CN102322364A - Engine torque control method and device for urgent acceleration of automatic gearbox - Google Patents
Engine torque control method and device for urgent acceleration of automatic gearbox Download PDFInfo
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- CN102322364A CN102322364A CN201110246665A CN201110246665A CN102322364A CN 102322364 A CN102322364 A CN 102322364A CN 201110246665 A CN201110246665 A CN 201110246665A CN 201110246665 A CN201110246665 A CN 201110246665A CN 102322364 A CN102322364 A CN 102322364A
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Abstract
The invention discloses an engine torque control method and an engine torque control method device for the urgent acceleration of an automatic gearbox, which belong to the field of automobile engine control. The method comprises the following steps of: calculating an acceleration torque required by a target rotation speed corresponding to a target gear reached by an engine rotation speed, and controlling the output torque of the engine according to the acceleration torque; performing feedback control on the output torque of the engine by using a port identification (PID) controller so as to update the acceleration torque; performing delay compensation on the updated acceleration torque; and controlling the output torque of the engine according to the acceleration torque subjected to delay compensation. The device comprises a computation module, a feedback control module, a delay compensation module and an execution module. By the method and the device, the problem of over modulation when a vehicle which is provided with the automatic gearbox is subjected to urgent acceleration can be solved.
Description
Technical field
The present invention relates to the automotive engine control field, particularly a kind of anxious engine torque control method and device that quickens of automatic transmission case that be used for.
Background technique
Along with the fast development of electronic technology and automatic control technology, the automatic transmission case that is used for automobile is constantly introduced to the market by automobile vendor both domestic and external.The vehicle of assembling automatic transmission case has the self-shifting function, lets people in driving procedure, enjoy light, comfortable, the omnibearing enjoyment of going on the one hand, and oil consumption is low on the other hand, emission performance is low.By driver's approval, automatic transmission case entrucking rate is increasingly high on the market gradually for the advantage of this of automatic transmission case two aspects, and using scope is also more and more wider.
Automatic transmission case has a characteristic in automatic speed changing, when the driver suddenly quickened, automatic transmission case can lower category automatically, takes this to improve engine speed and strengthens power, makes the big acceleration of vehicle moment generation.The generation of this acceleration is to realize through special engine torque control method.The vehicle of existing assembling automatic transmission case is used for the anxious engine torque control method that quickens and generally includes: obtain the rotating speed of target of motor under object gear and the current rotating speed of motor; According to engine target rotating speed and current rotating speed, calculate motor and quicken required moment of torsion; And quicken the output torque of required moment of torsion control motor according to said motor; When controlling the output torque of motor, need to measure in real time the actual speed of motor, adopt PID (Proportion Integration Differentiation, PID) controller that the output torque of motor is carried out feedback control.
In realizing process of the present invention, the inventor finds that there is following problem at least in existing technology:
Because there are response lag in the time-delay of communication and the change of engine speed with respect to moment of torsion control; When adopting aforementioned engine torque control method to carry out the urgency acceleration; Bigger overshoot can appear in the output torque of motor; Thereby cause the problem that driving or shifting shock are bigger, even flame-out problem occurs.
Summary of the invention
For the overshoot problem that the vehicle that solves the assembling automatic transmission case can occur when suddenly quickening, the embodiment of the invention provides a kind of anxious engine torque control method and device that quickens of automatic transmission case that be used for.Said technological scheme is following:
On the one hand, the invention provides a kind of anxious engine torque control method that quickens of automatic transmission case that is used for, this method specifically comprises:
The calculation engine rotating speed will reach the corresponding required acceleration moment of torsion of rotating speed of target of object gear, and controls the output torque of motor according to said acceleration moment of torsion;
Adopt the PID controller that the output torque of said motor is carried out feedback control to upgrade said acceleration moment of torsion;
Acceleration moment of torsion to after upgrading carries out compensation of delay; And
Control the output torque of said motor according to the acceleration moment of torsion behind the compensation of delay.
Particularly, said acceleration moment of torsion after the said renewal is carried out compensation of delay, specifically comprises:
Calculate compensation torque according to following formula, and said compensation torque that will calculate and the acceleration moment of torsion addition after the said renewal;
Wherein, T ' representes said compensation torque; T representes the acceleration moment of torsion after the said renewal, and K3, K4 and K5 represent the moment of torsion scale parameter that the acceleration moment of torsion after the said renewal exerted an influence to the rotating speed of said motor the 3rd, 4 and 5 sampling period respectively, and K3+K4+K5=1.
Preferably, the length in said sampling period is 10ms.
Particularly, said calculation engine rotating speed will reach the corresponding required acceleration moment of torsion of rotating speed of target of object gear, specifically comprises:
Obtain the current actual speed of said motor and calculate the rotating speed of target of said motor under the object gear, said object gear adopt gearbox the best under current vehicle speed and the throttle gear, calculate according to the mapping characteristics of motor; Set shift time;
Calculate the required initial acceleration moment of torsion of said motor according to said rotating speed of target, said actual speed and said shift time.
Particularly, said employing PID controller carries out feedback control to upgrade said acceleration moment of torsion to the output torque of said motor, specifically comprises:
Obtain the desired trajectory of said engine speed according to said actual speed, said rotating speed of target and said shift time;
With said desired trajectory is desired value, and the output torque of said motor is carried out feedback control.
Further, saidly obtain the desired trajectory of said engine speed according to said actual speed, said rotating speed of target and said shift time, specifically comprise:
Adopt said shift time that said actual speed and said rotating speed of target are carried out filtering.
Alternatively, the span of said shift time is 300ms～500ms.
On the other hand, the present invention also provides a kind of anxious engine torque control device that quickens of automatic transmission case that is used for, and specifically comprises:
Computing module is used to calculate the calculation engine rotating speed and will reaches the corresponding required acceleration moment of torsion of rotating speed of target of object gear;
Feedback control module is used to adopt the PID controller that the output torque of said motor is carried out the acceleration moment of torsion that feedback control calculates to upgrade said computing module;
The compensation of delay module is used for the acceleration moment of torsion after the said feedback control module renewal is carried out compensation of delay; And
Executive Module, the output torque that acceleration moment of torsion that is used for calculating according to said computing module and the acceleration moment of torsion behind the said compensation of delay module compensation of delay are controlled said motor.
Wherein, said computing module specifically comprises:
Acquiring unit is used to obtain the current actual speed of said motor and calculates the corresponding rotating speed of target of object gear;
Setup unit is used to set shift time;
First computing unit is used for calculating the required initial acceleration moment of torsion of said motor according to said rotating speed of target, said actual speed and said shift time.
Wherein, said compensation of delay module specifically comprises:
Second computing unit is used for turning round the calculating compensation torque according to the acceleration after upgrading;
Adder is used for the acceleration moment of torsion addition after said compensation torque and the said renewal, obtains the acceleration moment of torsion behind the compensation of delay.
The beneficial effect that the technological scheme that the embodiment of the invention provides is brought is: through the acceleration moment of torsion that obtains after the PID feedback control is carried out compensation of delay, and according to the output torque of the control of the acceleration moment of torsion behind compensation of delay motor; Can effectively reduce the problem of the overshoot that vehicle occurs when anxious the acceleration, thereby shifting shock brings the driver uncomfortable sensation more greatly in avoiding that vehicle is anxious and quickening, and further avoids motor driving or flame-out problem to occur.
Description of drawings
In order to be illustrated more clearly in the technological scheme in the embodiment of the invention; The accompanying drawing of required use is done to introduce simply in will describing embodiment below; Obviously, the accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills; Under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the flow chart of a kind of engine torque control method of providing in the embodiment of the invention 1;
Fig. 2 is the flow chart of a kind of engine torque control method of providing in the embodiment of the invention 2;
Fig. 3 is the structural representation figure of a kind of engine torque control device of providing in the embodiment of the invention 3;
Fig. 4 is the structural representation of a kind of engine torque control device of providing in the embodiment of the invention 4.
Embodiment
For making the object of the invention, technological scheme and advantage clearer, will combine accompanying drawing that embodiment of the present invention is done to describe in detail further below.
Embodiment 1
Referring to Fig. 1, present embodiment provides a kind of anxious engine torque control method that quickens of automatic transmission case that is used for, and this method specifically comprises:
Step 101: the calculation engine rotating speed will reach the corresponding required acceleration moment of torsion of rotating speed of target of object gear, and quickens the output torque of moment of torsion control motor according to this.
Particularly, this object gear is based on the best gear of gearbox under current vehicle speed that the mapping characteristics of motor calculates and the throttle.
Step 102: adopt the PID controller that the output torque of motor is carried out feedback control to upgrade aforementioned acceleration moment of torsion.
Step 103: the acceleration moment of torsion to after upgrading carries out compensation of delay.
Step 104: according to the output torque of the control of the acceleration moment of torsion behind compensation of delay motor.
The embodiment of the invention is through carrying out compensation of delay to the acceleration moment of torsion that obtains after the PID feedback control, and according to the output torque of the control of the acceleration moment of torsion behind compensation of delay motor; Can effectively reduce the problem of the overshoot that vehicle occurs when anxious the acceleration, thereby shifting shock brings the driver uncomfortable sensation more greatly in avoiding that vehicle is anxious and quickening, and further avoids motor driving or flame-out problem to occur.
Embodiment 2
Referring to Fig. 2, present embodiment provides a kind of preference that is used for the anxious engine torque control method that quickens of automatic transmission case, and this method specifically comprises:
Step 201: the calculation engine rotating speed will reach the corresponding required acceleration moment of torsion of rotating speed of target of object gear, and quickens the output torque of moment of torsion control motor according to this.
Further, this step comprises:
Step 2011: obtain the current actual speed of motor and calculate the rotating speed of target of motor under the object gear, this object gear is based on the best gear of gearbox under current vehicle speed that the mapping characteristics of motor calculates and the throttle.
Wherein, the current actual speed of motor can adopt speed probe to obtain.
After object gear was confirmed, the corresponding rotating speed of target of object gear can calculate through current actual speed and object gear, and formula is: the speed ratio of rotating speed of target=(speed ratio of current rotating speed/current gear) * object gear.
Step 2012: set shift time.
Preferably, the span of shift time is 300ms～500ms.This shift time can demarcate to confirm that main foundation is that car load quickens steadily not have and impact through driving.
Step 2013: according to aforementioned rotating speed of target, actual speed and the required initial acceleration moment of torsion of shift time calculation engine.
At first, according to the rotating speed of target of motor, current actual speed and shift time calculation engine relative speed variation.Suppose that relative speed variation is Δ w, formula is following,
Wherein, w is the current actual speed of motor, w
0Be rotating speed of target, t is shift time.
Then, calculate the required acceleration moment of torsion of motor according to the relative speed variation Δ w of motor, formula is following:
T＝J*Δw………(2)，
In the formula (2), T representes the acceleration moment of torsion that motor is required; J representes engine moment inertia.
Step 2014: according to the output torque of the required initial acceleration moment of torsion control motor of the motor that calculates.
Particularly, the acceleration moment of torsion that this is initial exports actuator to, carries out corresponding action by this actuator, and then changes the output torque of motor.Such as, the aperture of closure is adjusted to and this initial corresponding position of acceleration moment of torsion, change the output torque of motor through the change air inflow.Perhaps, through changing the output torque that ignition advance angle changes motor.
Step 202: adopt the PID controller that the output torque of motor is carried out feedback control to upgrade aforementioned acceleration moment of torsion.
Particularly, this step comprises: the desired trajectory that obtains engine speed according to actual speed, rotating speed of target and shift time; With this desired trajectory is desired value, and the output torque of motor is carried out feedback control.
Wherein, the desired trajectory according to actual speed, rotating speed of target and shift time acquisition engine speed specifically comprises: to the rotating speed of target w of transmitter under the object gear
0Carry out filtering with the current actual speed w set time constant of motor.The curve that filtering generates promptly is the desired trajectory of engine speed.Know that easily the curve that filtering produces is parabolic, thereby can guarantee the comfort level that gear shift combines.Need to prove that the desired trajectory of engine speed also can be straight line, this straight path can obtain through interpolation, and this knows for those skilled in the art, omits at this and describes in detail.
Further; Adopt the PID controller to be: according to the actual speed of motor and the difference of the desired value in the corresponding moment of aforementioned desired trajectory to the principle that the output torque of motor carries out feedback control; The calculated torque adjusted value; Then the acceleration moment of torsion of a last sampling instant is adjusted, be about to the acceleration moment of torsion addition of this a moment of torsion adjusted value and a last sampling instant, as new acceleration moment of torsion output.
Alternatively; Also can adjust the acceleration moment of torsion of a last sampling instant with the difference of quickening moment of torsion through the actual output torque of motor; Be about to the acceleration moment of torsion addition of this difference and a last sampling instant, as new acceleration moment of torsion output, further; The actual output torque of motor can be measured through torque sensor in real time, also can calculate according to the actual speed of motor.
203: the acceleration moment of torsion to after upgrading carries out compensation of delay.
Further, this step specifically comprises:
Step 2021: calculate compensation torque according to following formula:
Wherein, T ' expression compensation torque; K3, K4 and K5 represent respectively to quicken the moment of torsion scale parameter that moment of torsion exerted an influence to engine speed the 3rd, 4 and 5 sampling period, and K3+K4+K5=1; Z
-3, Z
-4And Z
-5Transfer function transform when representing the 3rd, 4 and 5 sampling period respectively; T representes the acceleration moment of torsion that motor is required.
Find through test, quicken the effect of the engine speed of moment of torsion after and can ignore basically, so suppose that whole system is one 5 rank system for 5 sampling periods.In the present embodiment, through the influence to engine speed in 5 sampling periods of experimental observation moment of torsion, the transfer function between engine speed and the engine output torque is simplified.And in this 5 sampling periods, preceding two sampling periods are the communication time delay, can ignore equally, quicken moment of torsion to the effect of rotating speed respectively the 3rd, 4 and 5 sampling period.Obtain scale parameter K3, K4 and K5 through demarcation, demarcate and to refer to the moment of torsion scale parameter that engine speed exerted an influence during in the 3rd, 4 and 5 sampling periods at the acceleration moment of torsion that records under the stable state road conditions.
Further, the length in aforementioned sample cycle can be 10ms or 5ms.
Step 2022: with compensation torque with upgrade after the addition of acceleration moment of torsion, obtain the acceleration moment of torsion behind the compensation of delay.
Step 204: according to the output torque of the control of the acceleration moment of torsion behind compensation of delay motor.
This step is identical with abovementioned steps 2014, omits at this and describes in detail.
The embodiment of the invention is through carrying out compensation of delay to the acceleration moment of torsion that obtains after the PID feedback control, and according to the output torque of the control of the acceleration moment of torsion behind compensation of delay motor; Can effectively reduce the problem of the overshoot that vehicle occurs when anxious the acceleration, thereby shifting shock brings the driver uncomfortable sensation more greatly in avoiding that vehicle is anxious and quickening, and further avoids motor driving or flame-out problem to occur.
Embodiment 3
Referring to Fig. 3, present embodiment provides a kind of anxious engine torque control device that quickens of automatic transmission case that is used for, and specifically comprises:
Computing module 301 is used for the calculation engine rotating speed and will reaches the corresponding required acceleration moment of torsion of rotating speed of target of object gear;
Feedback control module 302 is used to adopt the PID controller that the output torque of motor is carried out the acceleration moment of torsion that feedback control calculates with update calculation module 301;
Compensation of delay module 303 is used for the acceleration moment of torsion after feedback control module 302 renewals is carried out compensation of delay; And
Executive Module 304, the output torque of acceleration moment of torsion that is used for calculating and the control of the acceleration moment of torsion behind compensation of delay module 303 compensation of delay motor according to computing module 301.
The embodiment of the invention is through carrying out compensation of delay to the acceleration moment of torsion that obtains after the PID feedback control, and according to the output torque of the control of the acceleration moment of torsion behind compensation of delay motor; Can effectively reduce the problem of the overshoot that vehicle occurs when anxious the acceleration, thereby shifting shock brings the driver uncomfortable sensation more greatly in avoiding that vehicle is anxious and quickening, and further avoids motor driving or flame-out problem to occur.
Embodiment 4
Referring to Fig. 4, what present embodiment provided method that a kind of embodiment of employing 2 provides is used for the anxious engine torque control device that quickens of automatic transmission case, specifically comprises:
Compensation of delay module 403 is used for the acceleration moment of torsion after feedback control module 402 renewals is carried out compensation of delay; And
Wherein, computing module 401 specifically comprises:
Acquiring unit 4011, the rotating speed of target that is used to obtain the current actual speed of motor and calculates motor under the object gear;
Wherein, compensation of delay module 403 specifically comprises:
Further, second computing unit 4031 calculates compensation torque according to following formula:
Wherein, T ' expression compensation torque; K3, K4 and K5 represent respectively to quicken the moment of torsion scale parameter that moment of torsion exerted an influence to engine speed the 3rd, 4 and 5 sampling period, and K3+K4+K5=1; Z
-3, Z
-4And Z
-5Transfer function transform when representing the 3rd, 4 and 5 sampling period respectively; T representes the acceleration moment of torsion that motor is required.
The embodiment of the invention is through carrying out compensation of delay to the acceleration moment of torsion that obtains after the PID feedback control, and according to the output torque of the control of the acceleration moment of torsion behind compensation of delay motor; Can effectively reduce the problem of the overshoot that vehicle occurs when anxious the acceleration, thereby shifting shock brings the driver uncomfortable sensation more greatly in avoiding that vehicle is anxious and quickening, and further avoids motor driving or flame-out problem to occur.
The all or part of step that one of ordinary skill in the art will appreciate that realization the foregoing description can be accomplished through hardware; Also can instruct relevant hardware to accomplish through program; Described program can be stored in a kind of computer-readable recording medium; The above-mentioned storage medium of mentioning can be a ROM (read-only memory), disk or CD etc.
The above is merely preferred embodiment of the present invention, and is in order to restriction the present invention, not all within spirit of the present invention and principle, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. one kind is used for the anxious engine torque control method that quickens of automatic transmission case, it is characterized in that said method comprises:
The calculation engine rotating speed will reach the corresponding required acceleration moment of torsion of rotating speed of target of object gear, and controls the output torque of said motor according to said acceleration moment of torsion;
Adopt the PID controller that the output torque of said motor is carried out feedback control to upgrade said acceleration moment of torsion;
Acceleration moment of torsion to after upgrading carries out compensation of delay; And
Control the output torque of said motor according to the acceleration moment of torsion behind the compensation of delay.
2. engine torque control method according to claim 1 is characterized in that, said acceleration moment of torsion after the said renewal is carried out compensation of delay, specifically comprises:
Calculate compensation torque according to following formula, and said compensation torque that will calculate and the acceleration moment of torsion addition after the said renewal;
Wherein, T ' representes said compensation torque; T representes the acceleration moment of torsion after the said renewal, and K3, K4 and K5 represent the moment of torsion scale parameter that the acceleration moment of torsion after the said renewal exerted an influence to the rotating speed of said motor the 3rd, 4 and 5 sampling period respectively, and K3+K4+K5=1.
3. engine torque control method according to claim 2 is characterized in that, the length in said sampling period is 10ms or 5ms.
4. according to each described engine torque control method of claim 1-3, it is characterized in that said calculation engine rotating speed will reach the corresponding required acceleration moment of torsion of rotating speed of target of object gear, specifically comprises:
Obtain the current actual speed of said motor and calculate the rotating speed of target of said motor under the object gear, said object gear is based on the best gear of gearbox under current vehicle speed that the mapping characteristics of motor calculates and the throttle;
Set shift time;
Calculate the required initial acceleration moment of torsion of said motor according to said rotating speed of target, said actual speed and said shift time.
5. engine torque control method according to claim 4 is characterized in that, said employing PID controller carries out feedback control to upgrade said acceleration moment of torsion to the output torque of said motor, specifically comprises:
Obtain the desired trajectory of said engine speed according to said actual speed, said rotating speed of target and said shift time;
With said desired trajectory is desired value, and the output torque of said motor is carried out feedback control.
6. engine torque control method according to claim 5 is characterized in that, saidly obtains the desired trajectory of said engine speed according to said actual speed, said rotating speed of target and said shift time, specifically comprises:
Adopt said shift time that said actual speed and said rotating speed of target are carried out filtering.
7. engine torque control method according to claim 4 is characterized in that, the span of said shift time is 300ms～500ms.
8. one kind is used for the anxious engine torque control device that quickens of automatic transmission case, it is characterized in that said device comprises:
Computing module is used for the calculation engine rotating speed and will reaches the corresponding required acceleration moment of torsion of rotating speed of target of object gear;
Feedback control module is used to adopt the PID controller that the output torque of said motor is carried out the acceleration moment of torsion that feedback control calculates to upgrade said computing module;
The compensation of delay module is used for the acceleration moment of torsion after the said feedback control module renewal is carried out compensation of delay; And
Executive Module, the output torque that acceleration moment of torsion that is used for calculating according to said computing module and the acceleration moment of torsion behind the said compensation of delay module compensation of delay are controlled said motor.
9. engine torque control device according to claim 8 is characterized in that, said computing module specifically comprises:
Acquiring unit is used to obtain the current actual speed of said motor and calculates the corresponding rotating speed of target of object gear;
Setup unit is used to set shift time;
First computing unit is used for calculating the required initial acceleration moment of torsion of said motor according to said rotating speed of target, said actual speed and said shift time.
10. engine torque control device according to claim 8 is characterized in that, said compensation of delay module specifically comprises:
Second computing unit is used for according to the acceleration torque arithmetic compensation torque after upgrading;
Adder is used for the acceleration moment of torsion addition after said compensation torque and the said renewal, obtains the acceleration moment of torsion behind the compensation of delay.
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| CN112253318B (en) * | 2020-09-09 | 2021-12-14 | 东风汽车集团有限公司 | Transmission clearance self-adaptive feedback control method, engine controller and automobile |
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| CN102322364B (en) | 2014-12-24 |
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