上引入的约束确定传递给输出部件的输出转矩的约束;
根据应用离合器的离合器作用转矩范围、转矩装置的电机转矩范围、从能量存储装置传递的功率和一个应用离合器的离合器作用转矩范围上引入的约束确定传递给输出部件的输出转矩的约束内可获得的允许输出转矩范围。
10.如权利要求9所述的方法,其特征在于,还包括:
确定操作者转矩请求;
控制变速器的输出转矩,所述变速器的输出转矩是在允许输出转矩范围内可获得的,响应于操作者转矩请求,并使得从能量存储装置传递给转矩装置的功率最小化。
11.如权利要求8所述的方法,其特征在于,还包括:
在一个转矩电机的电机转矩范围上引入约束;
根据一个转矩电机的电机转矩范围上引入的约束确定传递给输出部件的输出转矩的约束;
根据应用离合器的离合器作用转矩范围、转矩装置的电机转矩范围、从能量存储装置传递的功率和一个转矩电机的电机转矩范围上引入的约束确定传递给输出部件的输出转矩的约束内可获得的允许输出转矩范围。
12.如权利要求11所述的方法,其特征在于,还包括:
确定操作者转矩请求;和
控制变速器的输出转矩,所述变速器的输出转矩是在允许输出转矩范围内可获得的,响应于操作者转矩请求,并使得从能量存储装置传递给转矩装置的功率最小化。
13.如权利要求8所述的方法,其特征在于,还包括:
在从能量存储装置传递的功率引入约束;
根据从能量存储装置传递的功率上引入的约束确定传递给输出部件的输出转矩的约束;和
根据应用离合器的离合器作用转矩范围、转矩装置的电机转矩范围、从能量存储装置传递的功率和从能量存储装置传递的功率上引入的约束确定传递给输出部件的输出转矩的约束内可获得的允许输出转矩范围。
14.如权利要求13所述的方法,其特征在于,还包括:
确定操作者转矩请求;和
控制变速器的输出转矩,所述变速器的输出转矩是在允许输出转矩范围内可获得的,响应于操作者转矩请求,并使得从能量存储装置传递给转矩装置的功率最小化。
15.一种控制混合动力变速器的方法,通过可选择地应用转矩传递离合器,混合动力变速器可操作以多个固定档位和连续可变操作范围状态中的一个在输入部件和第一、第二转矩装置以及输出部件之间传递转矩,转矩装置可操作从能量存储装置传递功率,该方法包括:
确定操作者转矩请求;
确定应用离合器的离合器作用转矩范围、转矩装置的电机转矩范围和从能量存储装置传递的功率;
根据应用离合器的离合器作用转矩范围确定传递给输出部件的输出转矩的约束;
根据转矩装置的电机转矩范围确定传递给输出部件的输出转矩上的约束;
根据从能量存储装置传递的功率确定传递给输出部件的输出转矩上的约束;
在一个应用离合器的离合器作用转矩范围引入约束;
根据一个应用离合器的离合器作用转矩范围上引入的约束确定传递给输出部件的输出转矩上的约束;
根据应用离合器的离合器作用转矩范围、转矩装置的电机转矩范围、从能量存储装置传递的功率和在一个应用离合器的离合器作用转矩范围上引入的约束确定传递给输出部件的输出转矩的约束内可获得的允许输出转矩范围;和
根据允许输出转矩来控制转矩装置的的电机转矩。
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