CN102490718B - 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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- CN102490718B CN102490718B CN201110389860.5A CN201110389860A CN102490718B CN 102490718 B CN102490718 B CN 102490718B CN 201110389860 A CN201110389860 A CN 201110389860A CN 102490718 B CN102490718 B CN 102490718B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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 to take single motor double-clutch type hybrid vehicle be research object, proposition a kind of in automobile is advanced by the control method of electric motor starting driving engine.
Background technology
Since the nineties in 20th century, Japan and the United States, Ou Ge great car company are devoted to develop mixed motivity type automobile one after another.Enter after 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-working mode, the process that just exists mode of operation to switch, in this process, probably can produce large torque ripple, just need to carry out moment of torsion to it and coordinate to control, and to reduce shock extent, improves the ride comfort of pattern handoff procedure.At present the control of hybrid vehicle is mainly comprised to steady-state process control and dynamic process control.The former main object is fuel economy and optimum discharge, and the main target of the latter is 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 herein, infrastructure cost is lower, but its dynamic process is complicated, coordinates to control just to become more important.If it is improper to control, will cause in the process of electric motor starting driving engine, extend the engine starting time, produce large shock extent, worsen the ride comfort of running car.
Summary of the invention
In view of this, the control method that the object of this invention is to provide a kind of double-clutch type motor of hybrid power automobile fire an engine, utilize motor to respond feature rapidly, according to control policy, increase in time or reduce Motor torque, the deficiency of demand torque or the compensation engine torque of the middle fire an engine of advancing is provided, reduce the shock extent of handoff procedure, improve the ride comfort of hybrid vehicle.
The object of the invention is to be achieved through the following technical solutions:
The control method of this kind of double-clutch type motor of hybrid power automobile fire an engine, the control of advancing for single motor double-clutch type hybrid vehicle, comprises the following steps:
Step 1: its structure composition and mode of operation are analyzed, set up system dynamics model by computing machine, divide the work area of hybrid vehicle, formulate corresponding torque management strategy;
Step 2: under pure electronic mode of operation, judge whether to reach the condition of carrying out electric motor starting driving engine by computation requirement moment of torsion, SOC value of battery, motor speed;
When meeting electric motor starting engine condition, to carry out pattern switching, send torque limiting clutch engagement command, by controlling the moment of torsion coordination control strategy of torque limiting clutch hydraulic actuating cylinder oil pressure and formulation, coordinate to control motor, engine torque, complete electricity and play machine process.
Further, described step 2 comprises the following steps:
Step 21: automobile moves under pure electronic work condition state, now
, wherein
for motor output torque,
for chaufeur demand torque, now by controller, judge motor speed
if,
,
for the rotating speed minimum value of fire an engine, carry out step 2, otherwise continue with pure electronic operating mode operation;
Step 22: judgement SOC value of battery, if
, carry out step 3, otherwise send torque limiting clutch engagement command, carry out step 4; Wherein
for battery-efficient district lower limit;
Step 23: if
, by controller, send torque limiting clutch engagement command, carry out step 4, otherwise continue with pure electronic operating mode operation,
torque minimum value for engine operation;
Step 24: after receiving torque limiting clutch engagement command, after one period of make-up time, torque limiting clutch starts to engage transmitting torque, carries out electricity and plays machine process, increases Motor torque,
, start fire an engine, wherein
for motor maximum torque,
for torque limiting clutch transmitting torque, after torque limiting clutch structure is determined, its value and the proportional relation of oil pressure;
Step 25: along with the increase of engine speed, if reach its Self-lighting working speed, engine ignition operation, otherwise continue fire an engine;
Step 26: after the operation of driving engine Self-lighting, send torque command to engine controller, driving engine speed-raising.Excessive for preventing motor torque rate of change, in first 0.2 second, the engine target torque of input is
, at 0.2 second, the engine target torque of input was afterwards
, wherein t is for to have moved the experienced time at driving engine Self-lighting, between 0 to 0.2;
Step 27: if motor equate with engine speed, controller judges that torque limiting clutch engages completely;
If motor speed is greater than engine speed, think that torque limiting clutch does not engage completely, now, the output torque of motor is
, driving engine continues speed-raising, continues to engage torque limiting clutch, until judge that torque limiting clutch engages completely;
Step 28: after torque limiting clutch engages completely, use the deficiency of motor compensating engine torque, motor output torque is now
, wherein
compensation torque for motor.If the compensation torque of motor is less than
, controller judges that now driving engine is stable, motor exits compensation, only exports 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 compensating engine torque, until the change in torque of driving engine is less than
, so far, when motor compensating moment of torsion is less than
, judge that fire an engine process completes, pattern handoff procedure finishes, and automobile moves under new pattern,
.
Further, in step 21, described chaufeur demand torque obtains by the following method:
Chaufeur is applied to the demand torque that demand torque on wheel changes into change-speed box mouth, by calculating unit, calculate out maximum driving torque envelope of curves line under different gears, obtain the torque demand of 100% accelerator travel, and then obtain part pedal stroke torque demand, its value equals the torque rating that accelerator travel value is multiplied by 100% accelerator travel, thereby sets up the computation model of chaufeur demand torque.
Further, in step 23,
to choose mode as follows: in conjunction with characteristic curve, engine consumption figure and the engine MAP of motor, obtain the mode of operation zoning plan of automobile, can obtain thus engine operation minimal torque curve, by calculating unit, set up
computation model obtain.
Further, in step 24, the routine of torque limiting clutch is controlled and is adopted fuzzy control strategy, comprises initial engagement oil pressure control policy and sliding wear stage oil pressure control policy;
Described initial engagement oil pressure control policy is that the exact value of the accelerator pedal displacement value collecting and accelerator pedal displacement rate of change is multiplied by respectively to quantizing factor separately
with
, to realize obfuscation; Then according to the accelerator pedal displacement after obfuscation and accelerator pedal displacement rate of change, in conjunction with fuzzy control table, the changing value of controlled amount, then be multiplied by factor of proportionality
, can obtain the controllable amounts within the scope of basic domain
, initial engagement oil pressure value is default initial pressure
with clutch pressure can controlling increment
sum,
;
Described sliding wear stage oil pressure control policy is that the exact value of the accelerator pedal displacement rate of change collecting and power-transfer clutch principal and subordinate Moving plate speed discrepancy is multiplied by respectively to quantizing factor separately
with
, to realize obfuscation; Then according to the accelerator pedal displacement rate of change after obfuscation and power-transfer clutch principal and subordinate Moving plate speed discrepancy, in conjunction with fuzzy control table, the changing value of controlled amount, then be multiplied by factor of proportionality
, obtain the controllable amounts within the scope of basic domain
, through integration, then be added and can obtain power-transfer clutch engagement oil value with initial engagement oil pressure.
Further, in step 25,
to choose mode as follows: in conjunction with characteristic curve, engine consumption figure and the engine MAP of motor, obtain thus the auxiliary minimal torque curve of power of motor, by calculating unit, set up
computation model obtain.
The invention has the beneficial effects as follows:
The present invention is by utilizing motor to respond feature rapidly, according to control policy, increase in time or reduce Motor torque, the deficiency of demand torque or the compensation engine torque of the middle fire an engine of 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 feature will be set forth to a certain extent in the following description, and to a certain extent, based on will be apparent to those skilled in the art to investigating below, or can be instructed from the practice of the present invention.Target of the present invention and other advantages can be realized and be obtained by specification sheets and claims below.
Accompanying drawing explanation
In order to make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing, the present invention is described in further detail, wherein:
Fig. 1 is hybrid vehicle list motor double-clutch type arrangement of mechanism schematic diagram;
Fig. 2 is system model equivalence sketch;
Fig. 3 is fire an engine process flow diagram flow chart
Fig. 4 is chaufeur torque-demand identification figure;
Fig. 5 is 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 the sliding wear stage
degree of membership figure;
Figure 10 is the sliding wear stage
degree of membership figure;
Figure 11 is the sliding wear stage
degree of membership figure;
Figure 12 is torque limiting clutch control chart.
The specific embodiment
Hereinafter with reference to accompanying drawing, the preferred embodiments of the present invention are described in detail.Should be appreciated that preferred embodiment is only for the present invention is described, rather than in order to limit the scope of the invention.
As shown in Figure 1, hybrid vehicle list motor double-clutch type mechanism is a preposition precursor structures, comprises that main reduction gear 1, AMT change-speed box 2(are 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 ISG motor.Annexation is: between driving engine 7 and motor, by free-wheel clutch, be connected with torque limiting clutch, described motor shaft connects master clutch, and master clutch connects AMT change-speed box, main reduction gear, diff and semiaxis successively, finally outputs to front-wheel.
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 guarantees that engine starting completes, engine speed, not higher than motor speed, can not cause the excessive cunning of torque limiting clutch to rub
When torque limiting clutch disconnects, can drive separately vehicle operating by drive motor, required moment of torsion is provided.In torque limiting clutch engaging process, drive motor can be when driving vehicle start the engine.After engaging process completes, driving engine and drive motor can jointly drive Vehicle Driving Cycle or be driven separately by driving engine.
the middle electric motor starting driving engine process kinetics analysis of advancing
For the ease of carrying out dynamics analysis, its illustraton of model is simplified, ignore the effect of rotating viscous damping, as shown in Figure 2, in figure, the implication of each mark representative is as follows for the illustraton of model obtaining:
-engine output torque;
-clutch transmission torque;
-motor output torque;
-conversion is to the equivalent resisting moment of torque limiting clutch rear end;
-engine speed;
-motor speed;
-conversion is to the equivalent moment of inertia of power-transfer clutch front end;
-conversion is to the equivalent moment of inertia of power-transfer clutch rear end
During beginning, be pure electronic operating mode: the in the situation that of the low demand torque of low speed or low cruise, automobile is with pure electronic operating mode operation, and torque limiting clutch is separated, and driving engine does not start, and the needed power of automobile is provided separately by motor.Now,
，
（1）
The advance dynamic process of middle fire an engine: when rotating speed improves or when demand torque increases, separate electrical motor drives and can not satisfy the demands, be from pure electronic change working to the operating mode that has engine drive output torque.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, starts to engage sliding wear, and principal and subordinate's moving plate has speed discrepancy, now,
(2)
In formula (2), before engine ignition starting,
for negative value.When engine starting completes, after torque limiting clutch engages completely, motor is not deactivated at once, but engine torque is compensated, and avoids producing torque ripple, affects the ride comfort of pattern handoff procedure.
Complete when engine starting, reach after its target torque, 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 transmitting torque not transmits by free-wheel clutch, can reduce torque limiting clutch period of service like this, extends its life-span.Now,
(3)
In conjunction with above-mentioned analysis, control method of the present invention proposes for the hybrid vehicle of said mechanism is installed, and generally speaking, comprises the following steps:
Step 1: its structure composition and mode of operation are analyzed, set up system dynamics model by computing machine, divide the work area of hybrid vehicle, formulate corresponding torque management strategy;
Step 2: under pure electronic mode of operation, judge whether to reach the condition of carrying out electric motor starting driving engine by computation requirement moment of torsion, SOC value of battery, motor speed;
When meeting electric motor starting engine condition, will carry out pattern switching, send torque limiting clutch engagement command, by controlling the moment of torsion coordination control strategy of torque limiting clutch oil pressure and formulation, coordinate to control motor, engine torque, complete electricity and play machine process.
Wherein the flow process of step 2 as shown in Figure 3, comprises the following steps:
Step 21: automobile moves under pure electronic work condition state, now
, wherein
for motor output torque,
for chaufeur demand torque, now by controller, judge motor speed
if,
,
for the rotating speed minimum value of fire an engine, carry out step 2, otherwise continue with pure electronic operating mode operation;
Determining demand torque, is in order to determine the mode of operation of automobile, by its reasonable distribution, to driving engine and motor, is the basis of torque distribution control policy, and in the present embodiment, definite method of chaufeur demand torque is as follows:
Chaufeur is applied to the demand torque that demand torque on wheel changes into change-speed box mouth, by calculating unit, calculate out maximum driving torque envelope of curves line under different gears, obtain the torque demand of 100% accelerator travel, and then obtain part pedal stroke torque demand, its value equals the torque rating that accelerator travel value is multiplied by 100% accelerator travel, thereby sets up the computation model of chaufeur demand torque.Fig. 4 is chaufeur torque-demand identification figure.
Step 22: judgement SOC value of battery, if
, carry out step 3, otherwise send torque limiting clutch engagement command, carry out step 4; Wherein
for battery-efficient district lower limit;
The data that actual selection can provide according to battery manufacturer, and battery behavior is chosen (as optional 0.4-0.6).
Step 23: if
, by controller, send torque limiting clutch engagement command, carry out step 4, otherwise continue with pure electronic operating mode operation,
torque minimum value for engine operation;
to choose mode as follows: in conjunction with characteristic curve, engine consumption figure and the engine MAP of motor, obtain the mode of operation zoning plan of automobile, can obtain thus engine operation minimal torque curve, by calculating unit, set up
computation model obtain.Wherein engine operation minimal torque curve is to obtain by following work area division methods.
work area is divided
Because engine operation is at slow speed of revolution, during little load, efficiency is lower, bring into play the advantage of hybrid vehicle, just must divide the region of mode of operation, and this is also the prerequisite of carrying out pattern switching.In conjunction with characteristic curve, engine consumption figure and the engine MAP of motor, guarantee that motor will can provide enough cranking torque and automotive operation required torques when needing start the engine, divides the region of mode of operation as shown in Figure 5.In Fig. 5, a is engine operation minimal torque curve, the engine optimum economic curve of b for obtaining by test, and c is the auxiliary minimal torque curve of power of motor.These curves have been divided into different regions by engine steady state figure, and (1) is pure electronic work area, and (2) are the driving engine district that works independently, and (3) combine driving work area for driving engine with motor.When engine speed is less than
time, its efficiency is very low, and motor is when low speed, and larger moment of torsion can be provided, and therefore in this region, by motor, drives separately, and to improve economy, its value can be determined (as being set as 800-1000r/min) by driving engine and motor characteristic.
Step 24: after receiving torque limiting clutch engagement command, after one period of make-up time, torque limiting clutch starts to engage transmitting torque, carries out electricity and plays machine process, increases Motor torque,
, start fire an engine, wherein
for motor maximum torque,
for torque limiting clutch transmitting torque, after torque limiting clutch structure is determined, its value and the proportional relation of oil pressure;
torque limiting clutch oil pressure is controlled
Study the middle start the engine of advancing, do not relate to the gearshift procedure of AMT, therefore also just there is no the control of master clutch, be mainly the control of torque limiting clutch.Meeting under the prerequisite of ride comfort, reduce its engagement time as far as possible.In engaging process, the joint action of motor torque and torque limiting clutch needs dynamic coordinate to control, to guarantee driving engine normal starting and normally travelling and causing excessive shock vehicle not.After the structure of torque limiting clutch is determined, sliding friction torque depends on the oil pressure size that acts on friction face upper limit torque clutch, therefore most important to the control of torque limiting clutch target oil pressure.
The routine of power-transfer clutch is controlled many adoption rates and is controlled, but relation between its each amount is difficult to represent with accurate math modeling, and control method can not meet the demands, so 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 large to engaging performance impact, it is the emphasis of clutch control.
(1) power-transfer clutch initial engagement oil pressure is the default initial pressure of power-transfer clutch
with clutch pressure increment
sum,
.Right
evaluation use fuzzy control strategy,
according to actual conditions, set.First of fuzzy controller is input as acceleration pedal aperture
, fuzzy domain (0,1), fuzzy language variable is { very little, little, less, in, larger, large, very large }, 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 more responsive when the little aperture of Das Gaspedal, to large throttle aperture relative insensitivity, and the sharper fuzzy subset's resolution of subordinate function curve shape is higher, controls highly sensitive; Otherwise subordinate function curve shape is more slow, controller performance is mild, and system stability is good.So when selecting the subordinate function of fuzzy set of fuzz variable, adopt the fuzzy set of low resolution in large throttle aperture region, adopt high-resolution fuzzy set in little accelerator open degree region.As shown in Figure 6.
Second is input as acceleration pedal aperture rate of change
, fuzzy domain (0,12), fuzzy language variable is { very little, little, less, in, larger, large, very large }, corresponding fuzzy subset is { VS, S, MS, M, MB, B, VB}.Due within the scope of whole domain, basic identical to the control sensitivity requirement of accelerator travel rate of change, the subordinate function adopting is evenly distributed within the scope of whole domain, as shown in Figure 7 substantially.
Be output as
, fuzzy domain (0,12), fuzzy language variable is { very little, little, less, in, larger, large, very large }, corresponding fuzzy subset is { VS, S, MS, M, MB, B, VB}.As shown in Figure 8.
Select gravity model appoach that controlling quantity is become to accurate amount,
with
,
between control law as shown in table 1.
In real-time control process, the exact value of the accelerator pedal displacement value collecting and accelerator pedal displacement rate of change is multiplied by respectively to quantizing factor separately
with
, to realize obfuscation; Then according to the accelerator pedal displacement after obfuscation and accelerator pedal displacement rate of change, search fuzzy control table, the changing value of controlled amount, then be multiplied by factor of proportionality
, can obtain the controllable amounts within the scope of basic domain
, initial engagement oil pressure value is default initial pressure
with clutch pressure can controlling increment
sum,
.
(2) sliding, rub the stage, need to examine rate driver's operation intention and power-transfer clutch degree of engagement, guarantee, under the requirement of low shock extent, to reduce sliding wear process as far as possible, utilize fuzzy controller, determine suitable clutch pressure rate of change.Controller is also an output of two inputs.First is input as acceleration pedal aperture rate of change
, fuzzy domain (0,1), fuzzy language variable is { very little, little, less, in, larger, large, very large }, corresponding fuzzy subset is { VS, S, MS, M, MB, B, VB}.Because chaufeur wishes to accelerate clutch engagement when acceleration pedal change in displacement rate is larger, so subordinate function curve is concentrated in large acceleration pedal change in displacement rate region, to improve the response performance in large acceleration pedal change in displacement rate region, subordinate function adopts Gaussian function, and degree of membership 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), fuzzy language variable is { very little, little, less, in, larger, large, very large }, corresponding fuzzy subset is { VS, S, MS, M, MB, B, VB}.The clutch engagement that should slow down when the master and slave Moving plate speed discrepancy of power-transfer clutch value is larger 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, to reduce pattern switching time, reduces clutch abrasion simultaneously; When increasing, the poor rate of change of clutch rotational speed reduce clutch engagement to reduce shock extent.Degree of membership as shown in figure 10.
Be output as clutch-apply pressure rate of change
, fuzzy domain (0,12), fuzzy language variable is { very little, little, less, in, larger, large, very large }, corresponding fuzzy subset is { VS, S, MS, M, MB, B, VB}.Degree of membership as shown in figure 11.
Select gravity model appoach that controlling quantity is become to accurate amount,
with
with
between control law as shown in table 2.
In controlling in real time, the exact value of the accelerator pedal displacement rate of change collecting and power-transfer clutch principal and subordinate Moving plate speed discrepancy is multiplied by respectively to quantizing factor separately
with
, to realize obfuscation; Then according to the accelerator pedal displacement rate of change after obfuscation and power-transfer clutch principal and subordinate Moving plate speed discrepancy, search fuzzy control table, the changing value of controlled amount, then be multiplied by factor of proportionality
, obtain the controllable amounts within the scope of basic domain
, through integration, then be added and can obtain power-transfer clutch engagement oil value with initial engagement oil pressure.
Torque limiting clutch Fuzzy control system as shown in figure 12.By 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 Self-lighting working speed, engine ignition operation, otherwise continue fire an engine;
Step 26: after the operation of driving engine Self-lighting, send torque command to engine controller, driving engine speed-raising.Excessive for preventing motor torque rate of change, in first 0.2 second, the engine target torque of input is
, at 0.2 second, the engine target torque of input was afterwards
, wherein t is for to have moved the experienced time at driving engine Self-lighting, between 0 to 0.2;
Step 27: if motor equate with engine speed, controller judges that torque limiting clutch engages completely;
If motor speed is greater than engine speed, think that torque limiting clutch does not engage completely, now, the output torque of motor is
, driving engine continues speed-raising, continues to engage torque limiting clutch, until judge that torque limiting clutch engages completely;
Step 28: after torque limiting clutch engages completely, use the deficiency of motor compensating engine torque, motor output torque is now
, wherein
compensation torque for motor.If the compensation torque of motor is less than
, controller judges that now driving engine is stable, and compensation torque is the difference of engine target moment of torsion output torque actual with it, and motor exits compensation, only exports its target torque
;
Otherwise continue to use the deficiency of motor compensating engine torque, until the change in torque of driving engine is less than
, so far, when motor compensating moment of torsion is less than
, judge that fire an engine process completes, pattern handoff procedure finishes, and automobile moves under new pattern,
.
In this step, the principle that torque coordinate to be controlled is: because the torque transformation period constant of driving engine and motor differs greatly, iff the torque of driving engine being carried out to the torque that open loop control seriously lags behind electrical motor by the dynamic torque that makes driving engine by throttle opening, change, and in dynamic process, the torque control of driving engine is also relevant with other indemnifying measures with the control of transient state air/fuel ratio, and its dynamic property can not be met the demands.Therefore need to coordinate to control to the torque of driving engine and motor.
Utilize motor to respond feature rapidly, can to motor torque, compensate by motor torque.The target torque of having supposed to determine driving engine and motor is
with
, due to the hysteresis quality of engine output torque, actual output torque is
, therefore there is difference:
（6）
Steady for guaranteeing aggregate demand torque, utilize motor to compensate, the actual output torque of motor
, with motor torque pass be:
（7）
(8)
Finally explanation is, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement technical scheme of the present invention, and not departing from aim and the scope of the technical program, it all should be encompassed in the middle of claim scope of the present invention.
Claims (5)
1. the control method of double-clutch type motor of hybrid power automobile fire an engine, the control of advancing for single motor double-clutch type hybrid vehicle, comprises the following steps:
Step 1: its structure composition and mode of operation are analyzed, set up system dynamics model by computing machine, divide the work area of hybrid vehicle, formulate corresponding torque management strategy;
Step 2: under pure electronic mode of operation, judge whether to reach the condition of carrying out electric motor starting driving engine by computation requirement moment of torsion, SOC value of battery, motor speed;
When meeting electric motor starting engine condition, to carry out pattern switching, send torque limiting clutch engagement command, by controlling the moment of torsion coordination control strategy of torque limiting clutch hydraulic actuating cylinder oil pressure and formulation, coordinate to control motor, engine torque, complete electricity and play machine process;
It is characterized in that: described step 2 specifically comprises:
Step 21: automobile moves under pure electronic work condition state, now T
m=T
d_req, T wherein
mfor motor output torque, T
d_reqfor chaufeur demand torque, now by controller, judge motor speed n
mif, n
m> n
e_min, n
e_minfor the rotating speed minimum value of fire an engine, carry out step 2, otherwise continue with pure electronic operating mode operation;
Step 22: judgement SOC value of battery, if SOC > is SOC
low, carry out step 3, otherwise send torque limiting clutch engagement command, carry out step 4; SOC wherein
lowfor battery-efficient district lower limit;
Step 23: if T
d_req> T
e_min, by controller, send torque limiting clutch engagement command, carry out step 4, otherwise continue with pure electronic operating mode operation, T
e_mintorque minimum value for engine operation;
Step 24: after receiving torque limiting clutch engagement command, through one period of make-up time, torque limiting clutch starts to engage transmitting torque, carries out electricity and plays machine process, increases Motor torque, i.e. T
m=min (T
d_req+ T
cl, T
m_max), start fire an engine, wherein T
m_maxfor motor maximum torque, T
clfor torque limiting clutch transmitting torque, after torque limiting clutch structure is determined, its value and the proportional relation of oil pressure;
Step 25: along with the increase of engine speed, if reach its Self-lighting working speed, engine ignition operation, otherwise continue fire an engine;
Step 26: after the operation of driving engine Self-lighting, send torque command to engine controller, driving engine speed-raising.Excessive for preventing motor torque rate of change, in first 0.2 second, the engine target torque of input is (T
e_tar/ 0.2) * t, at 0.2 second, the engine target torque of input was T afterwards
e_tar, wherein t is for to have moved the experienced time at driving engine Self-lighting, between 0 to 0.2;
Step 27: if motor equate with engine speed, controller judges that torque limiting clutch engages completely; If motor speed is greater than engine speed, think that torque limiting clutch does not engage completely, now, the output torque of motor is min (T
m_max, T
d_req+ T
cl), driving engine continues speed-raising, continues to engage torque limiting clutch, until judge that torque limiting clutch engages completely;
Step 28: after torque limiting clutch engages completely, use the deficiency of motor compensating engine torque, motor output torque is now min (T
m_max, T
m_tar+ T
bu), T wherein
bufor the compensation torque of motor, if the compensation torque of motor is less than 0.05*T
e_tar, controller judges that now driving engine is stable, motor exits compensation, only exports its target torque T
m_tar, compensation torque is the difference of engine target moment of torsion output torque actual with it;
Otherwise continue to use the deficiency of motor compensating engine torque, until the change in torque of driving engine is less than 0.05*T
e_tar.So far, when motor compensating moment of torsion is less than 0.05*T
e_tar, judge that fire an engine process completes, pattern handoff procedure finishes, and automobile moves under new pattern, T
e=T
e_tar, T
m=T
m_tar.
2. 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, described chaufeur demand torque obtains by the following method:
Chaufeur is applied to the demand torque that demand torque on wheel changes into change-speed box mouth, by calculating unit, calculate out maximum driving torque envelope of curves line under different gears, obtain the torque demand of 100% accelerator travel, and then obtain part pedal stroke torque demand, its value equals the torque rating that accelerator travel value is multiplied by 100% accelerator travel, thereby sets up the computation model of chaufeur demand torque.
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 23, and T
e_minto choose mode as follows: in conjunction with characteristic curve, engine consumption figure and the engine MAP of motor, obtain the mode of operation zoning plan of automobile, can obtain thus engine operation minimal torque curve, by calculating unit, set up T
e_mincomputation model obtain.
4. the control method of double-clutch type motor of hybrid power automobile fire an engine according to claim 1, it is characterized in that: in step 24, the control of torque limiting clutch adopts fuzzy control strategy, comprises initial engagement oil pressure control policy and sliding wear stage oil pressure control policy;
Described initial engagement oil pressure control policy is that the exact value of the accelerator pedal displacement value collecting and accelerator pedal displacement rate of change is multiplied by respectively to quantizing factor K separately
αand K
α', to realize obfuscation; Then according to the accelerator pedal displacement after obfuscation and accelerator pedal displacement rate of change, in conjunction with fuzzy control table, the changing value of controlled amount, then be multiplied by scale factor K
Δ p, can obtain the controllable amounts Δ P within the scope of basic domain, initial engagement oil pressure value is default initial pressure P
0can control increment Delta P sum, i.e. P with clutch pressure
b=P
0+ Δ P;
Described sliding wear stage oil pressure control policy is that the exact value of the accelerator pedal displacement rate of change collecting and power-transfer clutch principal and subordinate Moving plate speed discrepancy is multiplied by respectively to quantizing factor K' separately
αand K
Δ ω, to realize obfuscation; Then according to the accelerator pedal displacement rate of change after obfuscation and power-transfer clutch principal and subordinate Moving plate speed discrepancy, in conjunction with fuzzy control table, the changing value of controlled amount, then be multiplied by factor of proportionality
obtain the controllable amounts within the scope of basic domain
through integration, then be added and can obtain power-transfer clutch engagement oil value with initial engagement oil pressure.
5. 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 25, and T
m_assto choose mode as follows: in conjunction with characteristic curve, engine consumption figure and the engine MAP of motor, obtain the mode of operation zoning plan of automobile, can obtain thus the auxiliary minimal torque curve of power of motor, by calculating unit, set up T
m_asscomputation model obtain.
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