CN102322364B - 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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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 automotive engine control field, particularly a kind of engine torque control method for the anxious acceleration of automatic transmission case and device.
Background technique
Along with the fast development of electronic technology and automatic control technology, the automatic transmission case for automobile is constantly introduced to the market by automobile vendor both domestic and external.The vehicle of assembling automatic transmission case has self-shifting function, allows people in driving procedure, enjoy light, comfortable, omnibearing traveling enjoyment on the one hand, and oil consumption is low on the other hand, emission performance is low.The advantage of the these two aspects of automatic transmission case is approved by driver gradually, and on market, automatic transmission case entrucking rate is more and more higher, and using scope is also more and more wider.
Automatic transmission case has a characteristic in automatic speed changing, and when driver suddenly accelerates, automatic transmission case can downshift automatically, takes this to improve engine speed and strengthens power, make vehicle produce large acceleration instantaneously.The generation of this acceleration is realized by special engine torque control method.The vehicle of existing assembling automatic transmission case is used for the anxious engine torque control method accelerated and generally includes: obtain the rotating speed of target of motor under target gear and the current rotating speed of motor, according to engine target rotating speed and current rotating speed, calculate the moment of torsion needed for motor acceleration; And the moment of torsion needed for accelerating according to described motor controls the output torque of motor; While controlling the output torque of motor, need the actual speed measuring motor in real time, PID (Proportion Integration Differentiation, proportion integration differentiation) controller is adopted to carry out feedback control to the output torque of motor.
Realizing in process of the present invention, inventor finds that prior art at least exists following problem:
Because the time delay of communication and the change of engine speed control to there is response lag relative to moment of torsion, aforementioned engine torque control method is adopted to carry out urgency when accelerating, the output torque of motor there will be larger overshoot, thus cause driving or the larger problem of shifting shock, even there is the problem of stopping working.
Summary of the invention
In order to the overshoot problem that the vehicle solving assembling automatic transmission case there will be when suddenly accelerating, embodiments provide a kind of engine torque control method for the anxious acceleration of automatic transmission case and device.Described technological scheme is as follows:
On the one hand, the invention provides a kind of for the anxious engine torque control method accelerated of automatic transmission case, the method specifically comprises:
Calculation engine rotating speed will reach the acceleration moment of torsion needed for rotating speed of target corresponding to target gear, and controls the output torque of motor according to described acceleration moment of torsion;
PID controller is adopted to carry out feedback control to upgrade described acceleration moment of torsion to the output torque of described motor;
Compensation of delay is carried out to the acceleration moment of torsion after upgrading;
The output torque of described motor is controlled according to the acceleration moment of torsion after compensation of delay;
Described employing PID controller carries out feedback control to upgrade described acceleration moment of torsion to the output torque of described motor, specifically comprises:
The desired trajectory of described engine speed is obtained according to the shift time of the current actual speed of described motor, described rotating speed of target and setting;
With described desired trajectory for desired value, feedback control is carried out to the output torque of described motor;
Described to upgrade after acceleration moment of torsion carry out compensation of delay, specifically comprise:
According to following formulae discovery compensation torque, and the described compensation torque calculated is added with the acceleration moment of torsion after described renewal;
Wherein, T' represents described compensation torque; T represents the acceleration moment of torsion after described renewal, the moment of torsion scale parameter that the acceleration moment of torsion after K3, K4 and K5 represent described renewal respectively has an impact at the 3rd, 4 and 5 rotating speed of sampling period to described motor, and K3+K4+K5=1; Z
-3, Z
-4and Z
-5represent transfer function transform during the 3rd, 4 and 5 sampling period respectively.
Preferably, the length in described sampling period is 10ms.
Particularly, described calculation engine rotating speed will reach the acceleration moment of torsion needed for rotating speed of target corresponding to target gear, specifically comprises:
Obtain the current actual speed of described motor and the rotating speed of target of described motor under calculating target gear, described target gear adopts the gear of gearbox the best under current vehicle speed and throttle, calculates according to the mapping characteristics of motor; Setting shift time;
The initial acceleration moment of torsion needed for described motor is calculated according to described rotating speed of target, described actual speed and described shift time.
Further, the described desired trajectory obtaining described engine speed according to described actual speed, described rotating speed of target and described shift time, specifically comprises:
Described shift time is adopted to carry out filtering to described actual speed and described rotating speed of target.
Alternatively, the span of described shift time is 300ms ~ 500ms.
On the other hand, present invention also offers a kind of for the anxious engine torque control device accelerated of automatic transmission case, specifically comprise:
Computing module, will reach acceleration moment of torsion needed for rotating speed of target corresponding to target gear for calculating calculation engine rotating speed;
Feedback control module, for obtaining the desired trajectory of described engine speed according to the shift time of the current actual speed of described motor, described rotating speed of target and setting; With described desired trajectory for desired value, feedback control is carried out to the output torque of described motor;
Delay compensation module, carries out compensation of delay for the acceleration moment of torsion after upgrading described feedback control module;
Executive Module, controls the output torque of described motor for the acceleration moment of torsion after the acceleration moment of torsion that calculates according to described computing module and described delay compensation module compensation of delay;
Described delay compensation module specifically comprises:
Second computing unit, for according to following formulae discovery compensation torque,
Wherein, T' represents described compensation torque; T represents the acceleration moment of torsion after described renewal, the moment of torsion scale parameter that the acceleration moment of torsion after K3, K4 and K5 represent described renewal respectively has an impact at the 3rd, 4 and 5 rotating speed of sampling period to described motor, and K3+K4+K5=1; Z
-3, Z
-4and Z
-5represent transfer function transform during the 3rd, 4 and 5 sampling period respectively;
Adder, for described compensation torque being added with the acceleration moment of torsion after described renewal, obtains the acceleration moment of torsion after compensation of delay.
Wherein, described computing module specifically comprises:
Acquiring unit, for obtaining the current actual speed of described motor and calculating rotating speed of target corresponding to target gear;
Setup unit, for setting shift time;
First computing unit, for calculating the initial acceleration moment of torsion needed for described motor according to described rotating speed of target, described actual speed and described shift time.
The beneficial effect that the technological scheme that the embodiment of the present invention provides is brought is: by carrying out compensation of delay to the acceleration moment of torsion obtained after PID feedback control, and controls the output torque of motor according to the acceleration moment of torsion after compensation of delay; The problem of the overshoot that vehicle occurs when anxious acceleration can be effectively reduced, thus avoid shifting shock in the anxious acceleration of vehicle to bring more greatly the sensation of driver's discomfort, further avoid motor to occur driving or flame-out problem.
Accompanying drawing explanation
In order to be illustrated more clearly in the technological scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the flow chart of a kind of engine torque control method provided in the embodiment of the present invention 1;
Fig. 2 is the flow chart of a kind of engine torque control method provided in the embodiment of the present invention 2;
Fig. 3 is the structural representation figure of a kind of engine torque control device provided in the embodiment of the present invention 3;
Fig. 4 is the structural representation of a kind of engine torque control device provided in the embodiment of the present invention 4.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, embodiment of the present invention is described further in detail.
Embodiment 1
See Fig. 1, present embodiments provide a kind of for the anxious engine torque control method accelerated of automatic transmission case, the method specifically comprises:
Step 101: calculation engine rotating speed will reach the acceleration moment of torsion needed for rotating speed of target corresponding to target gear, and the output torque controlling motor according to this acceleration moment of torsion.
Particularly, this target gear is the best gear of gearbox under the current vehicle speed and throttle calculated based on the mapping characteristics of motor.
Step 102: adopt PID controller to carry out feedback control to upgrade aforementioned acceleration moment of torsion to the output torque of motor.
Step 103: compensation of delay is carried out to the acceleration moment of torsion after upgrading.
Step 104: the output torque controlling motor according to the acceleration moment of torsion after compensation of delay.
The embodiment of the present invention by carrying out compensation of delay to the acceleration moment of torsion obtained after PID feedback control, and controls the output torque of motor according to the acceleration moment of torsion after compensation of delay; The problem of the overshoot that vehicle occurs when anxious acceleration can be effectively reduced, thus avoid shifting shock in the anxious acceleration of vehicle to bring more greatly the sensation of driver's discomfort, further avoid motor to occur driving or flame-out problem.
Embodiment 2
See Fig. 2, present embodiments provide a kind of preference for the anxious engine torque control method accelerated of automatic transmission case, the method specifically comprises:
Step 201: calculation engine rotating speed will reach the acceleration moment of torsion needed for rotating speed of target corresponding to target gear, and the output torque controlling motor according to this acceleration moment of torsion.
Further, this step comprises:
Step 2011: obtain the current actual speed of motor and also calculate the rotating speed of target that target gear issues motivation, this target gear is the best gear of gearbox under the current vehicle speed and throttle calculated based on the mapping characteristics of motor.
Wherein, the actual speed that motor is current can adopt speed probe to obtain.
After target gear is determined, the rotating speed of target that target gear is corresponding can be calculated by current actual speed and target gear, and formula is: the speed ratio of rotating speed of target=(speed ratio of current rotating speed/current gear) * target gear.
Step 2012: setting shift time.
Preferably, the span of shift time is 300ms ~ 500ms.This shift time can be demarcated by driving and determine, Main Basis is that car load accelerates steadily, without impacting.
Step 2013: according to the initial acceleration moment of torsion needed for preceding aim rotating speed, actual speed and shift time calculation engine.
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 △ w, formula is as follows,
Wherein, w is the current actual speed of motor, w
0for rotating speed of target, t is shift time.
Then, calculate the acceleration moment of torsion needed for motor according to the relative speed variation △ w of motor, formula is as follows:
T＝J*△w………(2)，
In formula (2), T represents the acceleration moment of torsion needed for motor; J represents engine moment inertia.
Step 2014: the initial acceleration moment of torsion needed for the motor calculated controls the output torque of motor.
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 being adjusted to the corresponding position of the acceleration moment of torsion initial with this, changing the output torque of motor by changing air inflow.Or, the output torque of motor is changed by change ignition advance angle.
Step 202: adopt PID controller to carry out feedback control to upgrade aforementioned acceleration moment of torsion to the output torque of motor.
Particularly, this step comprises: the desired trajectory obtaining engine speed according to actual speed, rotating speed of target and shift time; With this desired trajectory for desired value, feedback control is carried out to the output torque of motor.
Wherein, specifically comprise according to the desired trajectory of actual speed, rotating speed of target and shift time acquisition engine speed: target gear is issued to the rotating speed of target w sending machine
0filtering is carried out with the current actual speed w set time constant of motor.Namely the curve that filtering generates is the desired trajectory of engine speed.Easily know, the curve parabolically form that filtering produces, thus the comfort level that gear shift combines can be ensured.It should be noted that, the desired trajectory of engine speed can be also straight line, and this straight path can be obtained by interpolation, and this knows for those skilled in the art, omits describe in detail at this.
Further, employing PID controller to the principle that the output torque of motor carries out feedback control is: according to the difference of the actual speed of motor with the desired value in the corresponding moment of aforementioned desired trajectory, calculated torque adjusted value, then the acceleration moment of torsion of a upper sampling instant is adjusted, be added by the acceleration moment of torsion of this moment of torsion adjusted value with a upper sampling instant, export as new acceleration moment of torsion.
Alternatively, also can be adjusted by the actual output torque of motor and the acceleration moment of torsion of difference to a upper sampling instant accelerating moment of torsion, be added by the acceleration moment of torsion of this difference with a upper sampling instant, export as new acceleration moment of torsion, further, the actual output torque of motor can be measured in real time by torque sensor, also can calculate according to the actual speed of motor.
203: compensation of delay is carried out to the acceleration moment of torsion after upgrading.
Further, this step specifically comprises:
Step 2021: according to following formulae discovery compensation torque:
Wherein, T' represents compensation torque; K3, K4 and K5 represent the moment of torsion scale parameter accelerating moment of torsion and have an impact to engine speed the 3rd, 4 and 5 sampling period respectively, and K3+K4+K5=1; Z
-3, Z
-4and Z
-5represent transfer function transform during the 3rd, 4 and 5 sampling period respectively; T represents the acceleration moment of torsion needed for motor.
Found by test, accelerate moment of torsion and can substantially ignore for the effect of the engine speed after 5 sampling periods, therefore hypothesis whole system is 5 rank systems.In the present embodiment, by the impact of experimental observation moment of torsion on engine speed within 5 sampling periods, the transfer function between engine speed and engine output torque is simplified.And in these 5 sampling periods, the first two sampling period is communication time-delay, negligible equally, accelerate moment of torsion to the effect of rotating speed respectively the 3rd, 4 and 5 sampling period.Obtaining scale parameter K3, K4 and K5 by demarcating, demarcating the acceleration moment of torsion that refers to record under stable state road conditions when the 3rd, 4 and 5 sampling period to the moment of torsion scale parameter that engine speed has an impact.
Further, the length in aforementioned sample cycle can be 10ms or 5ms.
Step 2022: compensation torque is added with the acceleration moment of torsion after renewal, obtains the acceleration moment of torsion after compensation of delay.
Step 204: the output torque controlling motor according to the acceleration moment of torsion after compensation of delay.
This step is identical with abovementioned steps 2014, omits describe in detail at this.
The embodiment of the present invention by carrying out compensation of delay to the acceleration moment of torsion obtained after PID feedback control, and controls the output torque of motor according to the acceleration moment of torsion after compensation of delay; The problem of the overshoot that vehicle occurs when anxious acceleration can be effectively reduced, thus avoid shifting shock in the anxious acceleration of vehicle to bring more greatly the sensation of driver's discomfort, further avoid motor to occur driving or flame-out problem.
Embodiment 3
See Fig. 3, present embodiments provide a kind of for the anxious engine torque control device accelerated of automatic transmission case, specifically comprise:
Computing module 301, will reach the acceleration moment of torsion needed for rotating speed of target corresponding to target gear for calculation engine rotating speed;
Feedback control module 302, carries out to the output torque of motor the acceleration moment of torsion that feedback control calculates to upgrade computing module 301 for adopting PID controller;
Delay compensation module 303, carries out compensation of delay for the acceleration moment of torsion after upgrading feedback control module 302; And
Executive Module 304, controls the output torque of motor for the acceleration moment of torsion after the acceleration moment of torsion that calculates according to computing module 301 and delay compensation module 303 compensation of delay.
The embodiment of the present invention by carrying out compensation of delay to the acceleration moment of torsion obtained after PID feedback control, and controls the output torque of motor according to the acceleration moment of torsion after compensation of delay; The problem of the overshoot that vehicle occurs when anxious acceleration can be effectively reduced, thus avoid shifting shock in the anxious acceleration of vehicle to bring more greatly the sensation of driver's discomfort, further avoid motor to occur driving or flame-out problem.
Embodiment 4
See Fig. 4, present embodiments provide the engine torque control device for the anxious acceleration of automatic transmission case of a kind of method that embodiment of employing 2 provides, specifically comprise:
Computing module 401, will reach the acceleration moment of torsion needed for rotating speed of target corresponding to target gear for calculation engine rotating speed;
Feedback control module 402, carries out to the output torque of motor the acceleration moment of torsion that feedback control calculates to upgrade computing module 401 for adopting PID controller;
Delay compensation module 403, carries out compensation of delay for the acceleration moment of torsion after upgrading feedback control module 402; And
Executive Module 404, controls the output torque of motor for the acceleration moment of torsion after the acceleration moment of torsion that calculates according to computing module 401 and delay compensation module 303 compensation of delay.
Wherein, computing module 401, specifically comprises:
Acquiring unit 4011, for obtaining the current actual speed of motor and calculating the rotating speed of target that target gear issues motivation;
Setup unit 4012, for setting shift time;
First computing unit 4013, for the initial acceleration moment of torsion needed for rotating speed of target, actual speed and shift time calculation engine.
Wherein, delay compensation module 403, specifically comprises:
Second computing unit 4031, for turning round calculation compensation moment of torsion according to the acceleration after renewal;
Adder 4032, for described compensation torque being added with the acceleration moment of torsion after renewal, obtains the acceleration moment of torsion after compensation of delay.
Further, the second computing unit 4031 is according to following formulae discovery compensation torque:
Wherein, T' represents compensation torque; K3, K4 and K5 represent the moment of torsion scale parameter accelerating moment of torsion and have an impact to engine speed the 3rd, 4 and 5 sampling period respectively, and K3+K4+K5=1; Z
-3, Z
-4and Z
-5represent transfer function transform during the 3rd, 4 and 5 sampling period respectively; T represents the acceleration moment of torsion needed for motor.
The embodiment of the present invention by carrying out compensation of delay to the acceleration moment of torsion obtained after PID feedback control, and controls the output torque of motor according to the acceleration moment of torsion after compensation of delay; The problem of the overshoot that vehicle occurs when anxious acceleration can be effectively reduced, thus avoid shifting shock in the anxious acceleration of vehicle to bring more greatly the sensation of driver's discomfort, further avoid motor to occur driving or flame-out problem.
One of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment can have been come by hardware, the hardware that also can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium mentioned can be ROM (read-only memory), disk or CD etc.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1., for the anxious engine torque control method accelerated of automatic transmission case, it is characterized in that, described method comprises:
Calculation engine rotating speed will reach the acceleration moment of torsion needed for rotating speed of target corresponding to target gear, and controls the output torque of described motor according to described acceleration moment of torsion;
PID controller is adopted to carry out feedback control to upgrade described acceleration moment of torsion to the output torque of described motor;
Compensation of delay is carried out to the acceleration moment of torsion after upgrading;
The output torque of described motor is controlled according to the acceleration moment of torsion after compensation of delay;
Described employing PID controller carries out feedback control to upgrade described acceleration moment of torsion to the output torque of described motor, specifically comprises:
The desired trajectory of described engine speed is obtained according to the shift time of the current actual speed of described motor, described rotating speed of target and setting;
With described desired trajectory for desired value, feedback control is carried out to the output torque of described motor;
Described to upgrade after acceleration moment of torsion carry out compensation of delay, specifically comprise:
According to following formulae discovery compensation torque, and the described compensation torque calculated is added with the acceleration moment of torsion after described renewal;
Wherein, T' represents described compensation torque; T represents the acceleration moment of torsion after described renewal, the moment of torsion scale parameter that the acceleration moment of torsion after K3, K4 and K5 represent described renewal respectively has an impact at the 3rd, 4 and 5 rotating speed of sampling period to described motor, and K3+K4+K5=1; Z
-3, Z
-4and Z
-5represent transfer function transform during the 3rd, 4 and 5 sampling period respectively.
2. engine torque control method according to claim 1, is characterized in that, the length in described sampling period is 10ms or 5ms.
3. engine torque control method according to claim 1 and 2, is characterized in that, described calculation engine rotating speed will reach the acceleration moment of torsion needed for rotating speed of target corresponding to target gear, specifically comprises:
Obtain the current actual speed of described motor and the rotating speed of target of described motor under calculating target gear, described target gear is the best gear of gearbox under the current vehicle speed and throttle calculated based on the mapping characteristics of motor;
Setting shift time;
The initial acceleration moment of torsion needed for described motor is calculated according to described rotating speed of target, described actual speed and described shift time.
4. engine torque control method according to claim 1, is characterized in that, the described desired trajectory obtaining described engine speed according to described actual speed, described rotating speed of target and described shift time, specifically comprises:
Described shift time is adopted to carry out filtering to described actual speed and described rotating speed of target.
5. engine torque control method according to claim 3, is characterized in that, the span of described shift time is 300ms ~ 500ms.
6., for the anxious engine torque control device accelerated of automatic transmission case, it is characterized in that, described device comprises:
Computing module, will reach the acceleration moment of torsion needed for rotating speed of target corresponding to target gear for calculation engine rotating speed;
Feedback control module, for obtaining the desired trajectory of described engine speed according to the shift time of the current actual speed of described motor, described rotating speed of target and setting; With described desired trajectory for desired value, feedback control is carried out to the output torque of described motor;
Delay compensation module, carries out compensation of delay for the acceleration moment of torsion after upgrading described feedback control module;
Executive Module, controls the output torque of described motor for the acceleration moment of torsion after the acceleration moment of torsion that calculates according to described computing module and described delay compensation module compensation of delay;
Described delay compensation module specifically comprises:
Second computing unit, for according to following formulae discovery compensation torque,
Wherein, T' represents described compensation torque; T represents the acceleration moment of torsion after described renewal, the moment of torsion scale parameter that the acceleration moment of torsion after K3, K4 and K5 represent described renewal respectively has an impact at the 3rd, 4 and 5 rotating speed of sampling period to described motor, and K3+K4+K5=1; Z
-3, Z
-4and Z
-5represent transfer function transform during the 3rd, 4 and 5 sampling period respectively;
Adder, for described compensation torque being added with the acceleration moment of torsion after described renewal, obtains the acceleration moment of torsion after compensation of delay.
7. engine torque control device according to claim 6, is characterized in that, described computing module specifically comprises:
Acquiring unit, for obtaining the current actual speed of described motor and calculating rotating speed of target corresponding to target gear;
Setup unit, for setting shift time;
First computing unit, for calculating the initial acceleration moment of torsion needed for described motor according to described rotating speed of target, described actual speed and described shift time.
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| US9090244B2 (en) * | 2013-03-08 | 2015-07-28 | GM Global Technology Operations LLC | Systems and methods for maintaining a substantially stable engine idle speed after a garage shift |
| CN106907481B (en) * | 2015-12-22 | 2019-02-15 | 上海汽车集团股份有限公司 | Engine torque control method and automobile |
| CN105857302B (en) * | 2016-04-20 | 2019-04-05 | 郑州宇通客车股份有限公司 | A kind of driving behavior automatic optimization method |
| CN109421721B (en) * | 2017-08-16 | 2021-08-20 | 郑州宇通客车股份有限公司 | Automobile energy-saving method and system based on acceleration control |
| CN109353326B (en) * | 2018-09-28 | 2020-07-28 | 潍柴动力股份有限公司 | Engine torque control method and device |
| 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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