CN101804810A - Optimum integration control method of plug-in hybrid electric vehicle - Google Patents

Optimum integration control method of plug-in hybrid electric vehicle Download PDF

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CN101804810A
CN101804810A CN201010152337A CN201010152337A CN101804810A CN 101804810 A CN101804810 A CN 101804810A CN 201010152337 A CN201010152337 A CN 201010152337A CN 201010152337 A CN201010152337 A CN 201010152337A CN 101804810 A CN101804810 A CN 101804810A
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subfunction
call
call subfunction
soc
bfb
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杨伟斌
陈全世
田光宇
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TIAN GUANGYV
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TIAN GUANGYV
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles

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Abstract

The invention relates to an optimum integration control method of a plug-in parallel hybrid electric vehicle. In the method, optimum control can be carried out on engine output torque, motor output torque and transmission shift in real time according to the vehicle speed, the driving requirement torque of the vehicle and the charge state value of a storage battery at any sampling moment, thereby the comprehensive control of an engine, a motor and an automatic transmission is realized under the driving working condition. By adopting the control method, the engine can work along an optimum fuel economy curve, the motor works in a higher efficiency area, and the comprehensive integration optimum control of a power system is realized.

Description

The optimum integration control method of plug-in hybrid-power automobile
Technical field
The present invention relates to a kind of plug-in hybrid-power automobile optimum integration control method of (Plug-in Hybrid Electric Vehicle is called for short PHEV), particularly adopt the control method of the parallel structure PHEV of step type automatic transmission with hydraulic torque converter.
Background technology
The controlled target of hybrid vehicle makes driving engine also make electrical motor work in efficient district as far as possible along optimal fuel economy curve motion, while, the complex optimum of realization power system.The prius of Toyota hybrid vehicle can make driving engine along the optimal fuel economy curve motion, is planetary power splitting mechanism because its adopts, and mechanism is complicated and to the having relatively high expectations of control accuracy, adopt both at home and abroad this structure and few.Current, adopt step type self-shifting parallel type hybrid dynamic structure applications comparatively extensive, the step type automatic speed changing generally includes electric-controlled mechanical and double-clutch automatic transmission, but engine output power direct drive wheel in this structure, reduced the number of times that mechanical energy and electric energy are changed mutually, improved the efficient of power system.By now, control research to equipment step type self-shifting parallel type hybrid dynamic automobile is more, specifically comprise the control of Motronic control maps throttle, motor output torque and transmission gear, the method that adopts mainly comprises control policy, fuzzy control method, Adaptive Neuro-fuzzy Inference, torque operating strategy and the co-operative control algorithm etc. based on speed, and above control method fails to make driving engine along the optimum efficiency curve driving; Patent (application number: 200810097623X) by adjusting to electronic throttle of engine aperture and transmission gear, can make driving engine along the optimal fuel economy curve motion, but this control method is not optimized the work efficiency of electrical motor, although the operating efficiency of driving engine is higher, but under some combination drive operating mode the rate of load condensate of electrical motor may be very low, the work efficiency that reduced whole power system, fail to realize the complex optimum control of power system.
Summary of the invention
In order to overcome the above problems, the invention provides the optimum integration control method of a kind of parallel structure PHEV, this PHEV adopts five speed automatic transmissions, driving engine and motor power to be coupled before change-speed box, this method be mainly used in the acceleration pedal aperture greater than zero operating mode, vehicular drive torque this moment greater than zero.Safety factor is more, the control process when this method does not comprise the regenerative brake operating mode because regenerative brake relates to.This method is according to the demand torque and storage battery state-of-charge value (the State of Charge of the speed of a motor vehicle, vehicular drive, abbreviation SOC) variation, output torque, motor output torque and transmission gear by reasonable adjustment driving engine, make driving engine have higher rate of load condensate along best economy curve motion, motor, optimize driving engine and electrical efficiency simultaneously, realize the comprehensive optimal control of power system.In the power torque assigning process, this control method is preferentially used the operating mode of driving engine and electrical motor combination drive, has both optimized the work efficiency of driving engine and electrical motor, has improved the continual mileage of vehicle again.
The step of this method is:
1) determine the kind of input and output parameter, and the method for designing of state of a control parameter;
2), design the concrete control method of each output parameter according to the input parameter and the state of a control parameter of arbitrary sampling instant.
The kind of described input and output parameter, and the state of a control parameter design program as follows:
Input parameter comprises the demand torque t_r and the storage battery SOC of speed of a motor vehicle v, vehicular drive; Output parameter comprises engine output torque, motor output torque and transmission gear.In output parameter, can calculate the Motronic control maps accelerator open degree according to the corresponding relation of torque and throttle in the best fuel oil curve of driving engine; According to the output torque and the rotating speed of motor, calculate the horsepower output of motor.
The state of a control parameter is the size according to arbitrary sampling instant speed of a motor vehicle, the t1 when interpolation is determined this speed of a motor vehicle, t2, t3, t4, t5, p_1, p_2, p_3, p_4, p_5, t_we1, t_we2, t_we3, t_we4, t_we5, t_wm1, t_wm2, t_wm3, t_wm4, t_wm5, pm1, pm2, pm3, pm4, pm5; Except above parameter, the state of a control parameter also comprises the driving demand power p_r of arbitrary sampling instant, and p_r equals the product of t_r and vehicle wheel rotational speed.T1, t2, t3, t4, t5 represent that respectively change-speed box is in one, two, three, four, five retainings, when driving engine runs on the optimal fuel economy curve, driving engine is passed to the torque numerical value at wheel place; P_1, p_2, p_3, p_4, p_5 represent that respectively change-speed box is in one, two, three, four, five retainings, when driving engine runs on the optimal fuel economy curve, driving engine is passed to the magnitude of power at wheel place; T_we1, t_we2, t_we3, t_we4, t_we5 represent that respectively change-speed box is in one, two, three, four, five retainings, when driving engine runs on full-throttle characteristics, driving engine is passed to the torque numerical value at wheel place; T_wm1, t_wm2, t_wm3, t_wm4, t_wm5 represent that respectively change-speed box is in one, two, three, four, five retainings, and motor during along the torque rating curve motion, motor are passed to the torque numerical value at wheel place; Pm1, pm2, pm3, pm4, pm5 represent that respectively change-speed box is in one, two, three, four, five retainings, and motor during along the rating horsepower curve motion, motor are passed to the magnitude of power at wheel place.
T1, t2, t3, t4, t5 designs program as follows:
1)i＝1；
2)j＝1；
3)n＝ne(j)；
4) concern the torque te when interpolation obtains real-time rotation speed n with change in rotational speed according to torque in the driving engine optimal fuel economy curve;
5)v(i，j)＝0.377×n×r/ig(i)，te1(i，j)＝te×ig(i)；
6)j＝j+1，n＝ne(j)；
7) judge n≤nmax; Be to return the 3rd) step;
8) not, i=i+1;
9) judge i≤imax; Be to return the 2nd) step;
10) not, vv1 (i, j)=[zeros (5,1), v (:, 1), v, v (:, ((nmax-ne (1))/jg+1)), vmax * ones (5,1)]; Tte1 (i, j)=[zeros (5,2), te1, zeros (5,2)]; Array vv1 and tte1 have been Duoed four row than array v and te1;
11) according to first line data of vv1 and first line data of tte1, the t1 when interpolation is determined the real-time speed of a motor vehicle; According to second line data of vv1 and second line data of tte1, the t2 when interpolation is determined the real-time speed of a motor vehicle; In like manner, according to vv1 and tte1 third and fourth, five-element's data, can determine t3, t4, t5.Concrete interpolation method is decided according to use software, for example can use the look-up numerical table to obtain in MATLAB/Simulink.
Wherein, n represents engine speed; Ne represents the rotating speed array of driving engine when the city operating mode is moved, and is at interval from 1000r/min to 4000r/min, with jg, usually jg=10r/min; J numerical value of ne (j) expression rotating speed array ne; Ig represents the transmission gear ratio array, be 1～5 retaining number ratio size, comprised the product with base ratio; V represents speed of a motor vehicle array, and line number equals the transmission gear figure place, and columns equals the number of array ne, and first～five-element represent the corresponding speed of a motor vehicle that change-speed box places 1～5 retaining, obtains according to the data of ne; V (i, the numerical value that j) expression array v i is capable, j is listed as; Under the different gears of te1 array representation, driving engine is passed to the numerical value of wheel place torque during along the optimal fuel economy curve motion, line number equals the number that transmission gear figure place, columns equal array ne, and first～five-element represent that change-speed box places 1～5 retaining, driving engine was passed to the torque at wheel place when rotating speed was each numerical value of ne; Te1 (i, the numerical value that j) expression array te1 i is capable, j is listed as; R represents radius of wheel; Nmax represents the maximum speed of revolution of driving engine when the city operating mode is moved, and is generally 4000r/min; Imax represents the transmission gear number, equals 5; Vv1 represents speed of a motor vehicle array; Tte1 represents the torque array.In the 10th step, zeros (5,1), zeros (5,2) and ones (5,1) represent 0 matrix of 5 row 1 row, 0 matrix of 5 row, 2 row and 1 matrix of 5 row, 1 row respectively, v (:, 1) and v (:, ((nmax-ne (1))/jg+1)) is represented respectively to be listed as the new array of 5 row, 1 row of forming by first row of array v and last, and vmax represents maximum speed, and intermediate car is generally 200km/h.* ,/,+,=,≤respectively expression multiply by, divided by, add, equal, smaller or equal to.
P_1, p_2, p_3, p_4, designing program of p_5 is as follows:
1)i＝1；
2)j＝1；
3)n＝ne(j)；
4) concern the power pe when interpolation obtains rotation speed n with change in rotational speed according to power in the driving engine optimal fuel economy curve;
5)v(i，j)＝0.377×n×r/ig(i)，pe1(i，j)＝pe；
6)j＝j+1，n＝ne(j)；
7) judge n≤nmax; Be to return the 3rd) step;
8) not, i=i+1;
9) judge i≤imax; Be to return the 2nd) step;
10) not, vv2 (i, j)=[zeros (5,1), v (:, 1), v, v (:, ((nmax-ne (1))/jg+1)), vmax * ones (5,1)]; Ppe1 (i, j)=[zeros (5,2), pe1, zeros (5,2)]; Array vv2 and ppe1 have been Duoed four row than array v and pe1;
11) according to first line data of vv2 and first line data of ppe1, the p_1 when interpolation is determined the real-time speed of a motor vehicle; According to second line data of vv2 and second line data of ppe1, the p_2 when interpolation is determined the real-time speed of a motor vehicle; In like manner, can determine p_3, p_4, p_5.
Wherein, under the different gears of pe1 array representation, driving engine is passed to the numerical value of wheel place power during along the optimal fuel economy curve motion, line number equals the transmission gear figure place, columns equals the number of array ne, and first～five-element represent that change-speed box places 1～5 retaining, driving engine was passed to the power at wheel place when rotating speed was each numerical value of ne; Vv2 represents speed of a motor vehicle array; Ppe1 represents the power array; Other parameter-definition and t1, t2, t3, t4, the definition during t5 designs program is identical.
T_we1, t_we2, t_we3, t_we4, designing program of t_we5 is as follows:
1)i＝1；
2)j＝1；
3)n＝ne(j)；
4) torque concerns with change in rotational speed according to the engine test bench characteristic curve, the torque tw when interpolation obtains rotation speed n;
5)v(i，j)＝0.377×n×r/ig(i)，t(i，j)＝tw×ig(i)；
6)j＝j+1，n＝ne(j)；
7) judge n≤nmax; Be to return the 3rd) step;
8) not, i=i+1;
9) judge i≤imax; Be to return the 2nd) step;
10) not, vv3 (i, j)=[zeros (5,1), v (:, 1), v, v (:, ((nmax-ne (1))/jg+1)), vmax * ones (5,1)]; Tt (i, j)=[zeros (5,2), t, zeros (5,2)]; Array vv3 and tt have been Duoed four row than array v and t;
11) according to first line data of vv3 and first line data of tt, the t_we1 when interpolation is determined the real-time speed of a motor vehicle; According to second line data of vv3 and second line data of tt, the t_we2 when interpolation is determined the real-time speed of a motor vehicle; In like manner, can determine t_we3, t_we4, t_we5.
Wherein, under the different gears of t array representation, driving engine is passed to the numerical value of wheel place torque when full-throttle characteristics is worked, line number equals the transmission gear figure place, columns equals the number of array ne, and first～five-element represent that change-speed box places 1～5 retaining, driving engine was passed to the torque at wheel place when rotating speed was each numerical value of ne; Vv3 represents speed of a motor vehicle array; Tt represents the torque array; Other parameter-definition and t1, t2, t3, t4, the definition during t5 designs program is identical.
Pm1, pm2, pm3, pm4, designing program of pm5 is as follows:
1)i＝1；
2)j＝1；
3)n1＝nm(j)；
4) according to the rating horsepower curve of electrical motor, the power pm when interpolation obtains rotation speed n 1;
5)v(i，j)＝0.377×n1×r/ig(i)；p(i，j)＝pm；
6)j＝j+1；n1＝nm(j)；
7) judge n1≤nmmax; Be to return the 3rd) step;
8) not, i=i+1;
9) judge i≤imax; Be to return the 2nd) step;
10) not, vv4 (i, j)=[zeros (5,1), v (:, 1), v, v (:, ((nmmax-nm (1))/jg+1)), vmax * ones (5,1)]; Pp (i, j)=[zeros (5,2), p, zeros (5,2)]; Array vv and pp have been Duoed four row than array v and p;
11) according to first line data of vv4 and first line data of pp, the pm1 when interpolation is determined the real-time speed of a motor vehicle; According to second line data of vv4 and second line data of pp, the pm2 when interpolation is determined the real-time speed of a motor vehicle; In like manner, can determine pm3, pm4, pm5.
Wherein, n1 represents motor speed; Nm represents the rotating speed array of motor when the city operating mode is moved, and is at interval from 1000r/min to 4000r/min, with jg, usually jg=10r/min; V represents speed of a motor vehicle array, and line number equals the transmission gear figure place, and columns equals the number of array nm, and first～five-element represent the corresponding speed of a motor vehicle that change-speed box places 1～5 retaining, obtains according to the data of nm; Electrical motor is passed to the numerical value of wheel place power during p array representation difference gear, line number equals the transmission gear figure place, columns equals the number of array nm, and first～five-element represent that change-speed box places 1～5 retaining, motor was passed to the torque at wheel place when rotating speed was each numerical value of nm; Nmmax represents the maximum speed of revolution of motor when the city operating mode is moved, and is generally 4000r/min; Vv4 represents speed of a motor vehicle array; Pp represents the power array; Other parameter-definition and t1, t2, t3, t4, the definition during t5 designs program is identical.
T_wm1, t_wm2, t_wm3, t_wm4, designing program of t_wm5 is as follows:
1)i＝1；
2)j＝1；
3)n1＝nm(j)；
4) according to electrical motor torque rating curve, the torque tm when interpolation obtains rotation speed n 1;
5)v(i，j)＝0.377×n1×r/ig(i)；tmm(i，j)＝tm×ig(i)；
6)j＝j+1；n1＝nm(j)；
7) judge n1≤nmmax; Be to return the 3rd) step;
8) not, i=i+1;
9) judge i≤imax; Be to return the 2nd) step;
10) not, vv5 (i, j)=[zeros (5,1), v (:, 1), v, v (:, ((nmmax-nm (1))/jg+1)), vmax * ones (5,1)]; Ttmm (i, j)=[zeros (5,2), tmm, zeros (5,2)]; Array vv5 and ttmm have been Duoed four row than array v and tmm;
11) according to first line data of vv5 and first line data of ttmm, the t_wm1 when interpolation is determined the real-time speed of a motor vehicle; According to second line data of vv5 and second line data of ttmm, the t_wm2 when interpolation is determined the real-time speed of a motor vehicle; In like manner, can determine t_wm3, t_wm4, t_wm5.
Wherein, under the different gears of ttmm array representation, electrical motor is passed to the numerical value of wheel place torque when the torque rating curve is worked, line number equals the transmission gear figure place, columns equals the number of array nm, and first～five-element represent that change-speed box places 1～5 retaining, motor was passed to the torque at wheel place when rotating speed was each numerical value of nm; Vv5 represents speed of a motor vehicle array; Ttmm represents the torque array.Other parameter-definition and t1, t2, t3, t4, t5 design program and pm1, pm2, pm3, pm4, the definition during pm5 designs program is identical.
The concrete control method of described each output parameter is as follows:
Is 1) condition 1 set up? be to call subfunction 3;
2) not, is condition 2 set up? be to call subfunction 8;
3) not, is condition 3 set up? be to call subfunction 16;
4) not, is condition 4 set up? be to call subfunction 27;
5) not, is condition 5 set up? be to call subfunction 41;
6) not, is condition 6 set up? be to call subfunction 55;
7) not, is condition 7 set up? be to call subfunction 66;
8) not, is condition 8 set up? be to call subfunction 77;
9) not, is condition 9 set up? be to call subfunction 85;
10) not, is condition 10 set up? be to call subfunction 90;
11), do not finish.
Condition 1 expression t1=0 and t2=0 and t3=0 and t4=0 and t5=0; Condition 2 expression t1＞0 and t2=0 and t3=0 and t4=0 and t5=0; Condition 3 expression t1＞0 and t2＞0 and t3=0 and t4=0 and t5=0; Condition 4 expression t1＞0 and t2＞0 and t3＞0 and t4=0 and t5=0; Condition 5 expression t1＞0 and t2＞0 and t3＞0 and t4＞0 and t5=0; Condition 6 expression t1=0 and t2＞0 and t3＞0 and t4＞0 and t5＞0; Condition 7 expression t1=0 and t2=0 and t3＞0 and t4＞0 and t5＞0; Condition 8 expression t1=0 and t2＞0 and t3＞0 and t4＞0 and t5=0; Condition 9 expression t1=0 and t2=0 and t3=0 and t4＞0 and t5＞0; Condition 10 expression t1=0 and t2=0 and t3=0 and t4=0 and t5＞0.Because petrolic preferable operating range is between 1000～4000r/min, according to current common transmission gear ratio, condition 1 is t1 to 10 kinds of array modes of condition 10, t2, t3, t4, the array mode that t5 is common; If what adopt is diesel motor, because its commentaries on classics maximum speed of revolution is less, t1, t2, t3, t4, the array mode of t5 is with top different, but basic controlling thought is identical.
Being expressed as follows of each function:
Subfunction 1:
1) t_wm5 〉=t_r? be g=5, t_m=t_r, t_e=0;
2) not, t_wm4 〉=t_r? be g=4, t_m=t_r, t_e=0;
3) not, t_wm3 〉=t_r? be g=3, t_m=t_r, t_e=0;
4) not, t_wm2 〉=t_r? be g=2, t_m=t_r, t_e=0;
5) not, g=1, t_m=t_r, t_e=0.
Subfunction 2:
1) t_we5 〉=t_r? be g=5, t_m=0, t_e=t_r;
2) not, t_we4 〉=t_r? be g=4, t_m=0, t_e=t_r;
3) not, t_we3 〉=t_r? be g=3, t-m=0, t_e=t_r;
4) not, t_we2 〉=t_r? be g=2, t_m=0, t_e=t_r;
5) not, g=1, t_m=0, t_e=t_r.
Subfunction 3:
1) SOC 〉=C? be to call subfunction 1; 2) not, SOC 〉=A?, do not call subfunction 2;
3) be dsoc≤0? be to call subfunction 1; 4) not, call subfunction 2.
Subfunction 4:
1) (p_r-p_1) 〉=pm1 * bfb? be g=1, t_m=(t_r-t1), t_e=t1;
2) not, pm1 〉=p_r? be to call subfunction 1; 3) not, call subfunction 2.
Subfunction 5:
1) SOC 〉=C? be to call subfunction 4; 2) not, SOC 〉=A?, do not call subfunction 2;
3) be dsoc≤0?, do not call subfunction 2; 4) be to call subfunction 4.
Subfunction 6:
1) (p_1-p_r) 〉=pm1 * bfb? be g=1, t_m=(t_r-t1), t_e=t1;
2) not, call subfunction 2;
Subfunction 7:
1) SOC 〉=A?, do not call subfunction 6; 2) be dsoc≤0?, do not call subfunction 6;
3) be to call subfunction 1.
Subfunction 8:
1) t_r 〉=t1? be to call subfunction 5; 2) not, SOC 〉=C?, do not call subfunction 7;
3) be to call subfunction 1.
Subfunction 9:
1) (p_r-p_2) 〉=pm2? not, g=2, t_m=(t_r-t2), t_e=t2;
2) be, (p_r-p_1) 〉=pm1 * bfb? be g=1, t_m=(t_r-t1), t_e=t1;
3) not, pm1 〉=p_r? be to call subfunction 1;
4) not, call subfunction 2.
Subfunction 10:
1) SOC 〉=C? be to call subfunction 9; 2) not, SOC 〉=A?, do not call subfunction 2;
3) be dsoc≤0?, do not call subfunction 2; 4) be to call subfunction 9.
Subfunction 11:
1) (p_1-p_r) 〉=pm1? not, g=1, t_m=(t_r-t1), t_e=t1;
2) be, (p_2-p_r) 〉=pm2 * bfb? be g=2, t_m=(t_r-t2), t_e=t2;
3) not, call subfunction 2.
Subfunction 12:
1) SOC 〉=C? be to call subfunction 1; 2) not, SOC 〉=A?, do not call subfunction 11;
3) be dsoc≤0?, do not call subfunction 11; 4) be to call subfunction 1.
Subfunction 13:
1) (p_r-p_2) 〉=pm2 * bfb? be g=2, t_m=(t_r-t2), t_e=t2;
2) not, pm1 〉=p_r? be to call subfunction 1; 3) not, call subfunction 2.
Subfunction 14:
1) (p_1-p_r) 〉=pm1 * bfb? be g=1, t_m=(t_r-t1), t_e=t1;
2) not, call subfunction 2.
Subfunction 15:
1) SOC 〉=C? be to call subfunction 13; 2) not, SOC 〉=A?, do not call subfunction 14;
3) be dsoc≤0?, do not call subfunction 14; 4) be to call subfunction 13.
Subfunction 16:
1) t_r 〉=t1? be to call subfunction 10; 2) not, t_r＜t2? be to call subfunction 12;
3) not, call subfunction 15.
Subfunction 17:
1) (p_r-p_3) 〉=pm3? not, g=3, t_m=(t_r-t3), t_e=t3;
2) do you be (p_r-p 2) 〉=pm2? not, g=2, t_m=(t_r-t2), t_e=t2;
3) be, (p_r-p_1) 〉=pm1 * bfb? be g=1, t_m=(t_r-t1), t_e=t1;
4) not, pm1 〉=p_r? be to call subfunction 1; 5) not, call subfunction 2.
Subfunction 18:
1) SOC 〉=C? be to call subfunction 17; 2) not, SOC 〉=A?, do not call subfunction 2;
3) be dsoc≤0?, do not call subfunction 2; 4) be to call subfunction 17.
Subfunction 19:
1) (p_r-p_3) 〉=pm3? not, g=3, t_m=(t_r-t3), t_e=t3;
2) be, (p_r-p_2) 〉=pm2 * bfb? be g=2, t_m=(t_r-t2), t_e=t2;
3) not, pm1 〉=p_r? be to call subfunction 1; 4) not, call subfunction 2.
Subfunction 20:
1) (p_1-p_r) 〉=pm1 * bfb? be g=1, t_m=(t_r-t1), t_e=t1;
2) not, call subfunction 2.
Subfunction 21:
1) SOC 〉=C? be to call subfunction 19; 2) not, SOC 〉=A?, do not call subfunction 20;
3) be dsoc≤0?, do not call subfunction 20; 4) be to call subfunction 19.
Subfunction 22:
1) (p_r-p_3) 〉=pm3 * bfb? be g=3, t_m=(t_r-t3), t_e=t3;
2) not, p_m1 〉=p_r? be to call subfunction 1; 3) not, call subfunction 2.
Subfunction 23:
1) (p_1-p_r) 〉=pm1? not, g=1, t_m=(t_r-t1), t_e=t1;
2) be, (p_2-p_r) 〉=pm2 * bfb? be g=2, t_m=(t_r-t2), t_e=t2;
3) not, call subfunction 2.
Subfunction 24:
1) SOC 〉=C? be to call subfunction 22; 2) not, SOC 〉=A?, do not call subfunction 23;
3) be dsoc≤0?, do not call subfunction 23; 4) be to call subfunction 22.
Subfunction 25:
1) (p_1-p_r) 〉=pm1? not, g=1, t_m=(t_r-t1), t_e=t1;
2) be, (p_2-p_r) 〉=pm2? not, g=2, t_m=(t_r-t2), t_e=t2;
3) be, (p_3-p_r) 〉=pm3 * bfb? be g=3, t_m=(t_r-t3), t_e=t3;
4) not, call subfunction 2.
Subfunction 26:
1) SOC 〉=C? be to call subfunction 1; 2) not, SOC 〉=A?, do not call subfunction 25;
3) be dsoc≤0?, do not call subfunction 25; 4) be to call subfunction 1.
Subfunction 27:
1) t_r 〉=t1? be to call subfunction 18; 2) not, t_r 〉=t2? be to call subfunction 21;
3) not, t_r 〉=t3? be to call subfunction 24; 4) not, call subfunction 26.
Subfunction 28:
1) (p_r-p_4) 〉=pm4? not, g=4, t_m=(t_r-t4), t_e=t4;
2) be, (p_r-p_3) 〉=pm3? not, g=3, t_m=(t_r-t3), t_e=t3;
3) be, (p_r-p_2) 〉=pm2? not, g=2, t_m=(t_r-t2), t_e=t2;
4) be, (p_r-p_1) 〉=pm1 * bfb? be g=1, t_m=(t_r-t1), t_e=t1;
5) not, pm1 〉=p_r? be to call subfunction 1; 6) not, call subfunction 2.
Subfunction 29:
1) SOC 〉=C? be to call subfunction 28; 2) not, SOC 〉=A?, do not call subfunction 2;
3) be dsoc≤0?, do not call subfunction 2; 4) be to call subfunction 28.
Subfunction 30:
1) (p_r-p_4) 〉=pm4? not, g=4, t_m=(t_r-t4), t_e=t4;
2) be, (p_r-p_3) 〉=pm3? not, g=3, t_m=(t_r-t3), t_e=t3;
3) be, (p_r-p_2) 〉=pm2 * bfb? be g=2, t_m=(t_r-t2), t_e=t2;
4) not, pm1 〉=p_r? be to call subfunction 1; 5) not, call subfunction 2.
Subfunction 31:
1) (p_1-p_r) 〉=pm1 * bfb? be g=1, t_m=(t_r-t1), t_e=t1;
2) not, call subfunction 2.
Subfunction 32:
1) SOC 〉=C? be to call subfunction 30; 2) not, SOC 〉=A?, do not call subfunction 31;
3) be dsoc≤0?, do not call subfunction 31; 4) be to call subfunction 30.
Subfunction 33:
1) (p_r-p_4) 〉=pm4? not, g=4, t_m=(t_r-t4), t_e=t4;
2) be, (p_r-p_3) 〉=pm3 * bfb? be g=3, t_m=(t_r-t3), t_e=t3;
3) not, pm1 〉=p_r? be to call subfunction 1; 4) not, call subfunction 2.
Subfunction 34:
1) (p_1-p_r) 〉=pm1? not, g=1, t_m=(t_r-t1), t_e=t1;
2) be, (p_2-p_r) 〉=pm2 * bfb? be g=2, t_m=(t_r-t2), t_e=t2;
3) not, call subfunction 2.
Subfunction 35:
1) SOC 〉=C? be to call subfunction 33; 2) not, SOC 〉=A?, do not call subfunction 34;
3) be dsoc≤0?, do not call subfunction 34; 4) be to call subfunction 33.
Subfunction 36:
1) (p_r-p_4) 〉=pm4 * bfb? be g=4, t_m=(t_r-t4), t_e=t4;
2) not, pm1 〉=p_r? be to call subfunction 1; 3) not, call subfunction 2.
Subfunction 37:
1) (p_1-p_r) 〉=pm1? not, g=1, t_m=(t_r-t1), t_e=t1;
2) be, (p_2-p_r) 〉=pm2? not, g=2, t_m=(t_r-t2), t_e=t2;
3) be, (p_3-p_r) 〉=pm3 * bfb? be g=3, t_m=(t_r-t3), t_e=t3;
4) not, call subfunction 2.
Subfunction 38:
1) SOC 〉=C? be to call subfunction 36; 2) not, SOC 〉=A?, do not call subfunction 37;
3) be dsoc≤0?, do not call subfunction 37; 4) be to call subfunction 36.
Subfunction 39:
1) (p_1-p_r) 〉=pm1? not, g=1, t_m=(t_r-t1), t_e=t1;
2) be, (p_2-p_r) 〉=pm2? not, g=2, t_m=(t_r-t2), t_e=t2;
3) be, (p_3-p_r) 〉=pm3? not, g=3, t_m=(t_r-t3), t_e=t3;
4) be, (p_4-p_r) 〉=pm4 * bfb? be g=4, t_m=(t_r-t4), t_e=t4;
5) not, call subfunction 2.
Subfunction 40:
1) SOC 〉=C? be to call subfunction 1; 2) not, SOC 〉=A?, do not call subfunction 39;
3) be dsoc≤0?, do not call subfunction 39; 4) be to call subfunction 1.
Subfunction 41:
1) t_r 〉=t1? be to call subfunction 29; 2) not, t_r 〉=t2? be to call subfunction 32;
3) not, t_r 〉=t3? be to call subfunction 35; 4) not, t_r 〉=t4? be to call subfunction 38;
5) not, call subfunction 40.
Subfunction 42:
1) (p_r-p_5) 〉=pm5? not, g=5, t_m=(t_r-t5), t_e=t5;
2) be, (p_r-p_4) 〉=pm4? not, g=4, t_m=(t_r-t4), t_e=t4;
3) be, (p_r-p_3) 〉=pm3? not, g=3, t_m=(t_r-t3), t_e=t3;
4) be, (p_r-p_2) 〉=pm2 * bfb? be g=2, t_m=(t_r-t2), t_e=t2;
5) not, pm2 〉=p_r? be to call subfunction 1; 6) not, call subfunction 2.
Subfunction 43:
1) SOC 〉=C? be to call subfunction 42; 2) not, SOC 〉=A?, do not call subfunction 2;
3) be dsoc≤0?, do not call subfunction 2; 4) be to call subfunction 42.
Subfunction 44:
1) (p_r-p_5) 〉=pm5? not, g=5, t_m=(t_r-t5), t_e=t5;
2) be, (p_r-p_4) 〉=pm4? not, g=4, t_m=(t_r-t4), t_e=t4;
3) be, (p_r-p_3) 〉=pm3 * bfb? be g=3, t_m=(t_r-t3), t_e=t3;
4) not, pm2 〉=p_r? be to call subfunction 1; 5) not, call subfunction 2.
Subfunction 45:
1) (p_2-p_r) 〉=pm2 * bfb? be g=2, t_m=(t_r-t2), t_e=t2;
2) not, call subfunction 2.
Subfunction 46:
1) SOC 〉=C? be to call subfunction 44; 2) not, SOC 〉=A?, do not call subfunction 45;
3) be dsoc≤0?, do not call subfunction 45; 4) be to call subfunction 44.
Subfunction 47:
1) (p_r-p_5) 〉=pm5? not, g=5, t_m=(t_r-t5), t_e=t5;
2) be, (p_r-p_4) 〉=pm4 * bfb? be g=4, t_m=(t_r-t4), t_e=t4;
3) not, pm2 〉=p_r? be to call subfunction 1; 4) not, call subfunction 2.
Subfunction 48:
1) (p_2-p_r) 〉=pm2? not, g=2, t_m=(t_r-t2), t_e=t2;
2) be, (p_3-p_r) 〉=pm3 * bfb? be g=3, t_m=(t_r-t3), t_e=t3;
3) not, call subfunction 2.
Subfunction 49:
1) SOC 〉=C? be to call subfunction 47; 2) not, SOC 〉=A?, do not call subfunction 48;
3) be dsoc≤0?, do not call subfunction 48; 4) be to call subfunction 47.
Subfunction 50:
1) (p_r-p_5) 〉=pm5 * bfb? be g=5, t_m=(t_r-t5), t_e=t5;
2) not, pm2 〉=p_r? be to call subfunction 1; 3) not, call subfunction 2.
Subfunction 51:
1) (p_2-p_r) 〉=pm2? not, g=2, t_m=(t_r-t2), t_e=t2;
2) be, (p_3-p_r) 〉=pm3? not, g=3, t_m=(t_r-t3), t_e=t3;
3) be, (p_4-p_r) 〉=pm4 * bfb? be g=4, t_m=(t_r-t4), t_e=t4;
4) not, call subfunction 2.
Subfunction 52:
1) SOC 〉=C? be to call subfunction 50; 2) not, SOC 〉=A?, do not call subfunction 51;
3) be dsoc≤0?, do not call subfunction 51; 4) be to call subfunction 50;
Subfunction 53:
1) (p_2-p_r) 〉=pm2? not, g=2, t_m=(t_r-t2), t_e=t2;
2) be, (p_3-p_r) 〉=pm3? not, g=3, t_m=(t_r-t3), t_e=t3;
3) be, (p_4-p_r) 〉=pm4? not, g=4, t_m=(t_r-t4), t_e=t4;
4) be, (p_5-p_r) 〉=pm5 * bfb? be g=5, t_m=(t_r-t5), t_e=t5;
5) not, call subfunction 2;
Subfunction 54:
1) SOC 〉=C? be to call subfunction 1; 2) not, SOC 〉=A?, do not call subfunction 53;
3) be dsoc≤0?, do not call subfunction 53; 4) be to call subfunction 1.
Subfunction 55:
1) t_r 〉=t2? be to call subfunction 43; 2) not, t_r 〉=t3? be to call subfunction 46;
3) not, t_r 〉=t4? be to call subfunction 49; 4) not, t_r 〉=t5? be to call subfunction 52;
5) not, call subfunction 54.
Subfunction 56:
1) (p_r-p_5) 〉=pm5? not, g=5, t_m=(t_r-t5), t_e=t5;
2) be, (p_r-p_4) 〉=pm4? not, g=4, t_m=(t_r-t4), t_e=t4;
3) be, (p_r-p_3) 〉=pm3 * bfb? be g=3, t_m=(t_r-t3), t_e=t3;
4) not, pm3 〉=p_r? be to call subfunction 1; 5) not, call subfunction 2.
Subfunction 57:
1) SOC 〉=C? be to call subfunction 56; 2) not, SOC 〉=A?, do not call subfunction 2;
3) be dsoc≤0?, do not call subfunction 2; 4) be to call subfunction 56.
Subfunction 58:
1) (p_r-p_5) 〉=pm5? not, g=5, t_m=(t_r-t5), t_e=t5;
2) be, (p_r-p_4) 〉=pm4 * bfb? be g=4, t_m=(t_r-t4), t_e=t4;
3) not, pm3 〉=p_r? be to call subfunction 1; 4) not, call subfunction 2.
Subfunction 59:
1) (p_3-p_r) 〉=pm3 * bfb? be g=3, t_m=(t_r-t3), t_e=t3;
2) not, call subfunction 2.
Subfunction 60:
1) SOC 〉=C? be to call subfunction 58; 2) not, SOC 〉=A?, do not call subfunction 59;
3) be dsoc≤0?, do not call subfunction 59; 4) be to call subfunction 58;
Subfunction 61:
1) (p_r-p_5) 〉=pm5 * bfb? be g=5, t_m=(t_r-t5), t_e=t5;
2) not, pm3 〉=p_r? be to call subfunction 1; 3) not, call subfunction 2;
Subfunction 62:
1) (p_3-p_r) 〉=pm3? not, g=3, t_m=(t_r-t3), t_e=t3;
2) be, (p_4-p_r) 〉=pm4 * bfb? be g=4, t_m=(t_r-t4), t_e=t4;
3) not, call subfunction 2.
Subfunction 63:
1) SOC 〉=C? be to call subfunction 61; 2) not, SOC 〉=A?, do not call subfunction 62;
3) be dsoc≤0?, do not call subfunction 62; 4) be to call subfunction 61.
Subfunction 64:
1) (p_3-p_r) 〉=pm3? not, g=3, t_m=(t_r-t3), t_e=t3;
2) be, (p_4-p_r) 〉=pm4? not, g=4, t_m=(t_r-t4), t_e=t4;
3) be, (p_5-p_r) 〉=pm5 * bfb? be g=5, t_m=(t_r-t5), t_e=t5;
4) not, call subfunction 2.
Subfunction 65:
1) SOC 〉=C? be to call subfunction 1; 2) not, SOC 〉=A?, do not call subfunction 64;
3) be dsoc≤0?, do not call subfunction 64; 4) be to call subfunction 1.
Subfunction 66:
1) t_r 〉=t3? be to call subfunction 57; 2) not, t_r 〉=t4? be to call subfunction 60;
3) not, t_r 〉=t5? be to call subfunction 63; 4) not, call subfunction 65.
Subfunction 67:
1) (p_r-p_4) 〉=pm4? not, g=4, t_m=(t_r-t4), t_e=t4;
2) be, (p_r-p_3) 〉=pm3? not, g=3, t_m=(t_r-t3), t_e=t3;
3) be, (p_r-p_2) 〉=pm2 * bfb? be g=2, t_m=(t_r-t2), t_e=t2;
4) not, pm2 〉=p_r? be to call subfunction 1; 5) not, call subfunction 2.
Subfunction 68:
1) SOC 〉=C? be to call subfunction 67; 2) not, SOC 〉=A?, do not call subfunction 2;
3) be dsoc≤0?, do not call subfunction 2; 4) be to call subfunction 67.
Subfunction 69:
1) (p_r-p_4) 〉=pm4? not, g=4, t_m=(t_r-t4), t_e=t4;
2) be, (p_r-p_3) 〉=pm3 * bfb? be g=3, t_m=(t_r-t3), t_e=t3;
3) not, p_m2 〉=p_r? be to call subfunction 1; 4) not, call subfunction 2.
Subfunction 70:
1) (p_2-p_r) 〉=pm2 * bfb? be g=2, t_m=(t_r-t2), t_e=t2;
2) not, call subfunction 2.
Subfunction 71:
1) SOC 〉=C? be to call subfunction 69; 2) not, SOC 〉=A?, do not call subfunction 70;
3) be dsoc≤0?, do not call subfunction 70; 4) be to call subfunction 69.
Subfunction 72:
1) (p_r-p_4) 〉=pm4 * bfb? be g=4, t_m=(t_r-t4), t_e=t4;
3) not, pm2 〉=p_r? be to call subfunction 1; 4) not, call subfunction 2.
Subfunction 73:
1) (p_2-p_r) 〉=pm2? not, g=2, t_m=(t_r-t2), t_e=t2;
2) be, (p_3-p_r) 〉=pm3 * bfb? be g=3, t_m=(t_r-t3), t_e=t3;
3) not, call subfunction 2.
Subfunction 74:
1) SOC 〉=C? be to call subfunction 72; 2) not, SOC 〉=A?, do not call subfunction 73;
3) be dsoc≤0?, do not call subfunction 73; 4) be to call subfunction 72.
Subfunction 75:
1) (p_2-p_r) 〉=pm2? not, g=2, t_m=(t_r-t2), t_e=t2;
2) be, (p_3-p_r) 〉=pm3? not, g=3, t_m=(t_r-t3), t_e=t3;
3) be, (p_4-p_r) 〉=pm4 * bfb? be g=4, t_m=(t_r-t4), t_e=t4;
4) not, call subfunction 2.
Subfunction 76:
1) SOC 〉=C? be to call subfunction 1; 2) not, SOC 〉=A?, do not call subfunction 75;
3) be dsoc≤0?, do not call subfunction 75; 4) be to call subfunction 1.
Subfunction 77:
1) t_r 〉=t2? be to call subfunction 68; 2) not, t_r 〉=t3? be to call subfunction 71;
3) not, t_r 〉=t4? be to call subfunction 74; 4) not, call subfunction 76.
Subfunction 78:
1) (p_r-p_5) 〉=pm5? not, g=5, t_m=(t_r-t5), t_e=t5;
2) be, (p_r-p_4) 〉=pm4 * bfb? be g=4, t_m=(t_r-t4), t_e=t4;
3) not, pm4 〉=p_r? be to call subfunction 1; 4) not, call subfunction 2.
Subfunction 79:
1) SOC 〉=C? be to call subfunction 78; 2) not, SOC 〉=A?, do not call subfunction 2;
3) be dsoc≤0?, do not call subfunction 2; 4) be to call subfunction 78.
Subfunction 80:
1) (p_4-p_r) 〉=pm4? not, g=4, t_m=(t_r-t4), t_e=t4;
2) be, (p_5-p_r) 〉=pm5 * bfb? be g=5, t_m=(t_r-t5), t_e=t5;
3) not, call subfunction 2.
Subfunction 81:
1) SOC 〉=C? be to call subfunction 1; 2) not, SOC 〉=A?, do not call subfunction 80;
3) be dsoc≤0?, do not call subfunction 80; 4) be to call subfunction 1.
Subfunction 82:
1) (p_r-p_5) 〉=pm5 * bfb? be g=5, t_m=(t_r-t5), t_e=t5;
2) not, pm4 〉=p_r? be to call subfunction 1; 3) not, call subfunction 2.
Subfunction 83:
1) (p_4-p_r) 〉=pm4 * bfb? be g=4, t_m=(t_r-t4), t_e=t4;
2) not, call subfunction 2.
Subfunction 84:
1) SOC 〉=C? be to call subfunction 82; 2) not, SOC 〉=A?, do not call subfunction 83;
3) be dsoc≤0?, do not call subfunction 83; 4) be to call subfunction 82.
Subfunction 85:
1) t_r 〉=t4? be to call subfunction 79; 2) not, t_r＜t5? be to call subfunction 81;
3) not, call subfunction 84.
Subfunction 86:
1) (p_r-p_5) 〉=pm5 * bfb? be g=5, t_m=(t_r-t5), t_e=t5;
2) not, pm5 〉=p_r? be to call subfunction 1; 3) not, call subfunction 2.
Subfunction 87:
1) SOC 〉=C? be to call subfunction 86; 2) not, SOC 〉=A?, do not call subfunction 2;
3) be dsoc≤0?, do not call subfunction 2; 4) be to call subfunction 86.
Subfunction 88:
1) (p_5-p_r) 〉=pm5 * bfb? be g=5, t_m=(t_r-t5), t_e=t5;
2) not, call subfunction 2.
Subfunction 89:
1) SOC 〉=A?, do not call subfunction 88; 2) be dsoc≤0?, do not call subfunction 88;
3) be to call subfunction 1.
Subfunction 90:
1) t_r 〉=t5? be to call subfunction 87;
2) not, SOC 〉=C?, do not call subfunction 89;
3) be to call subfunction 1.
Wherein, the driving demand torque (power) at a certain sampling instant wheel of t_r (p_r) expression place, p_r equals the product of t_r and vehicle wheel rotational speed; V represents the speed of a motor vehicle of a certain sampling instant; C represents the higher limit of energy maintenance stage SOC; A represents the lower limit of energy maintenance stage SOC; The rate of change of a certain sampling instant SOC of dsoc; G represents transmission gear; The output torque of t_m (t_e) a certain sampling instant motor of expression (driving engine), this numeric representation motor (driving engine) is passed to the numerical value of gearbox output end, the actual merchant that motor (driving engine) output torque equals this numerical value and g counts ratio; Bfb represents the minimum of the motor load rate stipulated, and the permagnetic synchronous motor value is 20%, and the value of asynchronous machine should be more than 50%; ≤ or≤expression smaller or equal to; 〉=or 〉=expression more than or equal to;=expression equals;＜expression less than;＞expression greater than; Other parameter is seen the definition of state of a control parameter.All adopting magnitude of power to judge in each subfunction condition, is the same with the essence that adopts torque to judge, mainly is to consider that power is easier to understand at expression motor load rate time ratio.
Superior effect of the present invention is: can be optimized control to engine output torque, motor output torque and transmission gear in real time according to the speed of a motor vehicle of arbitrary sampling instant, the torque of driving demand and the storage battery SOC of vehicle.This control method not only makes driving engine along the work of optimal fuel economy curve, and can make machine operation in higher efficiency area, has realized the comprehensive integration optimal control of power system.
Description of drawings
Fig. 1 is t1, t2, and t3, t4, definite block diagram of t5, each symbol is seen t1 in the summary of the invention among the figure, t2, t3, the explanation that t4, t5 design program.P_1, p_2, p_3, p_4, p_5; T_we1, t_we2, t_we3, t_we4, t_we5; T_wm1, t_wm2, t_wm3, t_wm4, t_wm5; Pm1, pm2, pm3, pm4, definite block diagram and Fig. 1 of pm5 are similar; Particularize no longer as space is limited.
Fig. 2 is the main program block diagram of control algorithm, and the control program of each subfunction is seen the concrete control method of each output parameter described in the summary of the invention.Because petrolic preferable operating range is between 1000～4000r/min, according to current common transmission gear ratio, condition 1 is t1 to 10 kinds of array modes of condition 10, t2, t3, t4, the array mode that t5 is common; If what adopt is diesel motor, because its commentaries on classics maximum speed of revolution is less, t1, t2, t3, t4, the array mode of t5 is with top different, but basic controlling thought is identical.
Control block diagram when Fig. 3 is condition 1 establishment, the i.e. concrete mode of subfunction 3.
Control block diagram when Fig. 4～Fig. 6 is condition 5 establishments, the i.e. concrete mode of subfunction 41.Control block diagram when all the other conditions are set up similarly, as space is limited, particularize no longer.
Fig. 7, Fig. 8 and Fig. 9 are the simulation result of a certain PHEV in the expenditure of energy stage.
Figure 10 is the simulation result of a certain PHEV in the energy maintenance stage.
The specific embodiment
According to the control process of a certain PHEV vehicle, the embodiment of this control method is described.
See also shown in the accompanying drawing, the invention will be further described.
PHEV belongs to parallel structure, adopts five speed automatic transmissions, and driving engine and motor power are coupled before change-speed box.The total mass m=1900kg of vehicle, aerodynamic drag factor C D=0.32, wind area A=2.28m 2, vehicle wheel roll radius r=0.31m, driving efficiency η T=0.9, coefficient of rolling resistance f=0.015; The rating horsepower of motor is 20kW, and maximum power is 57kW, and rated speed of rotation and maximum speed of revolution are respectively 2000 and 5500r/min; Maximum power output is 53kW; The rated voltage of storage battery and rated capacity are respectively 320V and 50Ah; The speed ratio of 1 to 5 retaining is respectively 4.044,2.178, and 1.488,1.038 and 0.703, base ratio is 3.2; The minimum bfb of this motor load rate is 20%; The A of this storage battery and C are 0.295 and 0.3.
Concrete steps are:
1) determine the kind of input and output parameter:
Input parameter is the demand torque t_r and the storage battery SOC of real-time speed of a motor vehicle v, vehicular drive; Output parameter is engine output torque, motor output torque and transmission gear.The algorithm that does not comprise demand torque t_r in this patent, but calculating reference literature (Zhou Lei, the Luo Yugong of t_r, Yang Diange, etc. the exploitation [J] of series parallel hybrid power power vehicle multi-energy power control system. mechanical engineering journal, 2007,43 (4), 125-131.) method of calculating in second page is asked for.
2) according to the size of arbitrary sampling instant speed of a motor vehicle, the state of a control parameter when determining this sampling instant:
According to designing program of each the state of a control parameter described in the summary of the invention, according to optimal fuel economy curve, engine test bench characteristic curve, motor torque rating and the horsepower curve of driving engine, cooresponding t1 in the time of can determining the real-time speed of a motor vehicle, t2, t3, t4, t5, p_1, p_2, p_3, p_4, p_5, t_we1, t_we2, t_we3, t_we4, t_we5, t_wm1, t_wm2, t_wm3, t_wm4, t_wm5, pm1, pm2, pm3, pm4, pm5, p_r.
3) according to main program control block diagram shown in Figure 2, can determine real-time engine output torque, motor output torque and transmission gear:
The control program of each subfunction is seen the concrete control method of each output parameter described in the summary of the invention among Fig. 2.This control method can realize the control to engine output torque, motor output torque and transmission gear according to the real-time speed of a motor vehicle v of arbitrary sampling instant, the demand torque t_r and the storage battery SOC of vehicular drive.Make driving engine along the optimal fuel economy curve motion, make electrical motor work in efficient district simultaneously, realize the integrated control of complex optimum of car load.
Based on MATLAB/Simulink software, according to the control block diagram of Fig. 2, built emulation platform, the performance of this PHEV has been carried out simulation calculation.
Fig. 7 is the simulation result of PHEV when the expenditure of energy stage, the city operating mode was travelled.In order to be easy to expression, the one-to-one relationship based on torque and throttle in the best fuel oil curve of driving engine according to engine output torque, can calculate the aperture of Motronic control maps throttle; According to motor output torque and rotating speed, can calculate the horsepower output of motor.From top to bottom first figure is the velocity curve of state of cyclic operation among Fig. 7, and second figure is the curve of motor horsepower output, and the 3rd figure is the change curve of Motronic control maps accelerator open degree; The 4th figure is the change curve of transmission gear, in the combination drive operating mode, by the automatically regulating of gear, guarantee driving engine run on optimal working point in, optimize the rate of load condensate of motor; In pure electronic operating mode, gear all is in the high gear operation in the most of the time, has improved the rate of load condensate of motor; The 5th figure is the change curve of storage battery SOC, except that the regenerative brake operating mode, expenditure of energy stage SOC continue to descend; The abscissa of five figure is all represented the time.Because the control method when not comprising regenerative brake, be defined in the braking procedure of city operating mode, if the speed of a motor vehicle greater than 15km/h, suppose 30% of the recyclable braking energy of battery, the speed of a motor vehicle is not implemented regenerative brake less than 15km/h, the information when the power of motor curve among second figure does not comprise regenerative brake.
Fig. 8 is the operation conditions of driving engine when the expenditure of energy stage, the city operating mode was travelled, wherein the heavy line of " * " composition is represented engine working point, hyperbola is represented the equipower curve of driving engine, the sub-circular curve represents to wait the fuel oil consumption rate curve, as seen from the figure in the whole working condition driving engine along the work of optimal fuel economy curve, realized the optimal control of driving engine.
Fig. 9 is the operating condition of motor when the expenditure of energy stage, the city operating mode was travelled, wherein " * " or represent the machine operation point by the heavy line that " * " forms, mark has 84%, 86% ..., 92% curve represents the electrical efficiency curve, the work efficiency of electrical motor is more than 84% during combination drive, the efficient of subregion is lower but also greater than 50%, realized that motor runs on the controlled target in higher work efficiency zone during the electrical motor independent drive.(application number: 200810097623X) compare, this control method not only makes driving engine along the work of optimal fuel economy curve, and can make machine operation in higher work efficiency district, has realized the comprehensive integration optimal control of power system with patent.
Figure 10 is the simulation result of PHEV when the energy maintenance stage, the city operating mode was travelled, the same Fig. 7 of the implication of each bar curve.By the motor output power curve as can be known, motor portion runs on electrical generator operating mode, horsepower output for negative, so that the SOC curve moves between 0.295～0.3 in the time.The motor horsepower output is all between-20～20kW in the whole working condition, and during combination drive rate of load condensate all greater than 20%, guaranteed the operating efficiency of motor.In a small amount of time period, exist pure engine-driven operating mode, if if this moment machine operation, its rate of load condensate less than 20%, efficiency of motor is very low, can reduce overall system efficiency on the contrary, lose more than gain.

Claims (3)

1. the optimum integration control method of a plug-in hybrid-power automobile is characterized in that:
The step of this method is:
1) determine the kind of input and output parameter, and the method for designing of state of a control parameter;
2), design the concrete control method of each output parameter according to the input parameter and the state of a control parameter of arbitrary sampling instant.
2. by the optimum integration control method of the described a kind of plug-in hybrid-power automobile of claim 1, it is characterized in that:
The kind of described input and output parameter, and the state of a control parameter design program as follows:
Input parameter comprise the demand torque t_r of speed of a motor vehicle v, vehicular drive and storage battery state-of-charge value (State ofCharge, SOC); Output parameter comprises engine output torque, motor output torque and transmission gear.In output parameter, can calculate the Motronic control maps accelerator open degree according to the corresponding relation of torque and throttle in the best fuel oil curve of driving engine; According to the output torque and the rotating speed of motor, calculate the horsepower output of motor.
The state of a control parameter is the size according to arbitrary sampling instant speed of a motor vehicle, the t1 when interpolation is determined this speed of a motor vehicle, t2, t3, t4, t5, p_1, p_2, p_3, p_4, p_5, t_we1, t_we2, t_we3, t_we4, t_we5, t_wm1, t_wm2, t_wm3, t_wm4, t_wm5, pm1, pm2, pm3, pm4, pm5; Except above parameter, the state of a control parameter also comprises the driving demand power p_r of arbitrary sampling instant, and p_r equals the product of t_r and vehicle wheel rotational speed.T1, t2, t3, t4, t5 represent that respectively change-speed box is in one, two, three, four, five retainings, when driving engine runs on the optimal fuel economy curve, driving engine is passed to the torque numerical value at wheel place; P_1, p_2, p_3, p_4, p_5 represent that respectively change-speed box is in one, two, three, four, five retainings, when driving engine runs on the optimal fuel economy curve, driving engine is passed to the magnitude of power at wheel place; T_we1, t_we2, t_we3, t_we4, t_we5 represent that respectively change-speed box is in one, two, three, four, five retainings, when driving engine runs on full-throttle characteristics, driving engine is passed to the torque numerical value at wheel place; T_wm1, t_wm2, t_wm3, t_wm4, t_wm5 represent that respectively change-speed box is in one, two, three, four, five retainings, and motor during along the torque rating curve motion, motor are passed to the torque numerical value at wheel place; Pm1, pm2, pm3, pm4, pm5 represent that respectively change-speed box is in one, two, three, four, five retainings, and motor during along the rating horsepower curve motion, motor are passed to the magnitude of power at wheel place.
T1, t2, t3, t4, t5 designs program as follows:
1)i＝1；
2)j＝1；
3)n＝ne(j)；
4) concern the torque te when interpolation obtains real-time rotation speed n with change in rotational speed according to torque in the driving engine optimal fuel economy curve;
5)v(i，j)＝0.377×n×r/ig(i)，te1(i，j)＝te×ig(i)；
6)j＝j+1，n＝ne(j)；
7) judge n≤nmax; Be to return the 3rd) step;
8) not, i=i+1;
9) judge i≤imax; Be to return the 2nd) step;
10) not, vv1 (i, j)=[zeros (5,1), v (:, 1), v, v (:, ((nmax-ne (1))/jg+1)), vmax * ones (5,1)]; Tte1 (i, j)=[zeros (5,2), te1, zeros (5,2)]; Array vv1 and tte1 have been Duoed four row than array v and te1;
11) according to first line data of vv1 and first line data of tte1, the t1 when interpolation is determined the real-time speed of a motor vehicle; According to second line data of vv1 and second line data of tte1, the t2 when interpolation is determined the real-time speed of a motor vehicle; In like manner, according to vv1 and tte1 third and fourth, five-element's data, can determine t3, t4, t5.Concrete interpolation method is decided according to use software, for example can use the look-up numerical table to obtain in MATLAB/Simulink.
Wherein, n represents engine speed; Ne represents the rotating speed array of driving engine when the city operating mode is moved, and is at interval from 1000r/min to 4000r/min, with jg, usually jg=10r/min; J numerical value of ne (j) expression rotating speed array ne; Ig represents the transmission gear ratio array, be 1～5 retaining number ratio size, comprised the product with base ratio; V represents speed of a motor vehicle array, and line number equals the transmission gear figure place, and columns equals the number of array ne, and first～five-element represent the corresponding speed of a motor vehicle that change-speed box places 1～5 retaining, obtains according to the data of ne; V (i, the numerical value that j) expression array v i is capable, j is listed as; Under the different gears of te1 array representation, driving engine is passed to the numerical value of wheel place torque during along the optimal fuel economy curve motion, line number equals the number that transmission gear figure place, columns equal array ne, and first～five-element represent that change-speed box places 1～5 retaining, driving engine was passed to the torque at wheel place when rotating speed was each numerical value of ne; Te1 (i, the numerical value that j) expression array te1 i is capable, j is listed as; R represents radius of wheel; Nmax represents the maximum speed of revolution of driving engine when the city operating mode is moved, and is generally 4000r/min; Imax represents the transmission gear number, equals 5; Vv1 represents speed of a motor vehicle array; Tte1 represents the torque array.In the 10th step, zeros (5,1), zeros (5,2) and ones (5,1) represent 0 matrix of 5 row 1 row, 0 matrix of 5 row, 2 row and 1 matrix of 5 row, 1 row respectively, v (:, 1) and v (:, ((nmax-ne (1))/jg+1)) is represented respectively to be listed as the new array of 5 row, 1 row of forming by first row of array v and last, and vmax represents maximum speed, and intermediate car is generally 200km/h.* ,/,+,=,≤respectively expression multiply by, divided by, add, equal, smaller or equal to.
P_1, p_2, p_3, p_4, designing program of p_5 is as follows:
1)i＝1；
2)j＝1；
3)n＝ne(j)；
4) concern the power pe when interpolation obtains rotation speed n with change in rotational speed according to power in the driving engine optimal fuel economy curve;
5)v(i，j)＝0.377×n×r/ig(i)，pe1(i，j)＝pe；
6)j＝j+1，n＝ne(j)；
7) judge n≤nmax; Be to return the 3rd) step;
8) not, i=i+1;
9) judge i≤imax; Be to return the 2nd) step;
10) not, vv2 (i, j)=[zeros (5,1), v (:, 1), v, v (:, ((nmax-ne (1))/jg+1)), vmax * ones (5,1)]; Ppe1 (i, j)=[zeros (5,2), pe1, zeros (5,2)]; Array vv2 and ppe1 have been Duoed four row than array v and pe1;
11) according to first line data of vv2 and first line data of ppe1, the p_1 when interpolation is determined the real-time speed of a motor vehicle; According to second line data of vv2 and second line data of ppe1, the p_2 when interpolation is determined the real-time speed of a motor vehicle; In like manner, can determine p_3, p_4, p_5.
Wherein, under the different gears of pe1 array representation, driving engine is passed to the numerical value of wheel place power during along the optimal fuel economy curve motion, line number equals the transmission gear figure place, columns equals the number of array ne, and first～five-element represent that change-speed box places 1～5 retaining, driving engine was passed to the power at wheel place when rotating speed was each numerical value of ne; Vv2 represents speed of a motor vehicle array; Ppe1 represents the power array; Other parameter-definition and t1, t2, t3, t4, the definition during t5 designs program is identical.
T_we1, t_we2, t_we3, t_we4, designing program of t_we5 is as follows:
1)i＝1；
2)j＝1；
3)n＝ne(j)；
4) torque concerns with change in rotational speed according to the engine test bench characteristic curve, the torque tw when interpolation obtains rotation speed n;
5)v(i，j)＝0.377×n×r/ig(i)，t(i，j)＝tw×ig(i)；
6)j＝j+1，n＝ne(j)；
7) judge n≤nmax; Be to return the 3rd) step;
8) not, i=i+1;
9) judge i≤imax; Be to return the 2nd) step;
10) not, vv3 (i, j)=[zeros (5,1), v (:, 1), v, v (:, ((nmax-ne (1))/jg+1)), vmax * ones (5,1)]; Tt (i, j)=[zeros (5,2), t, zeros (5,2)]; Array vv3 and tt have been Duoed four row than array v and t;
11) according to first line data of vv3 and first line data of tt, the t_we1 when interpolation is determined the real-time speed of a motor vehicle; According to second line data of vv3 and second line data of tt, the t_we2 when interpolation is determined the real-time speed of a motor vehicle; In like manner, can determine t_we3, t_we4, t_we5.
Wherein, under the different gears of t array representation, driving engine is passed to the numerical value of wheel place torque when full-throttle characteristics is worked, line number equals the transmission gear figure place, columns equals the number of array ne, and first～five-element represent that change-speed box places 1～5 retaining, driving engine was passed to the torque at wheel place when rotating speed was each numerical value of ne; Vv3 represents speed of a motor vehicle array; Tt represents the torque array; Other parameter-definition and t1, t2, t3, t4, the definition during t5 designs program is identical.
Pm1, pm2, pm3, pm4, designing program of pm5 is as follows:
1)i＝1；
2)j＝1；
3)n1＝nm(j)；
4) according to the rating horsepower curve of electrical motor, the power pm when interpolation obtains rotation speed n 1;
5)v(i，j)＝0.377×n1×r/ig(i)；p(i，j)＝pm；
6)j＝j+1；n1＝nm(j)；
7) judge n1≤nmmax; Be to return the 3rd) step;
8) not, i=i+1;
9) judge i≤imax; Be to return the 2nd) step;
10) not, vv4 (i, j)=[zeros (5,1), v (:, 1), v, v (:, ((nmmax-nm (1))/jg+1)), vmax * ones (5,1)]; Pp (i, j)=[zeros (5,2), p, zeros (5,2)]; Array vv and pp have been Duoed four row than array v and p;
11) according to first line data of vv4 and first line data of pp, the pm1 when interpolation is determined the real-time speed of a motor vehicle; According to second line data of vv4 and second line data of pp, the pm2 when interpolation is determined the real-time speed of a motor vehicle; In like manner, can determine pm3, pm4, pm5.
Wherein, n1 represents motor speed; Nm represents the rotating speed array of motor when the city operating mode is moved, and is at interval from 1000r/min to 4000r/min, with jg, usually jg=10r/min; V represents speed of a motor vehicle array, and line number equals the transmission gear figure place, and columns equals the number of array nm, and first～five-element represent the corresponding speed of a motor vehicle that change-speed box places 1～5 retaining, obtains according to the data of nm; Electrical motor is passed to the numerical value of wheel place power during p array representation difference gear, line number equals the transmission gear figure place, columns equals the number of array nm, and first～five-element represent that change-speed box places 1～5 retaining, motor was passed to the torque at wheel place when rotating speed was each numerical value of nm; Nmmax represents the maximum speed of revolution of motor when the city operating mode is moved, and is generally 4000r/min; Vv4 represents speed of a motor vehicle array; Pp represents the power array; Other parameter-definition and t1, t2, t3, t4, the definition during t5 designs program is identical.
T_wm1, t_wm2, t_wm3, t_wm4, designing program of t_wm5 is as follows:
1)i＝1；
2)j＝1；
3)n1＝nm(j)；
4) according to electrical motor torque rating curve, the torque tm when interpolation obtains rotation speed n 1;
5)v(i，j)＝0.377×n1×r/ig(i)；tmm(i，j)＝tm×ig(i)；
6)j＝j+1；n1＝nm(j)；
7) judge n1≤nmmax; Be to return the 3rd) step;
8) not, i=i+1;
9) judge i≤imax; Be to return the 2nd) step;
10) not, vv5 (i, j)=[zeros (5,1), v (:, 1), v, v (:, ((nmmax-nm (1))/jg+1)), vmax * ones (5,1)]; Ttmm (i, j)=[zeros (5,2), tmm, zeros (5,2)]; Array vv5 and ttmm have been Duoed four row than array v and tmm;
11) according to first line data of vv5 and first line data of ttmm, the t_wm1 when interpolation is determined the real-time speed of a motor vehicle; According to second line data of vv5 and second line data of ttmm, the t_wm2 when interpolation is determined the real-time speed of a motor vehicle; In like manner, can determine t_wm3, t_wm4, t_wm5.
Wherein, under the different gears of ttmm array representation, electrical motor is passed to the numerical value of wheel place torque when the torque rating curve is worked, line number equals the transmission gear figure place, columns equals the number of array nm, and first～five-element represent that change-speed box places 1～5 retaining, motor was passed to the torque at wheel place when rotating speed was each numerical value of nm; Vv5 represents speed of a motor vehicle array; Ttmm represents the torque array.Other parameter-definition and t1, t2, t3, t4, t5 design program and pm1, pm2, pm3, pm4, the definition during pm5 designs program is identical.
3. by the optimum integration control method of the described a kind of plug-in hybrid-power automobile of claim 1, it is characterized in that:
The concrete control method of described each output parameter is as follows:
Is 1) condition 1 set up? be to call subfunction 3;
2) not, is condition 2 set up? be to call subfunction 8;
3) not, is condition 3 set up? be to call subfunction 16;
4) not, is condition 4 set up? be to call subfunction 27;
5) not, is condition 5 set up? be to call subfunction 41;
6) not, is condition 6 set up? be to call subfunction 55;
7) not, is condition 7 set up? be to call subfunction 66;
8) not, is condition 8 set up? be to call subfunction 77;
9) not, is condition 9 set up? be to call subfunction 85;
10) not, is condition 10 set up? be to call subfunction 90;
11), do not finish.
Condition 1 expression t1=0 and t2=0 and t3=0 and t4=0 and t5=0; Condition 2 expression t1＞0 and t2=0 and t3=0 and t4=0 and t5=0; Condition 3 expression t1＞0 and t2＞0 and t3=0 and t4=0 and t5=0; Condition 4 expression t1＞0 and t2＞0 and t3＞0 and t4=0 and t5=0; Condition 5 expression t1＞0 and t2＞0 and t3＞0 and t4＞0 and t5=0; Condition 6 expression t1=0 and t2＞0 and t3＞0 and t4＞0 and t5＞0; Condition 7 expression t1=0 and t2=0 and t3＞0 and t4＞0 and t5＞0; Condition 8 expression t1=0 and t2＞0 and t3＞0 and t4＞0 and t5=0; Condition 9 expression t1=0 and t2=0 and t3=0 and t4＞0 and t5＞0; Condition 10 expression t1=0 and t2=0 and t3=0 and t4=0 and t5＞0.Because petrolic preferable operating range is between 1000～4000r/min, according to current common transmission gear ratio, condition 1 is t1 to 10 kinds of array modes of condition 10, t2, t3, t4, the array mode that t5 is common; If what adopt is diesel motor, because its commentaries on classics maximum speed of revolution is less, t1, t2, t3, t4, the array mode of t5 is with top different, but basic controlling thought is identical.
Being expressed as follows of each function:
Subfunction 1:
1) t_wm5 〉=t_r? be g=5, t_m=t_r, t_e=0;
2) not, t_wm4 〉=t_r? be g=4, t_m=t_r, t_e=0;
3) not, t_wm3 〉=t_r? be g=3, t_m=t_r, t_e=0;
4) not, t_wm2 〉=t_r? be g=2, t_m=t_r, t_e=0;
5) not, g=1, t_m=t_r, t_e=0.
Subfunction 2:
1) t_we5 〉=t_r? be g=5, t_m=0, t_e=t_r;
2) not, t_we4 〉=t_r? be g=4, t_m=0, t_e=t_r;
3) not, t_we3 〉=t_r? be g=3, t_m=0, t_e=t_r;
4) not, t_we2 〉=t_r? be g=2, t_m=0, t_e=t_r;
5) not, g=1, t_m=0, t_e=t_r.
Subfunction 3:
1) SOC 〉=C? be to call subfunction 1; 2) not, SOC 〉=A?, do not call subfunction 2;
3) be dsoc≤0? be to call subfunction 1; 4) not, call subfunction 2.
Subfunction 4:
1) (p_r-p_1) 〉=pm1 * bfb? be g=1, t_m=(t_r-t1), t_e=t1;
2) not, pm1 〉=p_r? be to call subfunction 1; 3) not, call subfunction 2.
Subfunction 5:
1) SOC 〉=C? be to call subfunction 4; 2) not, SOC 〉=A?, do not call subfunction 2;
3) be dsoc≤0?, do not call subfunction 2; 4) be to call subfunction 4.
Subfunction 6:
1) (p_1-p_r) 〉=pm1 * bfb? be g=1, t_m=(t_r-t1), t_e=t1;
2) not, call subfunction 2;
Subfunction 7:
1) SOC 〉=A?, do not call subfunction 6; 2) be dsoc≤0?, do not call subfunction 6;
3) be to call subfunction 1.
Subfunction 8:
1) t_r 〉=t1? be to call subfunction 5; 2) not, SOC 〉=C?, do not call subfunction 7;
3) be to call subfunction 1.
Subfunction 9:
1) (p_r-p_2) 〉=pm2? not, g=2, t_m=(t_r-t2), t_e=t2;
2) be, (p_r-p_1) 〉=pm1 * bfb? be g=1, t_m=(t_r-t1), t_e=t1;
3) not, pm1 〉=p_r? be to call subfunction 1;
4) not, call subfunction 2.
Subfunction 10:
1) SOC 〉=C? be to call subfunction 9; 2) not, SOC 〉=A?, do not call subfunction 2;
3) be dsoc≤0?, do not call subfunction 2; 4) be to call subfunction 9.
Subfunction 11:
1) (p_1-p_r) 〉=pm1? not, g=1, t_m=(t_r-t1), t_e=t1;
2) be, (p_2-p_r) 〉=pm2 * bfb? be g=2, t_m=(t_r-t2), t_e=t2;
3) not, call subfunction 2.
Subfunction 12:
1) SOC 〉=C? be to call subfunction 1; 2) not, SOC 〉=A?, do not call subfunction 11;
3) be dsoc≤0?, do not call subfunction 11; 4) be to call subfunction 1.
Subfunction 13:
1) (p_r-p_2) 〉=pm2 * bfb? be g=2, t_m=(t_r-t2), t_e=t2;
2) not, pm1 〉=p_r? be to call subfunction 1; 3) not, call subfunction 2.
Subfunction 14:
1) (p_1-p_r) 〉=pm1 * bfb? be g=1, t_m=(t_r-t1), t_e=t1;
2) not, call subfunction 2.
Subfunction 15:
1) SOC 〉=C? be to call subfunction 13; 2) not, SOC 〉=A?, do not call subfunction 14;
3) be dsoc≤0?, do not call subfunction 14; 4) be to call subfunction 13.
Subfunction 16:
1) t_r 〉=t1? be to call subfunction 10; 2) not, t_r＜t2? be to call subfunction 12;
3) not, call subfunction 15.
Subfunction 17:
1) (p_r-p_3) 〉=pm3? not, g=3, t_m=(t_r-t3), t_e=t3;
2) be, (p_r-p_2) 〉=pm2? not, g=2, t_m=(t_r-t2), t_e=t2;
3) be, (p_r-p_1) 〉=pm1 * bfb? be g=1, t_m=(t_r-t1), t_e=t1;
4) not, pm1 〉=p_r? be to call subfunction 1; 5) not, call subfunction 2.
Subfunction 18:
1) SOC 〉=C? be to call subfunction 17; 2) not, SOC 〉=A?, do not call subfunction 2;
3) be dsoc≤0?, do not call subfunction 2; 4) be to call subfunction 17.
Subfunction 19:
1) (p_r-p_3) 〉=pm3? not, g=3, t_m=(t_r-t3), t_e=t3;
2) be, (p_r-p_2) 〉=pm2 * bfb? be g=2, t_m=(t_r-t2), t_e=t2;
3) not, pm1 〉=p_r? be to call subfunction 1; 4) not, call subfunction 2.
Subfunction 20:
1) (p_1-p_r) 〉=pm1 * bfb? be g=1, t_m=(t_r-t1), t_e=t1;
2) not, call subfunction 2.
Subfunction 21:
1) SOC 〉=C? be to call subfunction 19; 2) not, SOC 〉=A?, do not call subfunction 20;
3) be dsoc≤0?, do not call subfunction 20; 4) be to call subfunction 19.
Subfunction 22:
1) (p_r-p_3) 〉=pm3 * bfb? be g=3, t_m=(t_r-t3), t_e=t3;
2) not, p_m1 〉=p_r? be to call subfunction 1; 3) not, call subfunction 2.
Subfunction 23:
1) (p_1-p_r) 〉=pm1? not, g=1, t_m=(t_r-t1), t_e=t1;
2) be, (p_2-p_r) 〉=pm2 * bfb? be g=2, t_m=(t_r-t2), t_e=t2;
3) not, call subfunction 2.
Subfunction 24:
1) SOC 〉=C? be to call subfunction 22; 2) not, SOC 〉=A?, do not call subfunction 23;
3) be dsoc≤0?, do not call subfunction 23; 4) be to call subfunction 22.
Subfunction 25:
1) (p_1-p_r) 〉=pm1? not, g=1, t_m=(t_r-t1), t_e=t1;
2) be, (p_2-p_r) 〉=pm2? not, g=2, t_m=(t_r-t2), t_e=t2;
3) be, (p_3-p_r) 〉=pm3 * bfb? be g=3, t_m=(t_r-t3), t_e=t3;
4) not, call subfunction 2.
Subfunction 26:
1) SOC 〉=C? be to call subfunction 1; 2) not, SOC 〉=A?, do not call subfunction 25;
3) be dsoc≤0?, do not call subfunction 25; 4) be to call subfunction 1.
Subfunction 27:
1) t_r 〉=t1? be to call subfunction 18; 2) not, t_r 〉=t2? be to call subfunction 21;
3) not, t_r 〉=t3? be to call subfunction 24; 4) not, call subfunction 26.
Subfunction 28:
1) (p_r-p_4) 〉=pm4? not, g=4, t_m=(t_r-t4), t_e=t4;
2) be, (p_r-p_3) 〉=pm3? not, g=3, t_m=(t_r-t3), t_e=t3;
3) be, (p_r-p_2) 〉=pm2? not, g=2, t_m=(t_r-t2), t_e=t2;
4) be, (p_r-p_1) 〉=pm1 * bfb? be g=1, t_m=(t_r-t1), t_e=t1;
5) not, pm1 〉=p_r? be to call subfunction 1; 6) not, call subfunction 2.
Subfunction 29:
1) SOC 〉=C? be to call subfunction 28; 2) not, SOC 〉=A?, do not call subfunction 2;
3) be dsoc≤0?, do not call subfunction 2; 4) be to call subfunction 28.
Subfunction 30:
1) (p_r-p_4) 〉=pm4? not, g=4, t_m=(t_r-t4), t_e=t4;
2) be, (p_r-p_3) 〉=pm3? not, g=3, t_m=(t_r-t3), t_e=t3;
3) be, (p_r-p_2) 〉=pm2 * bfb? be g=2, t_m=(t_r-t2), t_e=t2;
4) not, pm1 〉=p_r? be to call subfunction 1; 5) not, call subfunction 2.
Subfunction 31:
1) (p_1-p_r) 〉=pm1 * bfb? be g=1, t_m=(t_r-t1), t_e=t1;
2) not, call subfunction 2.
Subfunction 32:
1) SOC 〉=C? be to call subfunction 30; 2) not, SOC 〉=A?, do not call subfunction 31;
3) be dsoc≤0?, do not call subfunction 31; 4) be to call subfunction 30.
Subfunction 33:
1) (p_r-p_4) 〉=pm4? not, g=4, t_m=(t_r-t4), t_e=t4;
2) be, (p_r-p_3) 〉=pm3 * bfb? be g=3, t_m=(t_r-t3), t_e=t3;
3) not, pm1 〉=p_r? be to call subfunction 1; 4) not, call subfunction 2.
Subfunction 34:
1) (p_1-p_r) 〉=pm1? not, g=1, t_m=(t_r-t1), t_e=t1;
2) be, (p_2-p_r) 〉=pm2 * bfb? be g=2, t_m=(t_r-t2), t_e=t2;
3) not, call subfunction 2.
Subfunction 35:
1) SOC 〉=C? be to call subfunction 33; 2) not, SOC 〉=A?, do not call subfunction 34;
3) be dsoc≤0?, do not call subfunction 34; 4) be to call subfunction 33.
Subfunction 36:
1) (p_r-p_4) 〉=pm4 * bfb? be g=4, t_m=(t_r-t4), t_e=t4;
2) not, pm1 〉=p_r? be to call subfunction 1; 3) not, call subfunction 2.
Subfunction 37:
1) (p_1-p_r) 〉=pm1? not, g=1, t_m=(t_r-t1), t_e=t1;
2) be, (p_2-p_r) 〉=pm2? not, g=2, t_m=(t_r-t2), t_e=t2;
3) be, (p_3-p_r) 〉=pm3 * bfb? be g=3, t_m=(t_r-t3), t_e=t3;
4) not, call subfunction 2.
Subfunction 38:
1) SOC 〉=C? be to call subfunction 36; 2) not, SOC 〉=A?, do not call subfunction 37;
3) be dsoc≤0?, do not call subfunction 37; 4) be to call subfunction 36.
Subfunction 39:
1) (p_1-p_r) 〉=pm1? not, g=1, t_m=(t_r-t1), t_e=t1;
2) be, (p_2-p_r) 〉=pm2? not, g=2, t_m=(t_r-t2), t_e=t2;
3) be, (p_3-p_r) 〉=pm3? not, g=3, t_m=(t_r-t3), t_e=t3;
4) be, (p_4-p_r) 〉=pm4 * bfb? be g=4, t_m=(t_r-t4), t_e=t4;
5) not, call subfunction 2.
Subfunction 40:
1) SOC 〉=C? be to call subfunction 1; 2) not, SOC 〉=A?, do not call subfunction 39;
3) be dsoc≤0?, do not call subfunction 39; 4) be to call subfunction 1.
Subfunction 41:
1) t_r 〉=t1? be to call subfunction 29; 2) not, t_r 〉=t2? be to call subfunction 32;
3) not, t_r 〉=t3? be to call subfunction 35; 4) not, t_r 〉=t4? be to call subfunction 38;
5) not, call subfunction 40.
Subfunction 42:
1) (p_r-p_5) 〉=pm5? not, g=5, t_m=(t_r-t5), t_e=t5;
2) be, (p_r-p_4) 〉=pm4? not, g=4, t_m=(t_r-t4), t_e=t4;
3) be, (p_r-p_3) 〉=pm3? not, g=3, t_m=(t_r-t3), t_e=t3;
4) be, (p_r-p_2) 〉=pm2 * bfb? be g=2, t_m=(t_r-t2), t_e=t2;
5) not, pm2 〉=p_r? be to call subfunction 1; 6) not, call subfunction 2.
Subfunction 43:
1) SOC 〉=C? be to call subfunction 42; 2) not, SOC 〉=A?, do not call subfunction 2;
3) be dsoc≤0?, do not call subfunction 2; 4) be to call subfunction 42.
Subfunction 44:
1) (p_r-p_5) 〉=pm5? not, g=5, t_m=(t_r-t5), t_e=t5;
2) be, (p_r-p_4) 〉=pm4? not, g=4, t_m=(t_r-t4), t_e=t4;
3) be, (p_r-p_3) 〉=pm3 * bfb? be g=3, t_m=(t_r-t3), t_e=t3;
4) not, pm2 〉=p_r? be to call subfunction 1; 5) not, call subfunction 2.
Subfunction 45:
1) (p_2-p_r) 〉=pm2 * bfb? be g=2, t_m=(t_r-t2), t_e=t2;
2) not, call subfunction 2.
Subfunction 46:
1) SOC 〉=C? be to call subfunction 44; 2) not, SOC 〉=A?, do not call subfunction 45;
3) be dsoc≤0?, do not call subfunction 45; 4) be to call subfunction 44.
Subfunction 47:
1) (p_r-p_5) 〉=pm5? not, g=5, t_m=(t_r-t5), t_e=t5;
2) be, (p_r-p_4) 〉=pm4 * bfb? be g=4, t_m=(t_r-t4), t_e=t4;
3) not, pm2 〉=p_r? be to call subfunction 1; 4) not, call subfunction 2.
Subfunction 48:
1) (p_2-p_r) 〉=pm2? not, g=2, t_m=(t_r-t2), t_e=t2;
2) be, (p_3-p_r) 〉=pm3 * bfb? be g=3, t_m=(t_r-t3), t_e=t3;
3) not, call subfunction 2.
Subfunction 49:
1) SOC 〉=C? be to call subfunction 47; 2) not, SOC 〉=A?, do not call subfunction 48;
3) be dsoc≤0?, do not call subfunction 48; 4) be to call subfunction 47.
Subfunction 50:
1) (p_r-p_5) 〉=pm5 * bfb? be g=5, t_m=(t_r-t5), t_e=t5;
2) not, pm2 〉=p_r? be to call subfunction 1; 3) not, call subfunction 2.
Subfunction 51:
1) (p_2-p_r) 〉=pm2? not, g=2, t_m=(t_r-t2), t_e=t2;
2) be, (p_3-p_r) 〉=pm3? not, g=3, t_m=(t_r-t3), t_e=t3;
3) be, (p_4-p_r) 〉=pm4 * bfb? be g=4, t_m=(t_r-t4), t_e=t4;
4) not, call subfunction 2.
Subfunction 52:
1) SOC 〉=C? be to call subfunction 50; 2) not, SOC 〉=A?, do not call subfunction 51;
3) be dsoc≤0?, do not call subfunction 51; 4) be to call subfunction 50;
Subfunction 53:
1) (p_2-p_r) 〉=pm2? not, g=2, t_m=(t_r-t2), t_e=t2;
2) be, (p_3-p_r) 〉=pm3? not, g=3, t_m=(t_r-t3), t_e=t3;
3) be, (p_4-p_r) 〉=pm4? not, g=4, t_m=(t_r-t4), t_e=t4;
4) be, (p_5-p_r) 〉=pm5 * bfb? be g=5, t_m=(t_r-t5), t_e=t5;
5) not, call subfunction 2;
Subfunction 54:
1) SOC 〉=C? be to call subfunction 1; 2) not, SOC 〉=A?, do not call subfunction 53;
3) be dsoc≤0?, do not call subfunction 53; 4) be to call subfunction 1.
Subfunction 55:
1) t_r 〉=t2? be to call subfunction 43; 2) not, t_r 〉=t3? be to call subfunction 46;
3) not, t_r 〉=t4? be to call subfunction 49; 4) not, t_r 〉=t5? be to call subfunction 52;
5) not, call subfunction 54.
Subfunction 56:
1) (p_r-p_5) 〉=pm5? not, g=5, t_m=(t_r-t5), t_e=t5;
2) be, (p_r-p_4) 〉=pm4? not, g=4, t_m=(t_r-t4), t_e=t4;
3) be, (p_r-p_3) 〉=pm3 * bfb? be g=3, t_m=(t_r-t3), t_e=t3;
4) not, pm3 〉=p_r? be to call subfunction 1; 5) not, call subfunction 2.
Subfunction 57:
1) SOC 〉=C? be to call subfunction 56; 2) not, SOC 〉=A?, do not call subfunction 2;
3) be dsoc≤0?, do not call subfunction 2; 4) be to call subfunction 56.
Subfunction 58:
1) (p_r-p_5) 〉=pm5? not, g=5, t_m=(t_r-t5), t_e=t5;
2) be, (p_r-p_4) 〉=pm4 * bfb? be g=4, t_m=(t_r-t4), t_e=t4;
3) not, pm3 〉=p_r? be to call subfunction 1; 4) not, call subfunction 2.
Subfunction 59:
1) (p_3-p_r) 〉=pm3 * bfb? be g=3, t_m=(t_r-t3), t_e=t3;
2) not, call subfunction 2.
Subfunction 60:
1) SOC 〉=C? be to call subfunction 58; 2) not, SOC 〉=A?, do not call subfunction 59;
3) be dsoc≤0?, do not call subfunction 59; 4) be to call subfunction 58;
Subfunction 61:
1) (p_r-p_5) 〉=pm5 * bfb? be g=5, t_m=(t_r-t5), t_e=t5;
2) not, pm3 〉=p_r? be to call subfunction 1; 3) not, call subfunction 2;
Subfunction 62:
1) (p_3-p_r) 〉=pm3? not, g=3, t_m=(t_r-t3), t_e=t3;
2) be, (p_4-p_r) 〉=pm4 * bfb? be g=4, t_m=(t_r-t4), t_e=t4;
3) not, call subfunction 2.
Subfunction 63:
1) SOC 〉=C? be to call subfunction 61; 2) not, SOC 〉=A?, do not call subfunction 62;
3) be dsoc≤0?, do not call subfunction 62; 4) be to call subfunction 61.
Subfunction 64:
1) (p_3-p_r) 〉=pm3? not, g=3, t_m=(t_r-t3), t_e=t3;
2) be, (p_4-p_r) 〉=pm4? not, g=4, t_m=(t_r-t4), t_e=t4;
3) be, (p_5-p_r) 〉=pm5 * bfb? be g=5, t_m=(t_r-t5), t_e=t5;
4) not, call subfunction 2.
Subfunction 65:
1) SOC 〉=C? be to call subfunction 1; 2) not, SOC 〉=A?, do not call subfunction 64;
3) be dsoc≤0?, do not call subfunction 64; 4) be to call subfunction 1.
Subfunction 66:
1) t_r 〉=t3? be to call subfunction 57; 2) not, t_r 〉=t4? be to call subfunction 60;
3) not, t_r 〉=t5? be to call subfunction 63; 4) not, call subfunction 65.
Subfunction 67:
1) (p_r-p_4) 〉=pm4? not, g=4, t_m=(t_r-t4), t_e=t4;
2) be, (p_r-p_3) 〉=pm3? not, g=3, t_m=(t_r-t3), t_e=t3;
3) be, (p_r-p_2) 〉=pm2 * bfb? be g=2, t_m=(t_r-t2), t_e=t2;
4) not, pm2 〉=p_r? be to call subfunction 1; 5) not, call subfunction 2.
Subfunction 68:
1) SOC 〉=C? be to call subfunction 67; 2) not, SOC 〉=A?, do not call subfunction 2;
3) be dsoc≤0?, do not call subfunction 2; 4) be to call subfunction 67.
Subfunction 69:
1) (p_r-p_4) 〉=pm4? not, g=4, t_m=(t_r-t4), t_e=t4;
2) be, (p_r-p_3) 〉=pm3 * bfb? be g=3, t_m=(t_r-t3), t_e=t3;
3) not, p_m2 〉=p_r? be to call subfunction 1; 4) not, call subfunction 2.
Subfunction 70:
1) (p_2-p_r) 〉=pm2 * bfb? be g=2, t_m=(t_r-t2), t_e=t2;
2) not, call subfunction 2.
Subfunction 71:
1) SOC 〉=C? be to call subfunction 69; 2) not, SOC 〉=A?, do not call subfunction 70;
3) be dsoc≤0?, do not call subfunction 70; 4) be to call subfunction 69.
Subfunction 72:
1) (p_r-p_4) 〉=pm4 * bfb? be g=4, t_m=(t_r-t4), t_e=t4;
3) not, pm2 〉=p_r? be to call subfunction 1; 4) not, call subfunction 2.
Subfunction 73:
1) (p_2-p_r) 〉=pm2? not, g=2, t_m=(t_r-t2), t_e=t2;
2) be, (p_3-p_r) 〉=pm3 * bfb? be g=3, t_m=(t_r-t3), t_e=t3;
3) not, call subfunction 2.
Subfunction 74:
1) SOC 〉=C? be to call subfunction 72; 2) not, SOC 〉=A?, do not call subfunction 73;
3) be dsoc≤0?, do not call subfunction 73; 4) be to call subfunction 72.
Subfunction 75:
1) (p_2-p_r) 〉=pm2? not, g=2, t_m=(t_r-t2), t_e=t2;
2) be, (p_3-p_r) 〉=pm3? not, g=3, t_m=(t_r-t3), t_e=t3;
3) be, (p_4-p_r) 〉=pm4 * bfb? be g=4, t_m=(t_r-t4), t_e=t4;
4) not, call subfunction 2.
Subfunction 76:
1) SOC 〉=C? be to call subfunction 1; 2) not, SOC 〉=A?, do not call subfunction 75;
3) be dsoc≤0?, do not call subfunction 75; 4) be to call subfunction 1.
Subfunction 77:
1) t_r 〉=t2? be to call subfunction 68; 2) not, t_r 〉=t3? be to call subfunction 71;
3) not, t_r 〉=t4? be to call subfunction 74; 4) not, call subfunction 76.
Subfunction 78:
1) (p_r-p_5) 〉=pm5? not, g=5, t_m=(t_r-t5), t_e=t5;
2) be, (p_r-p_4) 〉=pm4 * bfb? be g=4, t_m=(t_r-t4), t_e=t4;
3) not, pm4 〉=p_r? be to call subfunction 1; 4) not, call subfunction 2.
Subfunction 79:
1) SOC 〉=C? be to call subfunction 78; 2) not, SOC 〉=A?, do not call subfunction 2;
3) be dsoc≤0?, do not call subfunction 2; 4) be to call subfunction 78.
Subfunction 80:
1) (p_4-p_r) 〉=pm4? not, g=4, t_m=(t_r-t4), t_e=t4;
2) be, (p_5-p_r) 〉=pm5 * bfb? be g=5, t_m=(t_r-t5), t_e=t5;
3) not, call subfunction 2.
Subfunction 81:
1) SOC 〉=C? be to call subfunction 1; 2) not, SOC 〉=A?, do not call subfunction 80;
3) be dsoc≤0?, do not call subfunction 80; 4) be to call subfunction 1.
Subfunction 82:
1) (p_r-p_5) 〉=pm5 * bfb? be g=5, t_m=(t_r-t5), t_e=t5;
2) not, pm4 〉=p_r? be to call subfunction 1; 3) not, call subfunction 2.
Subfunction 83:
1) (p_4-p_r) 〉=pm4 * bfb? be g=4, t_m=(t_r-t4), t_e=t4;
2) not, call subfunction 2.
Subfunction 84:
1) SOC 〉=C? be to call subfunction 82; 2) not, SOC 〉=A?, do not call subfunction 83;
3) be dsoc≤0?, do not call subfunction 83; 4) be to call subfunction 82.
Subfunction 85:
1) t_r 〉=t4? be to call subfunction 79; 2) not, t_r≤t5? be to call subfunction 81;
3) not, call subfunction 84.
Subfunction 86:
1) (p_r-p_5) 〉=pm5 * bfb? be g=5, t_m=(t_r-t5), t_e=t5;
2) not, pm5 〉=p_r? be to call subfunction 1; 3) not, call subfunction 2.
Subfunction 87:
1) SOC 〉=C? be to call subfunction 86; 2) not, SOC 〉=A?, do not call subfunction 2;
3) be dsoc≤0?, do not call subfunction 2; 4) be to call subfunction 86.
Subfunction 88:
1) (p_5-p_r) 〉=pm5 * bfb? be g=5, t_m=(t_r-t5), t_e=t5;
2) not, call subfunction 2.
Subfunction 89:
1) SOC 〉=A?, do not call subfunction 88; 2) be dsoc≤0?, do not call subfunction 88;
3) be to call subfunction 1.Subfunction 90:
1) t_r 〉=t5? be to call subfunction 87;
2) not, SOC 〉=C?, do not call subfunction 89;
3) be to call subfunction 1.
Wherein, the driving demand torque (power) at a certain sampling instant wheel of t_r (p_r) expression place, p_r equals the product of t_r and vehicle wheel rotational speed; V represents the speed of a motor vehicle of a certain sampling instant; C represents the higher limit of energy maintenance stage SOC; A represents the lower limit of energy maintenance stage SOC; The rate of change of a certain sampling instant SOC of dsoc; G represents transmission gear; The output torque of t_m (t_e) a certain sampling instant motor of expression (driving engine), this numeric representation motor (driving engine) is passed to the numerical value of gearbox output end, the actual merchant that motor (driving engine) output torque equals this numerical value and g counts ratio; Bfb represents the minimum of the motor load rate stipulated, and the permagnetic synchronous motor value is 20%, and the value of asynchronous machine should be more than 50%; ≤ or≤expression smaller or equal to; 〉=or 〉=expression more than or equal to;=expression equals;＜expression less than;＞expression greater than; Other parameter is seen the definition of state of a control parameter.All adopting magnitude of power to judge in each subfunction condition, is the same with the essence that adopts torque to judge, mainly is to consider that power is easier to understand at expression motor load rate time ratio.
CN201010152337A 2010-04-22 2010-04-22 Optimum integration control method of plug-in hybrid electric vehicle Pending CN101804810A (en)

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CN107531234B (en) * 2015-02-16 2020-11-27 标致雪铁龙汽车股份有限公司 Control method and control device for controlling the use of a hybrid vehicle prime mover as a supplement to an internal combustion engine as a function of efficiency
US10214197B2 (en) * 2015-08-04 2019-02-26 Borgward Trademark Holdings Gmbh Hybrid electric vehicle, method and apparatus for controlling operation mode of the same
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Application publication date: 20100818