CN102490718A - Control method utilizing motor to start engine for double-clutch type hybrid electric vehicle - Google Patents
Control method utilizing motor to start engine for double-clutch type hybrid electric vehicle Download PDFInfo
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- CN102490718A CN102490718A CN2011103898605A CN201110389860A CN102490718A CN 102490718 A CN102490718 A CN 102490718A CN 2011103898605 A CN2011103898605 A CN 2011103898605A CN 201110389860 A CN201110389860 A CN 201110389860A CN 102490718 A CN102490718 A CN 102490718A
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Abstract
The invention enables a novel single-motor and double-clutch type hybrid electric vehicle to be a study object and provides a control method of the process of utilizing a motor to start an engine during vehicle running. First a structure and a working mode of the hybrid electric vehicle are analyzed, a system dynamics model is established, a working range of the hybrid electric vehicle is divided, corresponding torque management strategies are formulated; then in the practical application process, whether the conditions for utilizing the motor to start the engine are achieved is judged by calculating demand torque, value of state of charge (SOC) of a battery, a rotating speed of the motor; and when the conditions for utilizing the motor to start the engine are achieved, model switch is performed, a moment-limiting clutch jointing instruction is sent out, and the processing of utilizing the motor to start the engine is achieved by controlling oil pressure of a moment-limiting clutch hydraulic cylinder and utilizing the formulated torque coordination-control strategies to perform coordination control of motor torque, engine torque and transmission torque of a moment-limiting clutch. By utilizing the advantage that the motor responds fast and timely increasing or reducing the motor torque according to the control strategies, the control method provides the demand torque for starting the engine during the vehicle running or compensates the insufficiency of the engine torque, reduces impact degree in the switching process and improves ride comfort of the hybrid electric vehicle.
Description
Technical field
The present invention relates to field of automobile, particularly a kind of is research object with single motor double-clutch type hybrid vehicle, a kind of control method of in automobile is advanced, passing through the electric motor starting driving engine of proposition.
Background technology
Since the nineties in 20th century, Japan and the United States, each big car company of Europe are devoted to develop the mixed motivity type automobile one after another.After getting into 21 century, various countries have accelerated the process of the industrialization of hybrid vehicle, the hybrid vehicle product that has released one after another multi-form.And hybrid vehicle has multiple mode of operation, and the process that just exists mode of operation to switch in this process, probably can produce big torque ripple, just need carry out the moment of torsion co-operative control to it, to reduce shock extent, improves the ride comfort of mode switch process.Control to hybrid vehicle at present mainly comprises steady-state process control and dynamic process control.The former main purpose is fuel economy and optimum discharging, and the main target of the latter is the dynamic property and the ride comfort of car load.Structurally more employing the structure of double-motor, than single motor, its main advantage is to operate steadily, but cost is higher.And for single motor double-clutch type structure strong hybrid electric vehicle of this paper, infrastructure cost is lower, but its dynamic process is complicated, and co-operative control just becomes more important.If control is improper, will cause in the process of electric motor starting driving engine, prolong the engine starting time, produce big shock extent, worsen the ride comfort of running car.
Summary of the invention
In view of this; The control method that the purpose of this invention is to provide a kind of double-clutch type motor of hybrid power automobile fire an engine; Utilize motor to respond characteristics rapidly, in time increase or the minimizing Motor torque, the deficiency of the demand torque or the compensation engine torque of fire an engine in advancing is provided according to control policy; Reduce the shock extent of handoff procedure, improve the ride comfort of hybrid vehicle.
The objective of the invention is to realize through following technical scheme:
The control method of this kind double-clutch type motor of hybrid power automobile fire an engine is used for the control of advancing of single motor double-clutch type hybrid vehicle, may further comprise the steps:
Step 1: its structure composition and mode of operation are analyzed, set up system dynamics model, divide the work area of hybrid vehicle, formulate the corresponding torque operating strategy through computing machine;
Step 2: under pure electrically operated mode of operation, judge whether to reach the condition of carrying out the electric motor starting driving engine through computation requirement moment of torsion, SOC value of battery, motor speed;
When satisfying the electric motor starting engine condition; To carry out mode switch, send the torque limiting clutch engagement command, through the moment of torsion coordination control strategy of control torque limiting clutch hydraulic actuating cylinder oil pressure and formulation; Co-operative control motor, engine torque are accomplished electricity and are played the machine process.
Further, said step 2 may further comprise the steps:
Step 21: automobile moves under pure electronic work condition state;
at this moment; Wherein
is the motor output torque;
is the chaufeur demand torque; Judge motor speed
through controller this moment; if
;
is the rotating speed minimum value of fire an engine; Then carry out step 2, otherwise continue with pure electronic operating mode operation;
Step 22: judge SOC value of battery; if
; Then carry out step 3; Otherwise send the torque limiting clutch engagement command, carry out step 4; Wherein
is battery-efficient district lower limit;
Step 23: if
; Send the torque limiting clutch engagement command through controller; Carry out step 4; Otherwise continue with pure electronic operating mode operation,
is the torque minimum value of engine operation;
Step 24: after receiving the torque limiting clutch engagement command; After one period make-up time; Torque limiting clutch begins to engage transfer torque; Carry out electricity and play the machine process; Increase Motor torque; I.e.
; The beginning fire an engine, wherein
is motor maximum torque,
is the torque limiting clutch transfer torque; After the torque limiting clutch structure is confirmed, its value and the proportional relation of oil pressure;
Step 25: along with the increase of engine speed, if reach its working speed of lighting a fire voluntarily, then engine ignition operation, otherwise continue fire an engine;
Step 26: after driving engine is lighted a fire operation voluntarily, send torque command, the driving engine speed-raising to engine controller.Excessive for preventing the motor torque rate of change; The engine target torque of input is
in preceding 0.2 second; The engine target torque of input is
after 0.2 second; Wherein t has moved the time of being experienced for lighting a fire voluntarily at driving engine, between 0 to 0.2;
Step 27: if motor equates that with engine speed controller judges that torque limiting clutch engages fully;
If motor speed is greater than engine speed; Think that then torque limiting clutch does not engage fully; At this moment, the output torque of motor is
, and driving engine continues speed-raising; Continue to engage torque limiting clutch, until judging that torque limiting clutch engages fully;
Step 28: after torque limiting clutch engages fully; Use the deficiency of motor compensation engine torque; Motor output torque at this moment is
, and wherein
is the compensation torque of motor.If the compensation torque of motor is less than
; Controller judges that this moment, driving engine was stablized; Motor withdraws from compensation; Only export its target torque
, compensation torque is the difference of engine target moment of torsion output torque actual with it;
Otherwise continue to use the deficiency of motor compensation engine torque; Until the change in torque of driving engine less than
; So far; When the motor compensation torque less than
; Judge the completion of fire an engine process; The mode switch process finishes; Automobile moves under new pattern,
.
Further, in step 21, said chaufeur demand torque obtains through following method:
Chaufeur is applied to the demand torque that demand torque on the wheel changes into the gearbox output end; Calculate out maximum driving torque envelope of curves line under the different gears through calculating unit; Obtain the torque demand of 100% accelerator travel; And then obtaining part pedal stroke torque demand, its value equals the accelerator travel torque rating with 100% accelerator travel on duty, thereby sets up the computation model of chaufeur demand torque.
Further; In step 23;
to choose mode following: the characteristic curve, engine consumption figure and the driving engine whole performance map that combine motor; Obtain the mode of operation zoning plan of automobile; Can get engine operation minimal torque curve thus, obtain through the computation model that calculating unit is set up
.
Further, in step 24, fuzzy control strategy is adopted in the control of the routine of torque limiting clutch, comprises initial engagement oil pressure control policy and sliding wear stage oil pressure control policy;
Said initial engagement oil pressure control policy is that the exact value with accelerator pedal displacement value that collects and accelerator pedal displacement rate of change multiply by separately quantizing factor
and
respectively, to realize obfuscation; Then according to accelerator pedal displacement after the obfuscation and accelerator pedal displacement rate of change; In conjunction with fuzzy control table; The changing value of controlled amount; Multiply by factor of proportionality
again; Then can obtain the controllable amounts
in basic domain scope; The initial engagement oil pressure value is preset initial pressure
and clutch pressure may command increment
sum, i.e.
;
Said sliding wear stage oil pressure control policy is that the exact value with accelerator pedal displacement rate of change that collects and power-transfer clutch principal and subordinate Moving plate speed discrepancy multiply by separately quantizing factor
and
respectively, to realize obfuscation; Then according to accelerator pedal displacement rate of change after the obfuscation and power-transfer clutch principal and subordinate Moving plate speed discrepancy; In conjunction with fuzzy control table; The changing value of controlled amount; Multiply by factor of proportionality
again; Then obtain the controllable amounts
in basic domain scope; Through integration, then can obtain the clutch engagement oil pressure value with the addition of initial engagement oil pressure again.
Further; In step 25;
to choose mode following: the characteristic curve, engine consumption figure and the driving engine whole performance map that combine motor; Obtain the auxiliary minimal torque curve of power of motor thus, obtain through the computation model that calculating unit is set up
.
The invention has the beneficial effects as follows:
The present invention responds characteristics rapidly through utilizing motor; In time increase or reduce Motor torque according to control policy; The deficiency of the demand torque or the compensation engine torque of fire an engine in advancing is provided, effectively reduces the shock extent of handoff procedure, improve the ride comfort of hybrid vehicle.
Other advantages of the present invention, target and characteristic will be set forth in specification sheets subsequently to a certain extent; And to a certain extent; Based on being conspicuous to those skilled in the art, perhaps can from practice of the present invention, obtain instruction to investigating of hereinafter.Target of the present invention and other advantages can realize and obtain through following specification sheets and claims.
Description of drawings
In order to make the object of the invention, technical scheme and advantage clearer, will combine accompanying drawing that the present invention is made further detailed description below, wherein:
Fig. 1 is a hybrid vehicle list motor double-clutch type arrangement of mechanism scheme drawing;
Fig. 2 is a system model equivalence sketch;
Fig. 3 is the fire an engine process flow diagram flow chart
Fig. 4 is chaufeur torque-demand identification figure;
Fig. 5 is the mode of operation zoning plan;
Fig. 6 initial pressure ascent stage
degree of membership figure;
Fig. 7 is initial pressure ascent stage
degree of membership figure;
Fig. 8 is pressure excess
degree of membership figure;
Fig. 9 is sliding wear stage
degree of membership figure;
Figure 10 is sliding wear stage
degree of membership figure;
Figure 11 is sliding wear stage
degree of membership figure;
Figure 12 is the torque limiting clutch control chart.
The specific embodiment
Below will carry out detailed description to the preferred embodiments of the present invention with reference to accompanying drawing.Should be appreciated that preferred embodiment has been merely explanation the present invention, rather than in order to limit protection scope of the present invention.
As shown in Figure 1; A kind of hybrid vehicle list motor double-clutch type mechanism is preposition precursor structures, comprises main reduction gear 1, AMT change-speed box 2 (being electric control mechanical type automatic speed variator), power-transfer clutch 3, motor 4, free-wheel clutch 5, torque limiting clutch 6 and driving engine 7; Motor adopts the ISG motor.Annexation is: link to each other with torque limiting clutch through free-wheel clutch between driving engine 7 and the motor, said motor shaft connects master clutch, and master clutch connects AMT change-speed box, main reduction gear, diff and semiaxis successively, outputs to front-wheel at last.
The use of torque limiting clutch makes at the engaging process of electric motor starting driving engine steadily controlled, and can guarantee that motor has enough outputting powers, can not produce under power or interruption.After free-wheel clutch guaranteed that engine starting is accomplished, engine speed was not higher than motor speed, can not cause the excessive cunning of torque limiting clutch to rub
When torque limiting clutch breaks off, can required moment of torsion be provided by the vehicle operating of drive motor independent drive.In the torque limiting clutch engaging process, drive motor can be in powered vehicle start the engine.After engaging process is accomplished, but driving engine and drive motor driven in common vehicle ' or by the driving engine independent drive.
Electric motor starting driving engine process kinetics analysis in advancing
For the ease of carrying out dynamics analysis, its illustraton of model is simplified, ignore the effect of rotating viscous damping, the illustraton of model that obtains is as shown in Figure 2, and the implication of each mark representative is following among the figure:
Be pure electronic operating mode during beginning: under the situation of low demand torque of low speed or low cruise, automobile is with pure electronic operating mode operation, and torque limiting clutch separates, and driving engine does not start, and the needed power of automobile is provided separately by motor.At this moment,
The dynamic process of fire an engine in advancing: when rotating speed raising or demand torque increase, separate electrical motor drives and can not satisfy the demands, be from pure electronic change working to the operating mode that the engine drive output torque is arranged.In this process, motor not only will provide vehicle operating required torque, also will guarantee smooth fire an engine.Torque limiting clutch is received engagement command, begins to engage sliding wear, and principal and subordinate's moving plate has speed discrepancy, at this moment,
In the formula (2); Before the engine ignition starting,
is negative value.After engine starting completion, torque limiting clutch engaged fully, motor was not deactivated, but engine torque is compensated, and avoids producing torque ripple, influences the ride comfort of mode switch process at once.
Complete when engine starting, reach its target torque after, motor does not carry out torque compensation to driving engine, only exports the requirement objective moment of torsion of himself.Torque limiting clutch engages, but transfer torque not by the free-wheel clutch transmission, can reduce the torque limiting clutch period of service like this, prolongs its life-span.At this moment,
In conjunction with above-mentioned analysis, control method of the present invention proposes to the hybrid vehicle of said mechanism is installed, and generally speaking, may further comprise the steps:
Step 1: its structure composition and mode of operation are analyzed, set up system dynamics model, divide the work area of hybrid vehicle, formulate the corresponding torque operating strategy through computing machine;
Step 2: under pure electrically operated mode of operation, judge whether to reach the condition of carrying out the electric motor starting driving engine through computation requirement moment of torsion, SOC value of battery, motor speed;
When satisfying the electric motor starting engine condition, will carry out mode switch, send the torque limiting clutch engagement command, through the moment of torsion coordination control strategy of control torque limiting clutch oil pressure and formulation, co-operative control motor, engine torque are accomplished electricity and are played the machine process.
The flow process of step 2 such as as shown in Figure 3 wherein may further comprise the steps:
Step 21: automobile moves under pure electronic work condition state;
at this moment; Wherein
is the motor output torque;
is the chaufeur demand torque; Judge motor speed
through controller this moment; if
;
is the rotating speed minimum value of fire an engine; Then carry out step 2, otherwise continue with pure electronic operating mode operation;
Confirming demand torque, is in order to confirm the mode of operation of automobile, to give driving engine and motor with its reasonable distribution, is the basis of torque distribution control policy, and in the present embodiment, definite method of chaufeur demand torque is following:
Chaufeur is applied to the demand torque that demand torque on the wheel changes into the gearbox output end; Calculate out maximum driving torque envelope of curves line under the different gears through calculating unit; Obtain the torque demand of 100% accelerator travel; And then obtaining part pedal stroke torque demand, its value equals the accelerator travel torque rating with 100% accelerator travel on duty, thereby sets up the computation model of chaufeur demand torque.Fig. 4 is chaufeur torque-demand identification figure.
Step 22: judge SOC value of battery; if
; Then carry out step 3; Otherwise send the torque limiting clutch engagement command, carry out step 4; Wherein
is battery-efficient district lower limit;
The data that actual selection can provide according to battery manufacturer, and battery behavior is chosen (like optional 0.4-0.6).
Step 23: if
; Send the torque limiting clutch engagement command through controller; Carry out step 4; Otherwise continue with pure electronic operating mode operation,
is the torque minimum value of engine operation;
to choose mode following: the characteristic curve, engine consumption figure and the driving engine whole performance map that combine motor; Obtain the mode of operation zoning plan of automobile; Can get engine operation minimal torque curve thus, obtain through the computation model that calculating unit is set up
.Wherein engine operation minimal torque curve is to obtain through following work area division methods.
The work area is divided
Because engine operation is at slow speed of revolution, during little load, efficient is lower, bring into play the advantage of hybrid vehicle, just must divide the zone of mode of operation, and this also is the prerequisite of carrying out mode switch.In conjunction with characteristic curve, engine consumption figure and the driving engine whole performance map of motor, guarantee that motor will can provide enough cranking torque and automotive operation required torques when needing start the engine, divide the zone of mode of operation as shown in Figure 5.Among Fig. 5, a is an engine operation minimal torque curve, and the engine optimum economic curve of b for obtaining through test, c are the auxiliary minimal torque curve of power of motor.These curves have been divided into different zones with engine steady state figure, and (1) is pure electronic work area, and (2) are the driving engine district that works independently, and the driving work area is united for driving engine and motor in (3).When engine speed during less than
; Its efficient is very low; And motor is when low speed; Bigger moment of torsion can be provided; Therefore in this zone by the motor independent drive, to improve economy, its value can be confirmed (as being set at 800-1000r/min) by driving engine and motor characteristic.
Step 24: after receiving the torque limiting clutch engagement command; After one period make-up time; Torque limiting clutch begins to engage transfer torque; Carry out electricity and play the machine process; Increase Motor torque; I.e.
; The beginning fire an engine, wherein
is motor maximum torque,
is the torque limiting clutch transfer torque; After the torque limiting clutch structure is confirmed, its value and the proportional relation of oil pressure;
The control of torque limiting clutch oil pressure
Study the middle start the engine of advancing, do not relate to the gearshift procedure of AMT, therefore also just do not have the control of master clutch, be mainly the control of torque limiting clutch.Satisfying under the prerequisite of ride comfort, reduce its engagement time as far as possible.The joint action of motor torque and torque limiting clutch needs dynamic coordinate control in the engaging process, to guarantee the driving engine normal starting and the cruising of vehicle not caused excessive shock.After the structure of torque limiting clutch was confirmed, sliding friction torque depends on the oil pressure size that acts on friction face upper limit torque clutch, and was therefore most important to the control of torque limiting clutch target oil pressure.
The routine control of the power-transfer clutch proportional control that adopt more, but the relation between its each amount is difficult to represent with precise math model that control method can not meet the demands, and therefore uses fuzzy control strategy.And the control of the oil pressure of power-transfer clutch initial pressure and sliding wear stage power-transfer clutch is very big to engaging performance impact, is the emphasis of clutch control.
(1) power-transfer clutch initial engagement oil pressure is the preset initial pressure
of power-transfer clutch and clutch pressure increment
sum, i.e.
.Evaluation to
uses fuzzy control strategy, and
sets according to actual conditions.First of fuzzy controller is input as acceleration pedal aperture
, fuzzy domain (0,1); The fuzzy language variable is { very little, little, less; In, bigger, big; Very big }, corresponding fuzzy subset is { VS, S, MS, M, MB, B, VB}.The value of abscissa representation theory field element, the degree of membership of ordinate representation language variate-value.Because chaufeur is relatively more responsive when the little aperture of Das Gaspedal, to large throttle aperture relative insensitivity, and the subordinate function curve shape is higher than fuzzy subset's resolution of point, controls highly sensitive; Otherwise the subordinate function curve shape is more slow, and controller performance is mild, and system stability is good.So when the subordinate function of the fuzzy set of selecting fuzz variable, adopt the fuzzy set of low resolution in large throttle aperture zone, adopt high-resolution fuzzy set in little accelerator open degree zone.As shown in Figure 6.
Second is input as acceleration pedal aperture rate of change
, fuzzy domain (0,12); The fuzzy language variable is { very little, little, less; In, bigger, big; Very big }, corresponding fuzzy subset is { VS, S, MS, M, MB, B, VB}.Because in whole domain scope, basic identical to the control sensitivity requirement of accelerator travel rate of change, the subordinate function that is adopted is evenly distributed in the whole domain scope basically, and is as shown in Figure 7.
Be output as
, fuzzy domain (0,12); The fuzzy language variable is { very little, little, less; In, bigger, big; Very big }, corresponding fuzzy subset is { VS, S, MS, M, MB, B, VB}.As shown in Figure 8.
Select for use gravity model appoach that controlling quantity is become accurate amount;
and
, the control law between
is as shown in table 1.
In real-time control process; The exact value of accelerator pedal displacement value that collects and accelerator pedal displacement rate of change multiply by separately quantizing factor
and
respectively, to realize obfuscation; Then according to accelerator pedal displacement after the obfuscation and accelerator pedal displacement rate of change; Search fuzzy control table; The changing value of controlled amount; Multiply by factor of proportionality
again; Then can obtain the controllable amounts
in basic domain scope; The initial engagement oil pressure value is preset initial pressure
and clutch pressure may command increment
sum, i.e.
.
(2) rub the stage sliding, need examine rate driver's operation intention and clutch engagement degree, under the requirement that guarantees low shock extent, reduce the sliding wear process as far as possible, utilize fuzzy controller, confirm suitable clutch pressure rate of change.Controller also is output of two inputs.First is input as acceleration pedal aperture rate of change
, fuzzy domain (0,1); The fuzzy language variable is { very little, little, less; In, bigger, big; Very big }, corresponding fuzzy subset is { VS, S, MS, M, MB, B, VB}.Because chaufeur hopes when acceleration pedal change in displacement rate is bigger, to accelerate clutch engagement; So the subordinate function curve is concentrated in big acceleration pedal change in displacement rate zone; To improve the response performance in big acceleration pedal change in displacement rate zone; Subordinate function adopts Gaussian function, and degree of membership is as shown in Figure 9.
Second absolute value
that is input as power-transfer clutch principal and subordinate Moving plate rotating speed difference, fuzzy domain (0,12); The fuzzy language variable is { very little, little, less; In, bigger, big; Very big }, corresponding fuzzy subset is { VS, S, MS, M, MB, B, VB}.The clutch engagement that when the master and slave Moving plate speed discrepancy of power-transfer clutch value is big, should slow down is impacted to reduce, but can not be too slow, can cause excessive clutch abrasion too slowly; The engaging speed that hour should accelerate power-transfer clutch when the master and slave Moving plate speed discrepancy of power-transfer clutch reduces clutch abrasion simultaneously to reduce the mode switch time; , clutch rotational speed difference rate of change reduce clutch engagement when increasing to reduce shock extent.Degree of membership is shown in figure 10.
Be output as clutch-apply pressure rate of change
, fuzzy domain (0,12); The fuzzy language variable is { very little, little, less; In, bigger, big; Very big }, corresponding fuzzy subset is { VS, S, MS, M, MB, B, VB}.Degree of membership is shown in figure 11.
Select for use gravity model appoach that controlling quantity is become accurate amount,
and
and
between control law as shown in table 2.
In control in real time; The exact value of accelerator pedal displacement rate of change that collects and power-transfer clutch principal and subordinate Moving plate speed discrepancy multiply by separately quantizing factor
and
respectively, to realize obfuscation; Then according to accelerator pedal displacement rate of change after the obfuscation and power-transfer clutch principal and subordinate Moving plate speed discrepancy; Search fuzzy control table; The changing value of controlled amount; Multiply by factor of proportionality
again; Then obtain the controllable amounts
in basic domain scope; Through integration, then can obtain the clutch engagement oil pressure value with the addition of initial engagement oil pressure again.
The torque limiting clutch Fuzzy control system is shown in figure 12.Through the pressure change rate of rational control initial pressure and sliding wear process, can actv. solve the torque ripple of engaging process, improve ride comfort.
Step 25: along with the increase of engine speed, if reach its working speed of lighting a fire voluntarily, then engine ignition operation, otherwise continue fire an engine;
Step 26: after driving engine is lighted a fire operation voluntarily, send torque command, the driving engine speed-raising to engine controller.Excessive for preventing the motor torque rate of change; The engine target torque of input is
in preceding 0.2 second; The engine target torque of input is
after 0.2 second; Wherein t has moved the time of being experienced for lighting a fire voluntarily at driving engine, between 0 to 0.2;
Step 27: if motor equates that with engine speed controller judges that torque limiting clutch engages fully;
If motor speed is greater than engine speed; Think that then torque limiting clutch does not engage fully; At this moment, the output torque of motor is
, and driving engine continues speed-raising; Continue to engage torque limiting clutch, until judging that torque limiting clutch engages fully;
Step 28: after torque limiting clutch engages fully; Use the deficiency of motor compensation engine torque; Motor output torque at this moment is
, and wherein
is the compensation torque of motor.If the compensation torque of motor is less than
; Controller judges that this moment, driving engine was stablized; Compensation torque is the difference of engine target moment of torsion output torque actual with it; Motor withdraws from compensation, only exports its target torque
;
Otherwise continue to use the deficiency of motor compensation engine torque; Until the change in torque of driving engine less than
; So far; When the motor compensation torque less than
; Judge the completion of fire an engine process; The mode switch process finishes; Automobile moves under new pattern,
.
In this step; The principle of torque co-operative control is: because the torque transformation period constant of driving engine and motor differs greatly; Iff carries out open loop control by throttle opening to the torque of driving engine will make the dynamic torque of driving engine seriously lag behind the torque variation of electrical motor; And the torque control of driving engine is also relevant with other indemnifying measures with the transient state A/F control in the dynamic process, and its dynamic property can not be met the demands.Therefore need carry out co-operative control to the torque of driving engine and motor.
Utilize motor to respond characteristics rapidly, can compensate motor torque through motor torque.The target torque of having supposed to confirm driving engine and motor is
and
; Because the hysteresis quality of engine output torque; The real output torque is
, therefore has difference:
Steady for guaranteeing the aggregate demand torque; Utilize motor to compensate; The real output torque of motor
with the motor torque relation is:
I.e.
(8)
Explanation is at last; Above embodiment is only unrestricted in order to technical scheme of the present invention to be described; Although with reference to preferred embodiment the present invention is specified, those of ordinary skill in the art should be appreciated that and can make amendment or be equal to replacement technical scheme of the present invention; And not breaking away from the aim and the scope of present technique scheme, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (6)
1. the control method of double-clutch type motor of hybrid power automobile fire an engine is used for the control of advancing of single motor double-clutch type hybrid vehicle, it is characterized in that:
Step 1: its structure composition and mode of operation are analyzed, set up system dynamics model, divide the work area of hybrid vehicle, formulate the corresponding torque operating strategy through computing machine;
Step 2: under pure electrically operated mode of operation, judge whether to reach the condition of carrying out the electric motor starting driving engine through computation requirement moment of torsion, SOC value of battery, motor speed;
When satisfying the electric motor starting engine condition; To carry out mode switch, send the torque limiting clutch engagement command, through the moment of torsion coordination control strategy of control torque limiting clutch hydraulic actuating cylinder oil pressure and formulation; Co-operative control motor, engine torque are accomplished electricity and are played the machine process.
2. the control method of double-clutch type motor of hybrid power automobile fire an engine according to claim 1 is characterized in that: said step 2 also comprises following concrete steps:
Step 21: automobile moves under pure electronic work condition state;
at this moment; Wherein
is the motor output torque;
is the chaufeur demand torque; Judge motor speed
through controller this moment; if
;
is the rotating speed minimum value of fire an engine; Then carry out step 2, otherwise continue with pure electronic operating mode operation;
Step 22: judge SOC value of battery; if
; Then carry out step 3; Otherwise send the torque limiting clutch engagement command, carry out step 4; Wherein
is battery-efficient district lower limit;
Step 23: if
; Send the torque limiting clutch engagement command through controller; Carry out step 4; Otherwise continue with pure electronic operating mode operation,
is the torque minimum value of engine operation;
Step 24: after receiving the torque limiting clutch engagement command; Through one period make-up time; Torque limiting clutch begins to engage transfer torque; Carry out electricity and play the machine process; Increase Motor torque; I.e.
; The beginning fire an engine, wherein
is motor maximum torque,
is the torque limiting clutch transfer torque; After the torque limiting clutch structure is confirmed, its value and the proportional relation of oil pressure;
Step 25: along with the increase of engine speed, if reach its working speed of lighting a fire voluntarily, then engine ignition operation, otherwise continue fire an engine;
Step 26: after driving engine is lighted a fire operation voluntarily, send torque command, the driving engine speed-raising to engine controller; Excessive for preventing the motor torque rate of change; The engine target torque of input is
in preceding 0.2 second; The engine target torque of input is
after 0.2 second; Wherein t has moved the time of being experienced for lighting a fire voluntarily at driving engine, between 0 to 0.2;
Step 27: if motor equates that with engine speed controller judges that torque limiting clutch engages fully;
If motor speed is greater than engine speed; Think that then torque limiting clutch does not engage fully; At this moment; The output torque of motor is
; Driving engine continues speed-raising, continues to engage torque limiting clutch, until judging that torque limiting clutch engages fully;
Step 28: after torque limiting clutch engages fully; Use the deficiency of motor compensation engine torque; Motor output torque at this moment is
; Wherein
is the compensation torque of motor; If the compensation torque of motor is less than
; Controller judges that this moment, driving engine was stablized; Motor withdraws from compensation; Only export its target torque
, compensation torque is the difference of engine target moment of torsion output torque actual with it;
Otherwise continue to use the deficiency of motor compensation engine torque, until the change in torque of driving engine less than
;
So far; When the motor compensation torque less than
; Judge the completion of fire an engine process; The mode switch process finishes; Automobile moves under new pattern,
.
3. the control method of double-clutch type motor of hybrid power automobile fire an engine according to claim 1 is characterized in that: in step 21, said chaufeur demand torque obtains through following method:
Chaufeur is applied to the demand torque that demand torque on the wheel changes into the gearbox output end; Calculate out maximum driving torque envelope of curves line under the different gears through calculating unit; Obtain the torque demand of 100% accelerator travel; And then obtaining part pedal stroke torque demand, its value equals the accelerator travel torque rating with 100% accelerator travel on duty, thereby sets up the computation model of chaufeur demand torque.
4. the control method of double-clutch type motor of hybrid power automobile fire an engine according to claim 2; It is characterized in that: in step 23;
to choose mode following: the characteristic curve, engine consumption figure and the driving engine whole performance map that combine motor; Obtain the mode of operation zoning plan of automobile; Can get engine operation minimal torque curve thus, obtain through the computation model that calculating unit is set up
.
5. the control method of double-clutch type motor of hybrid power automobile fire an engine according to claim 2; It is characterized in that: in step 24; Fuzzy control strategy is adopted in the control of torque limiting clutch, comprises initial engagement oil pressure control policy and sliding wear stage oil pressure control policy;
Said initial engagement oil pressure control policy is that the exact value with accelerator pedal displacement value that collects and accelerator pedal displacement rate of change multiply by separately quantizing factor
and
respectively, to realize obfuscation; Then according to accelerator pedal displacement after the obfuscation and accelerator pedal displacement rate of change; In conjunction with fuzzy control table; The changing value of controlled amount; Multiply by factor of proportionality
again; Then can obtain the controllable amounts
in basic domain scope; The initial engagement oil pressure value is preset initial pressure
and clutch pressure may command increment
sum, i.e.
;
Said sliding wear stage oil pressure control policy is that the exact value with accelerator pedal displacement rate of change that collects and power-transfer clutch principal and subordinate Moving plate speed discrepancy multiply by separately quantizing factor
and
respectively, to realize obfuscation; Then according to accelerator pedal displacement rate of change after the obfuscation and power-transfer clutch principal and subordinate Moving plate speed discrepancy; In conjunction with fuzzy control table; The changing value of controlled amount; Multiply by factor of proportionality
again; Then obtain the controllable amounts
in basic domain scope; Through integration, then can obtain the clutch engagement oil pressure value with the addition of initial engagement oil pressure again.
6. the control method of double-clutch type motor of hybrid power automobile fire an engine according to claim 2; It is characterized in that: in step 25;
to choose mode following: the characteristic curve, engine consumption figure and the driving engine whole performance map that combine motor; Obtain the mode of operation zoning plan of automobile; Can get the auxiliary minimal torque curve of power of motor thus, obtain through the computation model that calculating unit is set up
.
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| CN102490718B CN102490718B (en) | 2014-07-16 |
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