CN102310853B

CN102310853B - Gear shifting control method for automobile double-clutch power coupling synchronizer and device thereof

Info

Publication number: CN102310853B
Application number: CN201010217066.8A
Authority: CN
Inventors: 朱军; 张君鸿; 鲁连军; 彭金春; 冯旭云; 高晓杰; 蒋新华; 梁海波
Original assignee: Shanghai E Propulsion Auto Technology Co Ltd
Current assignee: Shanghai E Propulsion Auto Technology Co Ltd
Priority date: 2010-06-30
Filing date: 2010-06-30
Publication date: 2015-03-25
Anticipated expiration: 2030-06-30
Also published as: WO2012000143A1; CN102310853A

Abstract

The invention provides a gear shifting control method for an automobile double-clutch power coupling synchronizer and a device thereof. The gear shifting control method comprises the following steps: a, removing the power of a first clutch, which is provided by a power source; b, controlling the synchronizer and the gear set of a first gear to separate; c, adjusting the rotation speed of the synchronizer, so that the difference of the rotation speed of the synchronizer and the rotation speed of the gear set of a second gear is less than a first threshold; d, controlling the synchronizer and the gear set of the second gear to be combined; and e, resetting the power of the first clutch, which is provided by the power source. The gear shifting method disclosed by the invention has the advantages that a mixed power drive system has a simple and efficient design, double clutches and the synchronizer are matched to realize the mixed power automobile gear shifting, the stable transition during the gear shifting process can be realized, the comfortableness can be brought to drivers and passengers, and simultaneously, high-quality non-power gear shifting functions can be realized.

Description

A kind of automobile-used double-clutch power lotus root closes control method and the device of synchronizer shift

Technical field

The present invention relates to hybrid vehicle, especially the gear-shifting control method of the automobile of electrical power source is comprised, particularly, relate to a kind of automobile-used double-clutch power lotus root and close the gear-shifting control method of synchro and corresponding control setup, also relate to multi-clutch power lotus root further and close the gear-shifting control method of synchro and corresponding control setup.

Background technology

Become today of China Automobile Industry main flow at energy saving standard, hybrid vehicle has become the key core technology that automobile vendor of various countries greatly develops.Wherein, plug-in hybrid solution, as except pure electronic except be most environmental protection, also may be the most fuel-efficient hybrid power solution, just by all big enterprises are praised highly.Plug-in hybrid formed primarily of the relatively little driving engine of discharge capacity and one or two motor, wherein generally motor be responsible for electrokinetic cell energy and power ratio higher time realize pure electric-powered output and Brake energy recovery, realize engine starting at electrokinetic cell energy and power drop to during a preset value, undertaken generating electricity or participating in the functions such as power driven directly by motor.

Because described above-mentioned plug-in hybrid-power automobile is all with a high-performance main drive motor, high-performance motor speed governing time and all to carry out the mode of speed governing than traditional employing driving engine qualitatively good.And if adopt common gear-shifting control method, the advantage of main drive motor in speed governing cannot be utilized.Such as in common engine-driven car, when car gear shifting, need the mechanical characteristics of synchro utilization itself independently to carry out synchronous working, in this case, the time needed for synchronous working can relatively grow and the service life of synchro also can shorten; Or utilize driving engine to carry out speed governing synchronous working to synchro, but due to the adjusting speed accuracy of driving engine inadequate, speed governing is slow, does not often have desirable speed governing net synchronization capability.Therefore, the object of the invention is to solve in the hybrid vehicle comprising electrical power source and utilize motor to provide that a kind of shift time is shorter and the gearshift control mode that shift quality better (impact such as during gear shift is little or the loss of gearshift procedure car speed is little) in time of speed governing and qualitative advantage.

Further, in non-plug-in hybrid vehicle and pure electric automobile, also often with high-performance drive motor, if this high-performance drive motor can not be utilized to carry out speed governing to realize gear shift function to synchro, hybrid vehicle or pure electric automobile also can run into the technical matters described in epimere.Therefore another order of the present invention will solve the gear-shifting control method that above-mentioned shift time is shorter and shift quality is higher to be applied in above-mentioned non-plug-in hybrid vehicle and pure electric automobile.

Summary of the invention

For defect of the prior art, the object of the invention is synchro to be carried out to the modes such as speed governing by motor provides a kind of and comprises the control method of the car gear shifting of electrical power source and corresponding device.

According to an aspect of the present invention, a kind of control method comprising the car gear shifting of electrical power source is provided, wherein, the propulsion source of described automobile at least comprises the first motor, described automobile at least also comprises first clutch, a synchro, first shifting gear group and the second gear gear cluster, described first motor is connected with a main shaft, described synchro is connected with described main shaft and can slides on main shaft, described first motor is by the described synchro described first shifting gear group of connection or the second gear gear cluster thus power transmission on wheel, described first shifting gear group and the second gear gear cluster are connected with wheel power, it comprises the steps: the power that a. removal propulsion source provides to described synchro, b. control described synchro to be separated with described first shifting gear group, c. control described synchro to slide on described main shaft and the rotating speed regulating described synchro, make the speed discrepancy of described synchro and described second gear gear cluster be less than first threshold, d. control described synchro to be combined with described second gear gear cluster, and e. recovery propulsion source provides power to described synchro.

Further, the control method of car gear shifting provided by the invention can also be applied in the hybrid electric drive system of the synchronizer shift of two power-transfer clutchs for automobile as described below, described hybrid electric drive system comprises the first axle, first clutch, second clutch, first order speed reduction gearing, second stage speed reduction gearing, main drive motor, integrated starter-generator and driving engine, described hybrid electric drive system also comprises synchro and one grade of driving gear, second gear driving gear, second gear driving gear, the driving disc spacing pressing of the first clutch of described hybrid electric drive system is connected with the rotor field spider of described driving engine and described integrated starter-generator, the clutch plate of first clutch is connected with one end of described first axle, the driving disc spacing pressing of the second clutch of described hybrid electric drive system is connected with the rotor field spider of described main drive motor, the clutch plate of second clutch is connected with the other end of described first axle, described first axle connects the first order driving gear of described one grade of driving gear and described first order speed reduction gearing successively by described synchro, described first order driven gear connects automobile differential, described first axle connects the second stage driving gear of described second gear driving gear and described second stage speed reduction gearing successively by described synchro, described second stage driven gear connects driven gear and the automobile differential of described first order speed reduction gearing by the second gear wheel shaft, the control method of described car gear shifting comprises the steps: the power that a. removal propulsion source provides to described synchro, b. control described synchro to be separated with described first shifting gear group, c. control described synchro to slide on described main shaft and the rotating speed regulating described synchro, make the speed discrepancy of described synchro and described second gear gear cluster be less than first threshold, d. control described synchro to be combined with described second gear gear cluster, and e. recovery propulsion source provides power to described synchro.

According to an aspect of the present invention, a kind of control setup controlling gear shift in the car is also provided, wherein, the propulsion source of described automobile at least comprises the first motor, described automobile at least also comprises first clutch, a synchro, first shifting gear group and the second gear gear cluster, described first motor is connected with a main shaft, described synchro is connected with described main shaft and can slides on main shaft, described first motor is by the described synchro described first shifting gear group of connection or the second gear gear cluster thus power transmission on wheel, it comprises: propulsion source first control device, its power provided to described synchro for removal propulsion source, and provide power for recovering propulsion source to described synchro, synchro first control device, it is separated with described first shifting gear group for controlling described synchro, and is combined with described second gear gear cluster for controlling described synchro, and synchro second control device, it is for regulating the rotating speed of described synchro, makes the speed discrepancy of described synchro and described second gear gear cluster be less than first threshold.

According to an aspect of the present invention, a kind of energy-saving automobile is also provided, it at least comprises the first motor, described automobile at least also comprises first clutch, synchro, the first shifting gear group and a second gear gear cluster, described first motor is connected with a main shaft, described synchro is connected with described main shaft and can slides on main shaft, described first motor is by the described synchro described first shifting gear group of connection or the second gear gear cluster thus power transmission on wheel, be characterised in that, also comprise above-mentioned control setup.

Gear-shifting control method provided by the invention makes hybrid electric drive system by simple and effective design, coordinates by two power-transfer clutchs and synchro the process realizing hybrid vehicle gear shift.Can realize in gearshift procedure steadily excessively, to driver and crew with comfort, realize the non-power shift function of high character simultaneously.

Accompanying drawing explanation

By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:

Fig. 1 shows according to gear-shifting control method provided by the present invention, and described hybrid vehicle is in the motor vehicle module annexation schematic diagram under the first range state;

Fig. 2 shows according to gear-shifting control method provided by the present invention, and described hybrid vehicle is in the motor vehicle module annexation schematic diagram under the second range state;

Fig. 3 shows according to the first embodiment of the present invention, the diagram of circuit of described gear-shifting control method;

Fig. 4 shows according to the first change case of the first embodiment of the present invention, the diagram of circuit of step S103 in described gear-shifting control method;

Fig. 5 shows the first embodiment of the present invention, the power of described hybrid electric drive system and rotating speed analysis chart;

Fig. 6 shows according to a second embodiment of the present invention, and described hybrid vehicle is in the motor vehicle module annexation schematic diagram under engine driving operation state;

According to the third embodiment of the invention Fig. 7 shows, the motor vehicle module annexation schematic diagram of described hybrid vehicle;

Fig. 8 shows according to a fourth embodiment of the invention, the motor vehicle module annexation schematic diagram of described electronlmobil;

Fig. 9 shows according to a fifth embodiment of the invention, described hybrid vehicle device control linkage relation schematic diagram;

Figure 10 shows a change case according to a fifth embodiment of the invention, described synchro second control device control linkage relation schematic diagram; And

The mechanical construction drawing of the hybrid electric drive system of two clutch synchronization device gear shift of the automobile that the control method that Figure 11 shows car gear shifting provided by the invention is applied.

Detailed description of the invention

Fig. 1 shows according to gear-shifting control method provided by the present invention, and described hybrid vehicle is in the motor vehicle module annexation schematic diagram under the first range state.The module of described hybrid vehicle comprises the first motor 2, second motor 3, driving engine 1, first clutch 4, second clutch 5, synchro 6, first shifting gear group 7, second gear gear cluster 8, diff 9 and wheel 20.As shown in the figure, in the present embodiment, when described hybrid vehicle is under the first range state, described first motor 2 connects described first clutch 4, described second motor 3 is connected described second clutch 5 with described driving engine, and described first clutch 4 and second clutch 5 connect described synchro 6, and described synchro 6 connects described first shifting gear group 7, described first shifting gear group 7 and the second gear gear cluster 8 connect described diff 9, and described diff 9 connects described wheel 20.Particularly, described driving engine directly or by moment coupled device is connected with described second motor 3 power, described first motor 2 and a main shaft 21 (not shown, with reference to Figure 11) connect, described synchro 6 is connected with described main shaft 21 and can slides on main shaft 21, and described first motor 2 connects described first shifting gear group 7 or the second gear gear cluster 8 by described synchro 6 thus power transmission on wheel 20.Those skilled in the art understand, when hybrid vehicle is in the first range state, described first motor 2 as car power source transmits power to described synchro 6 by first clutch 4, transmit power to described synchro 6 as described second motor 3 of car power source and driving engine by second clutch 5, power is transferred to automotive wheel 20 by described first gear cluster and diff 9 by described synchro 6.

With accordingly embodiment illustrated in fig. 1, Fig. 2 shows according to gear-shifting control method provided by the present invention, and described hybrid vehicle is in the motor vehicle module annexation schematic diagram under the second range state.Particularly, each module composition of the hybrid vehicle under the second range state is as shown in Figure 2 identical with Fig. 1, shown in each model calling relation shown in Fig. 2 and Fig. 1, difference is, described synchro 6 is connected with described second gear gear cluster 8, instead of be connected with described first shifting gear group 7, miscellaneous part and concrete connection mode identical with embodiment illustrated in fig. 1, those skilled in the art with reference to realization embodiment illustrated in fig. 1, can not repeat them here.Those skilled in the art understand, hybrid vehicle is under the second range state, the power that described propulsion source is delivered to described synchro 6 transmits power by the second gear gear cluster 8 to wheel 20, instead of transmits power by the first shifting gear group 7 to wheel 20.

With reference to above-mentioned Fig. 1 and Fig. 2, it will be appreciated by those skilled in the art that above-mentioned first gear can be low gear, such as one grade, now, described second gear is high gear accordingly, such as second gear; Such as, otherwise described first gear can be high gear, second gear, now, described second gear is low gear accordingly, such as one grade.Particularly, also can be set forth this in the following embodiments, do not repeated them here.

Fig. 3 shows according to the first embodiment of the present invention, the diagram of circuit of described gear-shifting control method.It will be appreciated by those skilled in the art that described gear-shifting control method is at least be applied in the hybrid vehicle shown in above-mentioned Fig. 1 and Fig. 2 to be in hybrid power and to drive gear under mode of operation by the control method of the first gear to the second speed shift.Particularly, in the present embodiment, described first gear is low gear, such as one grade, correspondingly described second gear is high gear, such as second gear, namely described first shifting gear group 7 is low gear gear clusters, and described second gear gear cluster 8 is high gear gear clusters.In the present embodiment, described first motor 2 is high-performance main drive motors, and described second motor 3 is miniwatt integrated starting motors.When described automobile reaches the critical speed carrying out gear shift from low gear to high gear, control setup provided by the invention starts described gearshift control, thus applies gear-shifting control method provided by the invention.It will be appreciated by those skilled in the art that described critical speed presets according to the different qualities of different automobile, the determination of critical speed determines according to the operating efficiency of propulsion source and the request of chaufeur.Such as, current power driving system is at one grade, and when chaufeur acceleration pedal reaches 50%, power system can meet the torque request of chaufeur completely at one grade and second gear, but propulsion source operating efficiency is higher when second gear, and power system will change to second gear.Also such as, current power driving system is at second gear, and when chaufeur acceleration pedal reaches 50%, power system second gear can not meet the torque request of chaufeur, and power system will shift to first gear.Those skilled in the art can determine such critical speed in conjunction with prior art, and the emphasis of this also not non-invention, do not repeat them here.Under described hybrid vehicle is in the mode of operation of parallel drive, namely described first motor 2, second motor 3 and driving engine 1 all carry out work outputting power.Before described gearshift control starts, under described hybrid vehicle is in the first gear work, namely described synchro 6 is combined with described first shifting gear group 7; After described gearshift control starts, under described hybrid vehicle is in the second gear work, namely described synchro 6 is combined with described second gear gear cluster 8.

Particularly, in the present embodiment, first step S101 is performed, the power that described hybrid vehicle removal propulsion source provides to described synchro 6.Those skilled in the art understand, due to before gear shift, described automobile is in the mode of operation of one grade of low gear, as described first motor 2, second motor 3 of propulsion source and driving engine to described synchro 6 outputting power, after automobile arrives critical speed, start to carry out gearshift control work.Particularly, in order to realize the gear shift work of described synchro 6 in subsequent step, described propulsion source needs to stop transmitting power to described synchro 6.In the present embodiment, the mode of the power provided to described synchro 6 by removal propulsion source stops transmitting power to described synchro 6.Particularly, the motive torque that the moment controlling described first motor 2 makes described synchro 6 transmit is progressively close to zero.Further, those skilled in the art understand, this step can be accomplished in several ways, such as can control propulsion source outputting power moment zero, more specifically can by make the phase current of described first motor 2 and the second motor 3 be zero mode the moment of described propulsion source outputting power is made zero.After the motive torque zero that described first motor 2 and described second motor 3 are transmitted by described synchro 6, start to perform step S102.

In step s 102, control described synchro 6 to be separated with described first shifting gear group 7.It will be appreciated by those skilled in the art that the separation that this step can realize synchro 6 by the shift fork controlling described synchro 6 and the mode slided realize.Owing to unloading the power except propulsion source provides to described synchro 6 in step S101, so in this step S102, described synchro 6 can be separated with described first shifting gear group 7.After described synchro 6 is separated with described first shifting gear group 7, perform step S103.

In step s 103, regulate the rotating speed of described synchro 6, make described synchro 6 be less than first threshold with the speed discrepancy of described second gear gear cluster 8, and control described synchro 6 on described main shaft 21, slide into the critical contact point that predefined and described second gear gear cluster 8 is combined.Particularly, after described synchro 6 is separated with described first shifting gear group 7, just start the rotating speed regulating described synchro 6, in the present embodiment, the rotating speed of described synchro 6 is turned down, make the rotating speed of synchro 6 close to the rotating speed of described second gear gear cluster 8, make described synchro 6 be less than first threshold with the speed discrepancy of described second gear gear cluster 8.Particularly, the setting of the first threshold values bears the ability of shift shock and the requirement based on shift quality based on synchro.Such as, based on the requirement to synchro service life, inertial impact force during gearshift can not be greater than 100 newton meteies, and simultaneously based on the requirement of shift quality, inertial impact force during gearshift can not be greater than 40 newton meteies.Impulsive force during such gearshift can not be greater than 40 newton meteies.At the Inertia Characteristics according to synchro, the first threshold values is set to 400 rpms.Those skilled in the art understand, described first threshold is a value less for the rotating speed of synchro 6 and the second gear cluster, when described synchro 6 is less than first threshold with the speed discrepancy of described second gear gear cluster 8, just can think rotating speed very close of described synchro 6 and described second gear gear cluster 8, can synchro 6 described in subsequent step and the second gear gear cluster 8 in conjunction with time, make the impact of described synchro 6 and described second gear gear cluster 8 very little, improve the shift quality of gear-shifting control method of the present invention.It will be appreciated by those skilled in the art that described critical contact point can be determined according to concrete needs of implementing, such as preferably, is that the inner conical surface of synchro 6 contacts with gear-wheel gear-ring male cone (strobilus masculinus) to be joined the transformation point producing and rub.Further, it will be appreciated by those skilled in the art that the setting of described critical contact point does not affect flesh and blood of the present invention, do not repeat them here.Further, it will be appreciated by those skilled in the art that the rotating speed of described synchro 6 also changes simultaneously, and its rotating speed and described motor are consistent, and do not repeat them here when controlling to adjust the rotating speed of motor.

Further, in this step S103, carrying out the rotating speed of the described synchro 6 of above-mentioned adjustment simultaneously, described synchro 6 slides on described main shaft 21.Particularly, because described synchro 6 is arranged on the same axis with the driving gear of described first shifting gear group 7, the driving gear of the second gear gear cluster 8, therefore regulating the rotating speed of described synchro 6 simultaneously, described synchro 6 can be controlled on described main shaft 21, slide into the critical contact point that predefined and described second gear gear cluster 8 is combined.Preferably, the speed adjustment of described synchro 6 and position two control processs that slide carry out simultaneously, the time of this control process can be utilized fully, after this step S103 is finished, complete the described synchro of following control 6 and described second gear gear cluster 8 in conjunction with the dead work before work.Less preferably, the speed adjustment of described synchro 6 and position two control processs that slide can successively carry out, complete in the time that two control processs can be reserved in step s 103 as long as slide in the speed adjustment of above-mentioned synchro 6 and position, do not repeat them here.

Further, described in described step 103, the first motor 2 and the second motor 3 speed control method regulate the rotating speed of described synchro 6, after making described synchro 6 and the speed discrepancy of described second gear gear cluster 8 be less than first threshold, also preferably convert described first motor 2 to moment mode by speed control method, wherein, the equal and opposite in direction of the size of the target moment of described Torque Control mode and the moment before changing during speeds control, and after moment reaches described target moment and moment is stable, then perform described steps d.It will be appreciated by those skilled in the art that and judge that described moment is stablized the fluctuation range of moment whether in the 3rd threshold time namely judging described first motor 2 and is no more than the scope of the 4th threshold value and judges that the fluctuation range of moment whether in the 5th threshold time of described second motor 3 is no more than the scope of the 6th threshold value.The setting of the 3rd and the 5th threshold values is based on the requirement to the gearshift time.The setting of the 4th and the 6th threshold values bears the ability of moment fluctuating range and the requirement based on shift quality based on synchro.If moment can not be stabilized in the amplitude range of the 4th threshold values at the 3rd threshold values, whole shift process will stop.Similarly, it will be appreciated by those skilled in the art that whole shift process will stop if moment can not be stabilized in the amplitude range of the 6th threshold values at the 5th threshold values.After moment is stable, then perform described steps d.Particularly, target moment when described first motor 2 and the second motor 3 speeds control can be calculate in real time according to the moment of the first motor 2 and the second motor 3 or by sensor measurement.

And then perform step S104, control described synchro 6 and be combined with described second gear gear cluster 8.Due to complete in step s 103 control described synchro 6 and described second gear gear cluster 8 in conjunction with the dead work before work, so in this step S104, described synchro 6 can be combined with described second gear gear cluster 8.It will be appreciated by those skilled in the art that synchro 6 that this step S104 describes combines with the second gear gear cluster 8 is the inverse process that the synchro 6 described in above-mentioned steps S102 is separated with the first shifting gear group 7.After this step S104 performs, complete the connection work of the machinery of the power transmission path of described second gear, the power of described propulsion source transmission can transmit to automotive wheel 20 through described synchro 6, second gear gear cluster 8 and diff 9, does not repeat them here.

Finally perform step S105, recovering propulsion source provides power to described synchro 6.Particularly, in the present embodiment, described driving engine, the first motor 2 and the second motor 3 progressively output torque, provide power to recover propulsion source to described synchro 6, complete automobile from the first gear to the work of the second gear switch.It will be appreciated by those skilled in the art that in other change case, such as, when pure motorized motions or driving engine drive separately, in this step S105 corresponding step, control corresponding operation power source progressively output torque, recover to provide power to described synchro 6, do not repeat them here.

It will be appreciated by those skilled in the art that preferably, regulate the rotating speed of described synchro 6 to realize above-mentioned steps S103 by means of only described high-power first motor 2.Due in gear-shifting control method of the present invention, described first clutch 4 remains closed, and described first motor 2 directly can adjust the rotating speed of described synchro 6.Preferably, described first motor 2 adopts a kind of mode to regulate the rotating speed of described synchro 6, and particularly, described first motor 2 regulates the rotating speed of described synchro 6 by the mode that rotating speed controls.Secondary selection of land, described first motor 2 carries out adjustment of rotational speed by two kinds of modes to described synchro 6: when described synchro 6 is more than or equal to Second Threshold with the speed discrepancy of described second gear gear wheel shaft, described first motor 2 regulates the rotating speed of described synchro 6 by the mode of Torque Control; When described synchro 6 is less than Second Threshold with the speed discrepancy of described second gear gear wheel shaft, described first motor 2 regulates the rotating speed of described synchro 6 by the mode that rotating speed controls.Those skilled in the art understand, described Second Threshold is that described first motor 2 carries out transformation point when rotating speed controls to described synchro 6, due to described first motor 2 regulate the rotating speed of described synchro 6 by the mode of described Torque Control time, the rotation speed change of described synchro 6 is very fast; And described first motor 2 is when regulating the rotating speed of described synchro 6 by the mode that rotating speed controls, the rotation speed change of described synchro 6 is slower.If but described first motor 2 adopts the mode of described Torque Control to regulate the rotating speed of described synchro 6 always, the rotating speed of described synchro 6 so can be made first to be less than the rotating speed of described second gear gear cluster 8, make the rotating speed of described synchro 6 become greatly close to the rotating speed of described second gear gear cluster 8 again, make the speed adjustment time of described synchro 6 elongated so on the contrary.So described first motor 2 preferably mixes the above-mentioned two kinds of modes of employing and carries out speed adjustment to described synchro 6.Described Second Threshold is a predetermined value, and its value makes, when the present embodiment adopts this preferred implementation, to complete the speed adjustment work of described synchro 6 with the shortest time.

In a change case, while above-mentioned first motor 2 regulates the rotating speed of described synchro 6 to realize the described synchro 6 of above-mentioned adjustment, described second motor 3 also participates in the rotating speed regulating described synchro 6, and namely in described step S103, two motors participate in the control process regulating synchro 6 rotating speed.Similarly, due in gear-shifting control method of the present invention, described second clutch 5 remains closed, and described second motor 3 directly can adjust the rotating speed of described synchro 6.Preferably, described second motor 3 adopts a kind of mode to regulate the rotating speed of described synchro 6, and particularly, described second motor 3 regulates the rotating speed of described synchro 6 by the mode that rotating speed controls.Less preferably, described second motor 3 carries out speed adjustment by the mode identical with the first motor 2 to described synchro 6, such as, when described synchro 6 is more than or equal to Second Threshold with the speed discrepancy of described second gear gear wheel shaft, described second motor 3 regulates the rotating speed of described synchro 6 by the mode of Torque Control, when described synchro 6 is less than Second Threshold with the speed discrepancy of described second gear gear wheel shaft, described second motor 3 regulates the rotating speed of described synchro 6 by the mode that rotating speed controls.Further, described second motor 3 also can be only play booster action to the adjustment of the rotating speed of described synchro 6, such as, only when described synchro 6 is more than or equal to Second Threshold with the speed discrepancy of described second gear gear wheel shaft, described second motor 3 regulates the rotating speed of described synchro 6 by the mode of Torque Control, or only when described synchro 6 is less than Second Threshold with the speed discrepancy of described second gear gear wheel shaft, described second motor 3 regulates the rotating speed of described synchro 6 by the mode that rotating speed controls, do not repeat them here.

Fig. 4 shows according to the first change case of the first embodiment of the present invention, the diagram of circuit of step S103 in described gear-shifting control method.Particularly, this change case is one of step S103 described in above-mentioned first embodiment embodiment more specifically.

First step S201 and step S205 is performed, and preferably, described step S201 and described step S205 synchronously carry out, described step S201 realizes making it be less than Second Threshold with the speed discrepancy of described second gear gear cluster 8 to the speed governing of described synchro 6, and described step S205 is that the described synchro 6 of control slides the critical contact point making it slide into predefined and described second gear gear cluster 8 to be combined on described main shaft 21.Preferably, described step S201 comprises step S211 and step S212, and wherein further preferably described step S211 and step S212 synchronously carries out.Wherein, first motor 2 described in described step S211 regulates the rotating speed of described synchro 6 by Torque Control mode, second motor 3 described in described step S212 regulates the rotating speed of described synchro 6 by Torque Control mode, control described synchro 6 and slide to described second gear gear cluster 8 in described S205.Further, in described step S201, described step S211 and step 212 can two steps all be carried out, and also only can carry out one of them step.It will be appreciated by those skilled in the art that implementation and the principle of described step S201 with reference to above-mentioned embodiment illustrated in fig. 3, can not repeat them here.Those skilled in the art understand, namely start after described step S201 is finished to perform step S202, step S203 and step S204, namely start after described step S205 is finished to perform step S206, the slip work of above-mentioned synchro 6 and synchronous working can be carried out separately respectively, as long as it can complete in described step S103, do not repeat them here.

When after execution of step S201, perform step S202, namely judge whether described synchro 6 is less than Second Threshold with the speed discrepancy of described second gear gear cluster 8.When judging that described speed discrepancy is more than or equal to described Second Threshold, then show that described synchro 6 is also excessive with the speed discrepancy of described second gear gear cluster 8, described first motor 2 and/or the second motor 3 still should adopt the mode of Torque Control to regulate the rotating speed of described synchro 6, perform described step S201 so return; Otherwise, when judging that speed discrepancy is less than described Second Threshold, then show that described synchro 6 is smaller with the speed discrepancy of described second gear gear cluster 8, the mode that described first motor 2 and/or the second motor 3 should adopt rotating speed to control regulates the rotating speed of described synchro 6, so continue to perform step S203.

Following execution step S203, it makes the speed discrepancy of itself and described second gear gear cluster 8 be less than first threshold for realizing to the speed governing of described synchro 6.Preferably, described step S203 comprises step S231 and step S232, and described step S231 and step S232 synchronously carries out.Wherein, the first motor 2 described in described step S231 regulates the rotating speed of described synchro 6 by rotating speed mode, and the second motor 3 described in described step S232 regulates the rotating speed of described synchro 6 by rotating speed mode.Further, in described step S203, described step S231 and step 232 can two steps all be carried out, and also only can carry out one of them step, and its implementation and principle with reference to above-mentioned embodiment illustrated in fig. 3, can not repeat them here.

As execution of step S203, then perform step S204, namely judge whether described synchro 6 is less than first threshold with the speed discrepancy of described second gear gear cluster 8.When judging that described speed discrepancy is more than or equal to described first threshold, then show described synchro 6 and the speed discrepancy of described second gear gear cluster 8 is also excessive that described synchro 6 cannot be combined preferably with described second gear gear cluster 8, the mode that described first motor 2 and/or the second motor 3 still should adopt rotating speed to control regulates the rotating speed of described synchro 6, then return and perform described step S203.When judging that speed discrepancy is less than described first threshold, then show that described synchro 6 and the speed discrepancy of described second gear gear cluster 8 have not affected the combination of described synchro 6 and described second gear gear cluster 8, described first motor 2 and/or the second motor 3 do not need the rotating speed regulating described synchro 6 again, then terminate to perform the adjustment to the rotating speed of described synchro 6.

Further, in a change case of described step S201 to step S204, described first motor 2 regulates the rotating speed of described synchro 6 by the mode that rotating speed controls.Particularly, when starting to perform step S103, not performing step S201 and step S202, and directly starting to perform step S203, then at execution step S204.It will be appreciated by those skilled in the art that in this change case, described first motor 2 and described second motor 3 only regulate the rotating speed of described synchro 6 by rotating speed mode, and are no longer regulated the rotating speed of described synchro 6 by Torque Control mode.The control method of described step S203 and step S204 and principle can be carried out with reference to above-described embodiment, do not repeat them here.

As execution of step S205, then step S206 is performed, namely judge that whether described synchro 6 is enough near described second gear gear cluster 8, namely described synchro 6 slides into the critical contact point that predefined and described second gear gear cluster 8 is combined on described main shaft 21, judges whether described synchro 6 completes to the slip work of described second gear gear cluster 8.When judging described synchro 6 with described second gear gear cluster 8 hypertelorism, then return and perform described step S205.When judging that described synchro 6 and described second gear gear cluster 8 are apart from time enough near, then terminate to perform the work of described synchro 6 to described second gear gear cluster 8 slip.

Those skilled in the art understand, after the speed adjustment work of above-mentioned synchro 6 and described synchro 6 all to perform to the slip work of described second gear gear cluster 8 and terminate, shown in Fig. 3, namely step S103 is finished, gear-shifting control method provided by the invention continues to perform subsequent step S104, specifically to carry out with reference to above-mentioned first embodiment, do not repeat them here.

Those skilled in the art understand, in another change case of the first embodiment, with above-mentioned first embodiment and respective change example unlike, described first gear is high gear, described second gear is low gear, namely described first shifting gear group 7 is high gear gear clusters, and described second gear gear cluster 8 is low gear gear clusters.When described automobile reaches the critical speed carrying out gear shift from high gear to low gear, also start described gearshift control, described critical speed presets according to the different qualities of different automobile.

Particularly, in such change case, in from above-mentioned first gear (i.e. high gear) to the gearshift procedure of above-mentioned second gear position (i.e. low gear), first step S101 ' (not shown) is performed, the power that described hybrid vehicle removal propulsion source provides to described synchro 6.Perform step S102 ' (not shown) again, control described synchro 6 and be separated with described first shifting gear group 7.It will be appreciated by those skilled in the art that step S101 ' and step S102 ' and the step S101 of the first embodiment and the implementation of step S102 and principle are identical described in this change case, do not repeat them here.

Then perform step S103 ' (not shown), regulate the rotating speed of described synchro 6, make described synchro 6 be less than first threshold with the speed discrepancy of described second gear gear cluster 8.Particularly, it is described after described synchro 6 is separated with described first shifting gear group 7, just start the rotating speed regulating described synchro 6, in the present embodiment, the rotating speed of described synchro 6 is heightened, make the rotating speed of synchro 6 close to the rotating speed of described second gear gear cluster 8, make described synchro 6 be less than first threshold with the speed discrepancy of described second gear gear cluster 8.It will be appreciated by those skilled in the art that principle and the value mode of described first threshold are basically the same as those in the first embodiment, do not repeat them here.

Preferably, the rotating speed of described synchro 6 is regulated to realize the function of the described synchro 6 of above-mentioned adjustment by described first motor 2.Further, while described first motor 2 regulates the rotating speed of described synchro 6 to realize the described synchro 6 of above-mentioned adjustment, described second motor 3 also participates in the rotating speed regulating described synchro 6.Those skilled in the art understand, in this change case, owing to being from high gear to low gear gear shift, so it is from slow speed of revolution to high speed adjustment that described first motor 2 and the second motor 3 regulate the speed of described synchro 6, to make described synchro 6 can with the rotating speed of described second gear gear cluster 8 close to make described synchro 6 can be less than first threshold with the speed discrepancy of described second gear gear cluster 8.In addition, the value mode of described Second Threshold is also owing to being from high gear gear shift to low gear, and making its numerical value different, its value is still a predetermined value, to make to work as this change case can complete described synchro 6 speed adjustment work in the shortest time.Its control process is similar to the step S103 of the first embodiment to principle, can carry out, do not repeat them here with reference to the step S103 of the first embodiment.

And then perform step S104 ' (not shown), control described synchro 6 and be combined with described second gear gear cluster 8.Finally perform step S105 ' (not shown), recovering propulsion source provides power to described synchro 6.It will be appreciated by those skilled in the art that in this change case, implementation and the principle of described step S104 ' and step S105 ' and the step S104 in the first embodiment and step S105 are identical, do not repeat them here.

Those skilled in the art understand, each step described in above-mentioned change case can reference diagram 3 and embodiment illustrated in fig. 4 and corresponding change case be achieved, in fact from low grade to high-grade be identical with the technical scheme of the process from top grade to low grade, although or difference but those skilled in the art can realize such gearshift procedure from top grade to low grade with reference to above-described embodiment and change case to some extent, do not repeat them here.

With reference to above-mentioned Fig. 1 to Fig. 4, it will be appreciated by those skilled in the art that above-mentioned first threshold can need according to concrete enforcement to the 6th threshold value and sets or selected.Such as, preferably the setting of the first threshold values bears the ability of shift shock and the requirement based on shift quality based on synchro; Preferably, the setting of the 3rd threshold values, the 5th threshold value is that correspondingly, the setting of the 4th threshold values, the 6th threshold value bears the ability of moment fluctuating range and the requirement based on shift quality based on synchro based on the requirement to the gearshift time.Those skilled in the art can be achieved with reference to above-described embodiment and prior art, do not repeat them here.Again such as, preferably described second threshold values depends primarily on the requirement to the gearshift time, and can need to set according to different enforcement: such as preferably, when from described first gear switch to described second gear, complete in 400 milliseconds if wish, then described Second Threshold is preferentially set to from the interval of 20 milliseconds to 50 milliseconds; And in a change case, when from described first gear switch to described second gear, complete within 350 milliseconds of seconds if wish, then described Second Threshold is preferentially set to from the interval of 20 milliseconds to 40 milliseconds, does not repeat them here.

Fig. 5 shows the first embodiment of the present invention, the power of described hybrid electric drive system and rotating speed analysis chart.Particularly, Fig. 5 show described hybrid vehicle under the gear-shifting control method of the first embodiment of the present invention from the first gear switch to the second gear time, namely from low gear to when being switched to high gear, the condition curve of described main shaft 21 moment, main shaft 21 rotating speed, 1 grade of (low gear) drive shaft speed and 2 grades of (high speed gear) drive shaft speeds.Wherein, described main shaft 21 refers to the gear wheel shaft at described synchro 6 place in a first embodiment, described 1 grade of drive shaft speed refers to the gear cluster with the gear place that described synchro 6 is combined in described first shifting gear group 7, and described 2 grades of drive shaft speeds refer to the gear cluster with the gear place that described synchro 6 is combined in described second gear gear cluster 8.Gearshift control below in conjunction with the first embodiment analyzes the dynamic regime of described hybrid electric drive system.

In whole gear-shifting control process, the moment variations on described main shaft 21 is as shown in main shaft 21 M curve of Fig. 5.In step S101, the power that described hybrid vehicle removal propulsion source provides to described synchro 6 particularly, is that the mode of the moment zero by controlling propulsion source outputting power realizes, therefore, in step S101 implementation, the moment of described main shaft 21 can be changed to zero.In step S102, step S103 and step S104, the moment of described main shaft 21 remains zero moment.In step S105, described propulsion source recovers to provide power to described synchro 6, and therefore in step S105, the moment of described main shaft 21 can become large, recovers the moment on main shaft 21.

Further, in whole gear-shifting control process, the rotation speed change on described 1 grade of input shaft is as shown in 1 of Fig. 5 grade of drive shaft speed curve.In step S101, the power that described hybrid vehicle removal propulsion source provides to described synchro 6, therefore in step S101 implementation, described 1 grade of drive shaft speed remains unchanged substantially.In step S102, step S103 and step S104, because the moment of described main shaft 21 remains zero moment, the rotating speed therefore on described 1 grade of input shaft diminishes gradually.In step S105, because propulsion source recovers to provide power to described synchro 6, therefore in step S105, the rotating speed on described 1 grade of input shaft can become large.

Further, in whole gear-shifting control process, the rotation speed change on described 2 grades of input shafts is as shown in 2 of Fig. 5 grades of drive shaft speed curves.It will be appreciated by those skilled in the art that the changing condition of the rotating speed on described 2 grades of input shafts and similar on 1 grade of input shaft, its difference is, the rotating speed of described 2 grades of input shafts is less relative to the rotating speed of described 1 grade of input shaft, does not repeat them here.

Further, described main shaft 21 rotation speed change is as shown in 2 of Fig. 5 grades of drive shaft speed curves.In step S101 and step S102, because described synchro 6 is not yet separated with described first shifting gear axle, therefore described main shaft 21 rotating speed is identical with described 1 grade of input shaft rotating speed, and its curve is also substantially identical.In step s 103, because described first motor 2 and/or the second motor 3 carry out speed governing to described synchro 6, therefore the rotating speed on described main shaft 21 diminishes gradually, and its rotating speed is the rotating speed identical with 2 grades of input shafts from the rotation speed change identical with 1 grade of input shaft, and its change curve as shown in Figure 5.In step S104 and step S105, because described synchro 6 is combined with described second gear gear wheel shaft, therefore described main shaft 21 rotating speed is identical with described 2 grades of input shaft rotating speeds, and its curve is also substantially identical.

Further, as shown in Figure 5, the execution time length of each step of described gearshift control can be fixing.Those skilled in the art understand, because gear-shifting control method of the present invention is applied on particular vehicle, and the driveability of described particular vehicle is certain, so the time of each step in its gearshift control can preset, such as in the control method described in above-described embodiment, each in described step S101 to step S105 and described step S103 all can preset an execution time step by step, after this execution time, the object of each step during each step described can both be controlled by performing fully to realize gear switch.Less preferably, gear-shifting control method of the present invention also can adopt the mode of the speed measuring device arranging each axle to realize, such as in step s 103, each execution is step by step controlled in described step S103 by 21, the one grade of drive shaft speed of main shaft described in speed measuring device Real-Time Monitoring and second gear drive shaft speed and by the mode that itself and described first threshold or Second Threshold compare, its mode can be carried out with reference to above-mentioned first embodiment, does not repeat them here.

Fig. 6 shows according to a second embodiment of the present invention, and described hybrid vehicle is in the motor vehicle module annexation schematic diagram under engine driving operation state.With Fig. 1 unlike, described driving engine is connected with described first motor 2, and the realization of the annexation of remaining part and parts itself with reference to embodiment described in above-mentioned Fig. 1, can not repeat them here.Particularly, under described hybrid vehicle is in engine driving operation pattern, described second clutch 5 is separated, described second motor 3 outside outputting power, and only by described first motor 2 and the outside outputting power of described driving engine.It will be appreciated by those skilled in the art that in the present embodiment, described first motor 2 is miniwatt integrated starting motors, and described second motor 3 is high-power main drive motors.Under described engine driving operation state, gear-shifting control method of the present invention and the first embodiment and change case thereof unlike, in described step S103, only by described first motor 2 i.e. described integrated starting motor, speed governing is carried out to described synchro 6, and described second motor 3 does not participate in the speed adjustment work to described synchro 6, therefore, the speed regulation process time to described synchro 6 in step S103 can be corresponding elongated.Implementation in other steps and principle similar to the first embodiment and change case thereof, can carry out with reference to above-mentioned, not repeat them here.

With reference to figure 1, Fig. 2 and Fig. 6, it will be appreciated by those skilled in the art that Fig. 1 and the double-motor parallel drive mode of operation be preferably applied under hybrid vehicle structure embodiment illustrated in fig. 2, now described driving engine does not work.Correspondingly, Fig. 1 and embodiment illustrated in fig. 2 also can be applied in single motor drive operational state under, namely apply under hybrid vehicle of the present invention is in single motor drive operational state, which constitute the change case of above-mentioned first embodiment.Particularly, in this change case, under described hybrid vehicle is in motor drive operational state, described second clutch 5 is separated, described second motor 3 and described driving engine outside outputting power, and only by described first motor 2 outwards outputting power.It will be appreciated by those skilled in the art that in this change case, described first motor 2 is high-power main drive motors, and described second motor 3 is miniwatt integrated starting motors.Under the mode of operation of this change case, namely under motor drive operational state, gear-shifting control method provided by the invention and above-mentioned first embodiment and respective change example unlike, in described step S103, only by described first motor 2 i.e. described main drive motor, speed governing is carried out to described synchro 6, and described second motor 3 does not participate in the speed adjustment work to described synchro 6, therefore, the speed regulation process time to described synchro 6 in step S103 can be corresponding elongated.And those skilled in the art can realize other steps with reference to above-mentioned first embodiment and change case thereof, do not repeat them here.

According to the third embodiment of the invention Fig. 7 shows, the motor vehicle module annexation schematic diagram of described hybrid vehicle.With Fig. 1 unlike, described driving engine is connected with described first motor 2, and described hybrid vehicle does not comprise described second motor 3 and described second clutch 5.It will be appreciated by those skilled in the art that described first motor 2 is miniwatt integrated starting motor or high-power main drive motor, namely gear-shifting control method of the present invention is applied in orthodox car or in-line hybrid vehicle.In the present embodiment, gear-shifting control method of the present invention and the first embodiment and change case thereof unlike, in described step S103, only by described first motor 2 i.e. described integrated starting motor, speed governing is carried out to described synchro 6.Therefore, the speed regulation process time to described synchro 6 in step S103 can be corresponding elongated.Implementation in other steps and principle similar to the first embodiment and change case thereof, can carry out with reference to above-mentioned, not repeat them here.

Fig. 8 shows according to a fourth embodiment of the invention, the motor vehicle module annexation schematic diagram of described electronlmobil.Distinguish with Fig. 1, described hybrid vehicle does not comprise described driving engine, described second motor 3 and described second clutch 5.It will be appreciated by those skilled in the art that described first motor 2 is high-power main drive motors, namely gear-shifting control method of the present invention is applied in electronlmobil.In the present embodiment, gear-shifting control method of the present invention and the first embodiment and change case thereof unlike, in described step S103, only by described first motor 2 i.e. described main drive motor, speed governing is carried out to described synchro 6.Therefore, the speed regulation process time to described synchro 6 in step S103 can be corresponding elongated.Implementation in other steps and principle similar to the first embodiment and change case thereof, can carry out with reference to above-mentioned, not repeat them here.

Fig. 9 shows according to a fifth embodiment of the invention, described hybrid vehicle device control linkage relation schematic diagram.According to above-mentioned Fig. 1 to embodiment illustrated in fig. 8, preferably, the hybrid vehicle that the present invention applies comprises the first motor 2, second motor 3, driving engine, first clutch 4, second clutch 5, synchro 6, first shifting gear group 7, second gear gear cluster 8, diff 9 and wheel 20.Particularly, described driving engine directly or by moment coupled device is connected with described second motor 3 power, described first motor 2 is interconnected by being connected a main shaft 21 with described synchro 6, and described synchro 6 can rotate and can slide on main shaft 21 together with described main shaft 21.Particularly, described driving engine directly or by moment coupled device is connected with described second motor 3 power, described first motor 2 is interconnected by being connected a main shaft 21 with described synchro 6, and described synchro 6 can rotate and can slide on main shaft 21 together with described main shaft 21.In the embodiment shown in fig. 9, under the hybrid vehicle that the present invention applies is in the first range state, described first motor 2 connects described first clutch 4, described second motor 3 is connected described second clutch 5 with described driving engine, described first clutch 4 and second clutch 5 connect described synchro 6, described synchro 6 connects described first shifting gear group 7, and described first shifting gear group 7 and the second gear gear cluster 8 connect described diff 9, and described diff 9 connects described wheel 20.Preferably, in the present embodiment, the power that propulsion source first control device 10 provides to described synchro 6 for removal propulsion source, and provide power for recovering propulsion source to described synchro 6; Synchro 6 first control device 11 is separated with described first shifting gear group 7 for controlling described synchro 6, and is combined with described second gear gear cluster 8 for controlling described synchro 6; Synchro 6 second control device 12, for regulating the rotating speed of described synchro 6, makes described synchro 6 be less than first threshold with the speed discrepancy of described second gear gear cluster 8.Those skilled in the art understand, preferably, above-mentioned propulsion source first control device 10, synchro 6 first control device 11 and synchro 6 second control device 12 form a complete control setup (not shown in Fig. 9), it completes gear-change operation for controlling hybrid vehicle, and especially double-clutch power lotus root closes the gearshift control of synchro 6.

In the present embodiment, described first gear is low gear, such as one grade, and described second gear is high gear, such as second gear, and namely described first shifting gear group 7 is low gear gear clusters, and described second gear gear cluster 8 is high gear gear clusters.In the present embodiment, described first motor 2 is high-performance main drive motors, and described second motor 3 is miniwatt integrated starting motors.When described automobile reaches the critical speed carrying out gear shift from low gear to high gear, control setup provided by the invention starts described gearshift control.Particularly, in the present embodiment, the propulsion source being applied to hybrid vehicle comprises the first motor 2, second motor 3 and driving engine 1.And preferably, in the present embodiment, under described hybrid vehicle is in the mode of operation of hybrid power driving, namely described first motor 2, second motor 3 and driving engine all carry out work outputting power; Or under described hybrid vehicle is in the mode of operation of double-motor parallel drive, namely described first motor 2 and the second motor 3 all carry out work outputting power.Preferably, described propulsion source first control device 10 controls the first motor 2, second motor 3 and driving engine 1 respectively, particularly, and its power provided to described synchro 6 for propulsions source such as removal first motor 2, second motor 3 and driving engines 1.Those skilled in the art understand, needs are implemented according to difference, described propulsion source first control device 10 can be accomplished in several ways power removal, preferably, in the present embodiment, it controls the moment zero of propulsion source outputting power, namely the motive torque that the moment controlling described first motor 2 and the second motor 3 makes described synchro 6 transmit progressively close to zero, such as by make the phase current of described first motor 2 and the second motor 3 be zero mode the moment of described propulsion source outputting power is made zero.

In the present embodiment, after described propulsion source first control device 10 unloads the power provided to synchro 6 except propulsion source, then above-mentioned synchro 6 first control device 11 controls described synchro 6 and is separated with described first shifting gear group 7.Next, described synchro 6 second control device 12 regulates the rotating speed of described synchro 6, makes described synchro 6 be less than first threshold with the speed discrepancy of described second gear gear cluster 8.Particularly, described after described synchro 6 is separated with described first shifting gear group 7, just start the rotating speed regulating described synchro 6.Those skilled in the art understand, described first threshold is a value less for the rotating speed of synchro 6 and the second gear cluster, when described synchro 6 is less than first threshold with the speed discrepancy of described second gear gear cluster 8, just can think rotating speed very close of described synchro 6 and described second gear gear cluster 8, can synchro 6 described in subsequent step and the second gear gear cluster 8 in conjunction with time, make the impact of described synchro 6 and described second gear gear cluster 8 very little, improve the shift quality of gear-shifting control method of the present invention.

More specifically, above-mentioned synchro 6 second control device 12 is while described synchro 6 rotating speed of control, also control described synchro 6 slide on described main shaft 21 and carry out synchronization work, described main shaft 21 slides into the critical contact point that predefined and described second gear gear cluster 8 is combined.Particularly, because described synchro 6 is arranged on the same axis with the driving gear of described first shifting gear group 7, the driving gear of the second gear gear cluster 8, therefore regulating the rotating speed of described synchro 6 simultaneously, can control to state synchro 6 and sliding to the direction of described second gear gear cluster 8 on gear wheel shaft.It will be appreciated by those skilled in the art that the process controlling the slip of described synchro 6 is preferably completed by synchro 6 the 4th control setup (such as Figure 10 shown device 122) included in described synchro 6 second control device, do not repeat them here.

Then, described synchro 6 first control device 11 controls described synchro 6 and is combined with described second gear gear cluster 8, after both combine, complete the connection work of the machinery of the power transmission path of described second gear, the power of described propulsion source transmission can transmit to automotive wheel 20 through described synchro 6, second gear gear cluster 8 and diff 9, does not repeat them here.

Finally, described propulsion source first control device 10 controls the recovery of described propulsion source and provides power to described synchro 6.Preferably, those skilled in the art understand, the process controlling described propulsion source recovery power provides the process of power contrary with propulsion source described in removal, the moment such as preferably controlling described propulsion source reaches some setting values, there is provided power to recover propulsion source to described synchro 6, complete automobile from the first gear to the work of the second gear switch.

With reference to embodiment illustrated in fig. 9, those skilled in the art understand, described propulsion source first control device 10 comprises propulsion source second control device (not shown in Fig. 9), it to make zero the power provided to described synchro 6 with removal propulsion source for controlling described propulsion source outputting power moment particularly, and the motive torque that the moment namely controlling described first motor 2 makes described synchro 6 transmit is progressively close to zero; And providing power to recover propulsion source to described synchro 6 for the moment controlling to recover described propulsion source, those skilled in the art can realize this device in conjunction with above-mentioned elaboration, and it will not go into details.

Further, described propulsion source first control device also comprises propulsion source the 3rd control setup, it is for after completing in the work of synchro 6 second control device and before the work of synchro 6 first control device starts, control described first motor 2 and the second motor 3 converts moment mode to by speed control method, wherein, the equal and opposite in direction of the size of the target moment of described Torque Control mode and the moment before changing during speeds control, and after moment reaches described target moment and moment is stable, then start the work of synchro 6 first control device.Those skilled in the art understand, judge that described moment is stablized the fluctuation range of moment whether in the 3rd threshold time namely judging the first motor 2 and is no more than the scope of the 4th threshold value and judges that the fluctuation range of moment whether in the 5th threshold time of described second motor 3 is no more than the scope of the 6th threshold value (it can equal described 4th threshold value), after moment is stable, then start the work of synchro 6 first control device.Particularly, target moment when described first motor 2 and the second motor 3 speeds control can be calculate in real time according to the moment of the first motor 2 and the second motor 3 or by sensor measurement.

Those skilled in the art understand, in embodiment illustrated in fig. 9 change case, the hybrid vehicle that the present invention applies is in the second range state, namely on basis embodiment illustrated in fig. 9, described synchro 6 is connected with described second gear gear cluster 8, instead of is connected with described first shifting gear group 7.Those skilled in the art understand, hybrid vehicle is under the second range state, the power that described propulsion source is delivered to described synchro 6 transmits power by the second gear gear cluster 8 to wheel 20, instead of transmits power by the first shifting gear group 7 to wheel 20.Under these circumstances, still can apply the control realizing gear shift embodiment illustrated in fig. 9, not repeat them here.Further, it will be appreciated by those skilled in the art that above-mentioned first gear can be low gear, such as one grade, now, described second gear is high gear accordingly, such as second gear; Such as, otherwise described first gear can be high gear, second gear, now, described second gear is low gear accordingly, and such as one grade, this does not affect flesh and blood of the present invention.

Figure 10 shows a change case according to a fifth embodiment of the invention, the concrete control linkage relation schematic diagram of described synchro 6 second control device.Particularly, in the present embodiment, described synchro 6 second control device 12 comprises synchro 6 the 3rd control setup 121, synchro 6 the 4th control setup 122 and synchro 6 the 5th control setup 123.Wherein, described synchro 6 the 3rd control setup 121 regulates the rotating speed of described synchro 6 for controlling described first motor 2; Described synchro 6 the 4th control setup 122 slides into for controlling described synchro 6 the critical contact point that predefined and described second gear gear cluster 8 is combined on described main shaft 21; Described synchro 6 the 5th control setup 123 regulates the rotating speed of described synchro 6 for controlling described second motor 3.Those skilled in the art understand, described synchro 6 the 3rd control setup 121 and synchro 6 the 5th control setup 123 are respectively used to regulate different propulsions source, thus realize the function of described synchro 6 second control device 12 shown in above-mentioned Fig. 9, do not repeat them here.

More specifically, it will be appreciated by those skilled in the art that preferably, described synchro 6 the 3rd control setup controls described first motor 2 regulates described synchro 6 rotating speed by the mode that rotating speed controls.Less preferably, described synchro 6 the 3rd control setup 123 controls described first motor 2 regulates described synchro 6 rotating speed by the mode of Torque Control when described synchro 6 is more than or equal to Second Threshold with the speed discrepancy of described second gear gear wheel shaft, and preferably, it controls described first motor 2 regulates described synchro 6 rotating speed by the mode that rotating speed controls when described synchro 6 is less than Second Threshold with the speed discrepancy of described second gear gear wheel shaft.Those skilled in the art understand, described Second Threshold is that described first motor 2 carries out transformation point when rotating speed controls to described synchro 6, due to described first motor 2 regulate the rotating speed of described synchro 6 by the mode of described Torque Control time, the rotation speed change of described synchro 6 is very fast; And described first motor 2 is when regulating the rotating speed of described synchro 6 by the mode that rotating speed controls, the rotation speed change of described synchro 6 is slower.If but described first motor 2 adopts the mode of described Torque Control to regulate the rotating speed of described synchro 6 always, the rotating speed of described synchro 6 so can be made first to be less than the rotating speed of described second gear gear cluster 8, make the rotating speed of described synchro 6 become greatly close to the rotating speed of described second gear gear cluster 8 again, make the speed adjustment time of described synchro 6 elongated so on the contrary.So described first motor 2 preferably mixes the above-mentioned two kinds of modes of employing and carries out speed adjustment to described synchro 6.Described Second Threshold is a predetermined value, and its value makes, when the present embodiment adopts this preferred implementation, to complete the speed adjustment work of described synchro 6 with the shortest time.

With reference to above-mentioned Fig. 9 and Figure 10, those skilled in the art understand, in the embodiment shown in fig. 9, while described first motor 2 of described synchro 6 the 3rd control setup control regulates the rotating speed of described synchro 6, described synchro 6 the 5th control setup also controls the rotating speed that described second motor 3 participates in regulating described synchro 6, namely controls the control process that two motors participate in regulating synchro 6 rotating speed simultaneously.Similarly, due in gear-shifting control method of the present invention, described second clutch 5 remains closed, and described second motor 3 directly can adjust the rotating speed of described synchro 6.Preferably, described second motor 3 carries out speed adjustment by the mode identical with the first motor 2 to described synchro 6, such as, when described synchro 6 and the speed discrepancy of described second gear gear wheel shaft are more than or equal to Second Threshold (or three threshold value different with Second Threshold), described second motor 3 regulates the rotating speed of described synchro 6 by the mode of Torque Control, when described synchro 6 is less than Second Threshold with the speed discrepancy of described second gear gear wheel shaft, described second motor 3 regulates the rotating speed of described synchro 6 by the mode that rotating speed controls.Less preferably, the adjustment of described second motor 3 to the rotating speed of described synchro 6 only plays booster action, such as, only when described synchro 6 is more than or equal to Second Threshold with the speed discrepancy of described second gear gear wheel shaft, described second motor 3 regulates the rotating speed of described synchro 6 by the mode of Torque Control, or only when described synchro 6 is less than Second Threshold with the speed discrepancy of described second gear gear wheel shaft, described second motor 3 regulates the rotating speed of described synchro 6 by the mode that rotating speed controls, do not repeat them here.

With reference to above-mentioned Fig. 9 and Figure 10, those skilled in the art understand, the situation showing propulsion source and comprise two motors and a driving engine simultaneously embodiment illustrated in fig. 9, and in embodiment illustrated in fig. 9 change case, described propulsion source can only include the first motor 2, and described second clutch 5 is omitted.In such change case, the second control device of synchro 6 shown in Figure 10 does not comprise described synchro 6 the 5th control setup, is namely only controlled rotating speed and the sliding process of described synchro 6 by described synchro 6 the 3rd control setup and synchro 6 the 4th control setup.And in the change case that another is similar, described propulsion source comprises the first motor 2 and driving engine 1 simultaneously, such change case is similar with the change case only including the first motor 2, and it will not go into details.

Further, the mechanical construction drawing of the hybrid electric drive system of the automobile two clutch synchronization device gear shift that the control method that Figure 11 shows car gear shifting provided by the invention is applied.As shown in the figure, the structure of the hybrid electric drive system of two clutch synchronization device gear shift of the automobile that the control method of car gear shifting provided by the invention is applied, described hybrid electric drive system comprises main drive motor 2, integrated starter-generator 3, driving engine 1, first axle 21 (i.e. main shaft 21), first order speed reduction gearing 7 (the first shifting gear group), second stage speed reduction gearing 8 (the 21 shifting gear group), first clutch 4, second clutch 5, synchro 6.Particularly, the driving disc spacing pressing of described second clutch 5 connects the driving engine 1 of integrated starter-generator 3 and automobile, the clutch plate of described second clutch 5 connects described first axle 21, the driving disc spacing pressing of described first clutch 4 connects described main drive motor 2, and the clutch plate of described first clutch 4 connects described first axle 21.Described hybrid power power drive system is by described first order speed reduction gearing 7 or second stage speed reduction gearing 8 outputting power.Described synchro 6 can slide on described first axle 21, and described first axle 21 connects described first order speed reduction gearing 7 or second stage speed reduction gearing 8 by described synchro 6.Described first order speed reduction gearing 7 or second stage speed reduction gearing 8 connect described diff 9, transmit power by described diff 9 to wheel 20.Those skilled in the art understand, described synchro 6 and described first axle 21 pass through spline joint, it can rotate and can slide on described first axle 21 together with described first axle 21, those skilled in the art in conjunction with the such structure of existing techniques in realizing and pivoting mechanism, can not repeat them here.

Particularly, the driving disc spacing pressing of described second clutch 5 is connected with described driving engine 1 and described integrated starter-generator rotor 17 support 16; Particularly, in the present embodiment, described driving disc spacing pressing is directly connected with described driving engine 1 by paracentral part, and correspondingly, the driving disc spacing pressing of described second clutch 5 connects described integrated starter-generator rotor field spider 16 at deep outer rim place.The clutch plate of described second clutch 5 is connected with one end of described first axle 21; Particularly, in this embodiment, the core of described clutch plate connects described first axle 21.Further, the driving disc spacing pressing of the first clutch 4 of described hybrid electric drive system is connected with the rotor field spider 19 of described main drive motor

Further, described hybrid electric drive system also comprises one grade of driving gear 13 (i.e. the driving gear of the first speed reduction gearing).Described one grade of driving gear 13 connects one end of described first axle 21 by synchro 6, the other end of one grade of described driving gear 13 connects the first order driven gear of described first order speed reduction gearing 7, and the first order driven gear of described first order speed reduction gearing 7 is by connecting described diff 9.

Correspondingly, described hybrid electric drive system also comprises second gear driving gear (i.e. the driving gear of the second speed reduction gearing) 14 and the second gear wheel shaft 15.One end of described second gear driving gear 14 connects described first axle 21 by described synchro 6, the other end of described second gear driving gear 14 connects the second stage driving gear of described second stage speed reduction gearing 8, the second stage driven gear of described second stage speed reduction gearing 8 connects the first order driven gear of described first order speed reduction gearing 7 by described second gear wheel shaft 15, then by the first order driven gear connected with differential 9 of described first order speed reduction gearing 7.

Further, in this embodiment, described first axle 21, one grade of driving gear 13 and second gear driving gear 14 are coaxially arranged in described hybrid electric drive system, described second gear driving gear 14 and one grade of driving gear 13 adopt the mode of free gear to arrange to be successively set on the outer ring of described first axle 21, rely on one grade of needle bearing 11, second gear needle bearing 12 to be supported on the first axle 21 respectively.This does not affect flesh and blood of the present invention, does not repeat them here.

Further, it will be appreciated by those skilled in the art that hybrid electric drive system provided by the invention is by described first order speed reduction gearing 7 outputting power.Particularly, described first order speed reduction gearing 7 comprises a first order driving gear, a first order driven gear, its namely described first order driving gear with state the second gear wheel shaft 15 by described first order driven gear and be connected with described speed changer differential 9.Wherein, the first order driving gear empty set of described first order speed reduction gearing 7 is in one end of described first axle 21, perpendicular on the first axle 21 direction, described first order driving gear engages with the first order driven gear on the second gear wheel shaft 15, then is connected with the shell of diff 9.Described second stage driving gear empty set is on described first axle 21, and perpendicular on the first axle 21 direction, it engages with the second stage driven gear on described second gear wheel shaft 15, and described second stage driven gear is connected with the shell of diff 9 again.Those skilled in the art understand, the power that above-mentioned design makes described hybrid electric drive system export can realize the transmission in two kinds of paths, when described synchro 6 and one grade of driving gear 13 in conjunction with time, described hybrid electric drive system by described one grade of driving gear 13 to first order speed reduction gearing 7 outputting power, now the reduction ratio of described first order speed reduction gearing 7 is the ratio of number of teeth of described first order driven gear and first order driving gear, achieves the deceleration of described hybrid electric drive system one grade and increases the work of output torque; When described synchro 6 and second gear driving gear 14 in conjunction with time, described hybrid electric drive system is by described second gear driving gear 14 to second stage speed reduction gearing 8 outputting power, and now speed reduction gearing 8 reduction ratio in the described second stage is that the ratio of number of teeth of described second stage driven gear and second stage driving gear achieves the deceleration of described hybrid electric drive system second gear and increases the work of output torque.

Those skilled in the art understand, above-described embodiment provided by the invention and the gear-shifting control method described in change case can be applied in the hybrid electric drive system of the automobile two clutch synchronization device gear shift shown in Figure 11, can carry out referring to figs. 1 through embodiment described in Figure 10 and change case particularly, not repeat them here.

Further, the present invention also can be applied in the hybrid vehicle of many gears.Namely described automobile dynamic system comprises an arbitrarily shifting gear group, connects different shifting gear group carry out gear shift by described synchro 6, wherein, by the shift fork controlling described synchro 6 realize synchro 6 separation, slide, synchronous and engagement.Particularly, described hybrid electric drive system can also arrange multiple-stage reduction unit, such as, arrange third stage speed reduction gearing, as long as the speed reduction gearing arranged can combine with described synchro 6 or be separated, and connects described diff 9 and wheel 20.The plan of establishment of this speed reduction gearing can be carried out with reference to described first order speed reduction gearing 7 and described second stage speed reduction gearing 8, as long as when described synchro 6 and this speed reduction gearing in conjunction with time, the power transmission that propulsion source transmission can come by this speed reduction gearing is to wheel 20.It will be appreciated by those skilled in the art that the concrete mechanical connection manner of described hybrid electric drive system can carry out with reference to embodiment illustrated in fig. 1 and change case, do not repeat them here.

Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.

Claims

1. the control method of an automobile-used double-clutch power lotus root conjunction synchronizer shift, wherein, described car is automobile, the propulsion source of described automobile at least comprises the first motor, described automobile at least also comprises first clutch, a synchro, first shifting gear group and the second gear gear cluster, described first motor is connected with a main shaft, described synchro is connected with described main shaft and can slides on main shaft, described first motor is by the described synchro described first shifting gear group of connection or the second gear gear cluster thus power transmission on wheel, it is characterized in that, described method comprises the steps:

A. the power that provides to described synchro of removal propulsion source;

B. control described synchro to be separated with described first shifting gear group;

C. control described synchro to slide on described main shaft and the rotating speed regulating described synchro, make the speed discrepancy of described synchro and described second gear gear cluster be less than first threshold;

D. control described synchro to be combined with described second gear gear cluster; And

E. recover propulsion source and provide power to described synchro,

Wherein, the step " regulating the rotating speed of described synchro " in described step c comprises the steps:

The rotating speed of described synchro is regulated by described first motor.

2. control method according to claim 1, is characterized in that, described first motor regulates the rotating speed of described synchro by the mode that rotating speed controls.

3. control method according to claim 1, is characterized in that, when the speed discrepancy of described synchro and described second gear gear wheel shaft is more than or equal to Second Threshold, described first motor regulates the rotating speed of described synchro by the mode of Torque Control.

4. control method according to claim 3, is characterized in that, when the speed discrepancy of described synchro and described second gear gear wheel shaft is less than described Second Threshold, described first motor regulates the rotating speed of described synchro by the mode that rotating speed controls.

5. control method according to any one of claim 1 to 4, wherein, described step a comprises the steps:

The motive torque that-the moment that controls described first motor makes described synchro transmit is progressively close to zero.

6. control method according to claim 4, is characterized in that, described step e comprises the steps:

-described first motor starts progressively output torque, provides power to recover propulsion source to described synchro.

7. control method according to claim 4, is characterized in that, the step of described " controlling described synchro to slide on described main shaft " also comprises the steps:

-control described synchro on described main shaft, slide into the critical contact point that predefined and described second gear gear cluster is combined.

8. control method according to claim 4, is characterized in that, also comprises the steps: between described step c and steps d

-convert described first motor to moment mode by speed control method, wherein, the equal and opposite in direction of the size of the target moment of described Torque Control mode and the moment before changing during speeds control, and after moment reaches described target moment and the fluctuation range of moment in the 3rd threshold time is no more than the fluctuation range in the 4th threshold time, then perform described steps d.

9. control method according to claim 8, is characterized in that, the step of described " converting described first motor to moment mode by speed control method " also comprises the steps:

-judge that the fluctuation range of moment whether in the 3rd threshold time of the first motor is no more than the fluctuation range in the 4th threshold time, after the fluctuation range of moment in the 3rd threshold time is no more than the fluctuation range in the 4th threshold time, then perform described steps d.

10. control method according to claim 8, is characterized in that, target moment when described first motor carries out speeds control is calculated in real time according to the moment of described first motor or obtained by sensor measurement.

11. control methods according to claim 1, is characterized in that, the pass of described first shifting gear group and described second gear hyte is any one in following relation:

-described first shifting gear group is that described second gear gear cluster is that low speed is than shifting gear group at a high speed than shifting gear group; Or

-described first shifting gear group be low speed than shifting gear group, described second gear gear cluster is at a high speed than shifting gear group.

12. control methods according to claim 3, is characterized in that, the propulsion source of described automobile also comprises the second motor and second clutch, and described second motor is transmitted power on described main shaft by described second clutch.

13. control methods according to claim 12, is characterized in that, the step " regulating the rotating speed of described synchro " in described step c comprises the steps:

-rotating speed of described synchro is regulated by described second motor.

14. control methods according to claim 13, is characterized in that, when the speed discrepancy of described synchro and described second gear gear wheel shaft is less than described Second Threshold, described second motor regulates the rotating speed of described synchro by the mode that rotating speed controls.

15. control methods according to claim 13, it is characterized in that, when the speed discrepancy of described synchro and described second gear gear wheel shaft is more than or equal to described Second Threshold, described second motor regulates the rotating speed of described synchro by the mode of Torque Control.

16. control methods according to claim 15, is characterized in that, when the speed discrepancy of described synchro and described second gear gear wheel shaft is less than described Second Threshold, described second motor regulates the rotating speed of described synchro by the mode that rotating speed controls.

17., according to claim 12 to the control method according to any one of 16, is characterized in that, also comprise the steps: between described step c and steps d

-convert described second motor to moment mode by speed control method, the equal and opposite in direction of the size of the target moment of described Torque Control mode and the moment before changing during speeds control, and after moment reaches described target moment and the fluctuation range of moment in the 3rd threshold time is no more than the fluctuation range in the 4th threshold time, then perform described steps d.

18. control methods according to claim 17, is characterized in that, the step of described " converting described second motor to moment mode by speed control method " also comprises the steps:

-judge that the fluctuation range of moment whether in the 5th threshold time of the second motor is no more than the fluctuation range in the 6th threshold time, after the fluctuation range of moment in the 5th threshold time is no more than the scope of described 6th threshold value, then perform described steps d.

19. control methods according to claim 17, is characterized in that, target moment when described second motor speed controls be calculate in real time according to the moment of the second motor or by sensor measurement.

20. according to claim 12 to the control method according to any one of 16, and wherein, described step a comprises the steps:

The moment that-the moment that controls described second motor makes described synchro transmit is progressively close to zero.

21. according to claim 12 to the control method according to any one of 16, and wherein, described step e comprises the steps:

-described second motor starts progressively output torque, provides power to recover propulsion source to described synchro.

22. control methods according to claim 12, is characterized in that, in gearshift procedure, keep described first clutch and second clutch to close.

23., according to claim 12 to the control method described in 16 any one, is characterized in that, in gearshift procedure, keep described first clutch to close, described second clutch is separated.

24. control methods according to claim 22, is characterized in that, described first motor is high-power main drive motor, and described second motor is miniwatt integrated starting motor.

25. control methods according to claim 24, is characterized in that, the propulsion source of described automobile also comprises driving engine, and described driving engine directly or by moment coupled device is connected with described second motor power.

26. control methods according to claim 25, is characterized in that, under the described mode by Torque Control is applicable to the double-motor parallel drive mode of operation of hybrid vehicle, hybrid power drives mode of operation or single motor drive operational pattern.

27. control methods according to claim 23, is characterized in that, described first motor is miniwatt integrated starting motor, and described second motor is high-power main drive motor.

28. control methods according to claim 27, is characterized in that, the propulsion source of described automobile also comprises driving engine, and described driving engine directly or by moment coupled device is connected with described first motor power.

29. control methods according to claim 28, is characterized in that, under the described mode by Torque Control is applicable to the engine driving operation pattern of hybrid vehicle.

30. control methods according to claim 12, it is characterized in that, the power system of described automobile comprises a shifting gear group arbitrarily, connect different shifting gear group by described synchro and carry out gear shift, wherein, described first motor and/or the second motor are made zero by control torque being separated of the gear cluster that realizes described synchro and gear residing before gear shift, the synchronization of the gear cluster of residing gear after realizing synchro and gear shift by control motor speed, by control ring gear that the clean output torque of main shaft zero realizes synchro with after gear shift residing for gear gear cluster on the engaging of ring gear.

31. 1 kinds of automobile-used double-clutch power lotus roots close the control setup of synchronizer shift, wherein, described car is automobile, the propulsion source of described automobile at least comprises the first motor, described automobile at least also comprises first clutch, a synchro, first shifting gear group and the second gear gear cluster, described first motor is connected with a main shaft, described synchro is connected with described main shaft and can slides on main shaft, described first motor is by the described synchro described first shifting gear group of connection or the second gear gear cluster thus power transmission on wheel, it is characterized in that, comprise:

Propulsion source first control device, its power provided to described synchro for removal propulsion source, and provide power for recovering propulsion source to described synchro;

Synchro first control device, it is separated with described first shifting gear group for controlling described synchro, and is combined with described second gear gear cluster for controlling described synchro; And

Synchro second control device, it slides and the rotating speed regulating described synchro for controlling described synchro on described main shaft, makes the speed discrepancy of described synchro and described second gear gear cluster be less than first threshold,

Wherein, described synchro second control device comprises synchro the 3rd control setup, and it regulates the rotating speed of described synchro for controlling described first motor.

32. control setups according to claim 31, is characterized in that, described synchro the 3rd control setup controls described first motor regulates described synchro rotating speed by the mode that rotating speed controls.

33. control setups according to claim 31, it is characterized in that, described synchro the 3rd control setup controls described first motor regulates described synchro rotating speed by the mode of Torque Control when the speed discrepancy of described synchro and described second gear gear wheel shaft is more than or equal to Second Threshold.

34. control setups according to claim 33, it is characterized in that, described synchro the 3rd control setup controls described first motor regulates described synchro rotating speed by the mode that rotating speed controls when the speed discrepancy of described synchro and described second gear gear wheel shaft is less than Second Threshold.

35. control setups according to any one of claim 31 to 34, it is characterized in that, described propulsion source first control device comprises propulsion source second control device, and its motive torque described synchro being transmitted for the moment controlling described first motor is progressively close to zero.

36. control setups according to any one of claim 31 to 34, it is characterized in that, described propulsion source second control device also starts progressively output torque for controlling described first motor, provides power to recover propulsion source to described synchro.

37. control setups according to any one of claim 31 to 34, it is characterized in that, described synchro second control device also comprises synchro the 4th control setup, and it slides into for controlling described synchro the critical contact point that predefined and described second gear gear cluster is combined on described main shaft.

38. control setups according to any one of claim 31 to 34, it is characterized in that, described propulsion source first control device comprises propulsion source the 3rd control setup, it is for after completing in the work of synchro second control device and before the work of synchro first control device starts, control described first motor and convert moment mode to by speed control method, wherein, the equal and opposite in direction of the size of the target moment of described Torque Control mode and the moment before changing during speeds control, and after moment reaches described target moment and the fluctuation range of moment in the 3rd threshold time is no more than the fluctuation range in the 4th threshold time, start the work of synchro first control device again.

39. according to control setup according to claim 38, it is characterized in that, described propulsion source the 3rd control setup is also for judging that the fluctuation range of moment whether in the 3rd threshold time of the first motor is no more than the fluctuation range in the 4th threshold time, after the fluctuation range of moment in the 3rd threshold time is no more than the fluctuation range in the 4th threshold time, then start the work of synchro first control device.

40., according to control setup according to claim 38, is characterized in that, target moment when described first motor speed controls be calculate in real time according to the moment of the first motor or by sensor measurement.

41. control setups according to any one of claim 31 to 34, is characterized in that, the pass of described first shifting gear group and described second gear hyte is any one in following relation:

42. control setups according to any one of claim 31 to 34, wherein, the propulsion source of described automobile also comprises the second motor and second clutch, described second motor transmits power on described main shaft by described second clutch, it is characterized in that, synchro second control device also comprises synchro the 5th control setup, and it regulates the rotating speed of described synchro for controlling described second motor.

43. control setups according to claim 42, is characterized in that, described synchro the 5th control setup controls described second motor regulates described synchro rotating speed by the mode that rotating speed controls.

44. control setups according to claim 42, it is characterized in that, synchro the 5th control setup controls described second motor regulates described synchro rotating speed by the mode of Torque Control when the speed discrepancy of described synchro and described second gear gear wheel shaft is more than or equal to Second Threshold.

45. control setups according to claim 44, it is characterized in that, described synchro the 5th control setup controls described second motor regulates described synchro rotating speed by the mode that rotating speed controls when the speed discrepancy of described synchro and described second gear gear wheel shaft is less than Second Threshold.

46. control setups according to claim 42, in it is characterized in that, described propulsion source first control device comprises propulsion source the 4th control setup, and its moment described synchro being transmitted for the moment controlling described second motor is progressively close to zero.

47. control setups according to claim 42, is characterized in that, described propulsion source the 4th control setup also starts progressively output torque for controlling described second motor, provides power to recover propulsion source to described synchro.

48. control setups according to claim 42, it is characterized in that, described propulsion source first control device comprises propulsion source the 5th control setup, it is for after completing in the work of synchro second control device and before the work of synchro first control device starts, control described second motor and convert moment mode to by speed control method, wherein, the equal and opposite in direction of the size of the target moment of described Torque Control mode and the moment before changing during speeds control, and after moment reaches described target moment and the fluctuation range of moment in the 3rd threshold time is no more than the fluctuation range in the 4th threshold time, start the work of synchro first control device again.

49. control setups according to claim 48, it is characterized in that, described propulsion source the 5th control setup is also for judging that the fluctuation range of moment whether in the 3rd threshold time of the second motor is no more than the fluctuation range in the 4th threshold time, after the fluctuation range of moment in the 3rd threshold time is no more than the fluctuation range in the 4th threshold time, then start the work of synchro first control device.

50. control setups according to claim 48 or 49, is characterized in that, target moment when described second motor speed controls be calculate in real time according to the moment of the second motor or by sensor measurement.

51. control setups according to claim 42, is characterized in that, in gearshift procedure, keep described first clutch and second clutch to close.

52. control setups according to claim 42, is characterized in that, in gearshift procedure, keep described first clutch to close, described second clutch is separated.

53. control setups according to claim 51, is characterized in that, described first motor is high-power main drive motor, and described second motor is miniwatt integrated starting motor.

54. control setups according to claim 53, is characterized in that, the propulsion source of described automobile also comprises driving engine, and described driving engine directly or by moment coupled device is connected with described second motor power.

55. control setups according to claim 33, is characterized in that, under the described mode by Torque Control is applicable to the double-motor parallel drive mode of operation of hybrid vehicle, hybrid power drives mode of operation or single motor drive operational pattern.

56. control setups according to claim 52, is characterized in that, described first motor is miniwatt integrated starting motor, and described second motor is high-power main drive motor.

57. control setups according to claim 56, is characterized in that, the propulsion source of described automobile also comprises driving engine, and described driving engine directly or by moment coupled device is connected with described first motor power.

58. control setups according to claim 57, is characterized in that, under described control setup is applicable to the engine driving operation pattern of hybrid vehicle.

59. control setups according to claim 42, it is characterized in that, the power system of described automobile comprises a shifting gear group arbitrarily, connect different shifting gear group by described synchro and carry out gear shift, wherein, described control setup realizes being separated of the gear cluster of described synchro and gear residing before gear shift by controlling the first motor and/or the second motor torque zero, the synchronization of the gear cluster of residing gear after realizing synchro and gear shift by control motor speed, by control ring gear that the clean output torque of main shaft zero realizes synchro with after gear shift residing for gear gear cluster on the engaging of ring gear.

60. 1 kinds of energy-saving automobiles, it at least comprises the first motor, described automobile at least also comprises first clutch, synchro, the first shifting gear group and a second gear gear cluster, described first motor connects described synchro by described first clutch power, described first shifting gear group and the second gear gear cluster are connected with wheel power, be characterised in that, also comprise the control setup according to any one of the claims 31 to 57.