CN102556046B - 用于控制混合动力车电动机的系统和方法 - Google Patents

用于控制混合动力车电动机的系统和方法 Download PDF

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CN102556046B
CN102556046B CN201010572204.4A CN201010572204A CN102556046B CN 102556046 B CN102556046 B CN 102556046B CN 201010572204 A CN201010572204 A CN 201010572204A CN 102556046 B CN102556046 B CN 102556046B
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electrical motor
torque
motor
aggregate demand
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CN102556046A (zh
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朴俊泳
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Hyundai Motor Co
Kia Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/36—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings
    • B60K6/365—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings with the gears having orbital motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/44—Series-parallel type
    • B60K6/445—Differential gearing distribution type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/11—Controlling the power contribution of each of the prime movers to meet required power demand using model predictive control [MPC] strategies, i.e. control methods based on models predicting performance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
    • B60W30/1882—Controlling power parameters of the driveline, e.g. determining the required power characterised by the working point of the engine, e.g. by using engine output chart
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/24—Energy storage means
    • B60W2510/242—Energy storage means for electrical energy
    • B60W2510/244—Charge state
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0666—Engine torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque
    • 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
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    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
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Abstract

本发明提供一种用于控制混合动力车电动机的方法，该方法包括以下步骤：检测多个电动机和行星齿轮组的状态；在多个电动机处于预定条件下工作的情况下，决定电动机的总需求转矩；确定电动机的总需求转矩是否小于每个电动机的连续额定转矩之和；在电动机的总需求转矩小于每个电动机的连续额定转矩之和的情况下，通过使用根据每个电动机的旋转速度和总需求转矩的转矩分配图来决定每个电动机的转矩；以及基于所决定的每个电动机的转矩来控制每个电动机。

Description

用于控制混合动力车电动机的系统和方法
技术领域
本发明涉及一种混合动力车。本发明更特别涉及一种用于控制混合动力车电动机的系统和方法，当置于混合动力车中的多个电动机在预定条件下工作时，通过将总需求转矩有效地分配到多个电动机而有效且稳定地控制每个电动机的转矩。
背景技术
混合动力车使用诸如汽油或柴油发动机中的一种或两种发动机以及由电池电源操作的电动机。
混合动力车通过使用至少两个电动机和诸如离合器等联接装置来实现多种驱动模式以提高燃料效率或动力性能。
例如，混合动力车实现只有发动机工作的发动机模式、由于发动机效率低(以低速行驶)而使发动机停止仅电动机工作的EV模式、和电动机转矩辅助发动机转矩(高负载范围)的HEV模式。
将电动机的驱动范围分成转矩小于连续额定转矩的范围和转矩高于或等于连续额定转矩且小于或等于最大转矩的另一范围。考虑到电动机工作时所产生的热量和冷却系统的性能来设置电动机的每个驱动范围。
如果电动机在转矩小于连续额定转矩的范围工作，则冷却性能超出生热并且电动机能够连续操作而不升高电动机温度。相反地，如果电动机在转矩大于或等于连续额定转矩的范围工作，则生热超出冷却性能并且电动机温度升高。因此，电动机不能连续工作。
另外，电动机的效率特性根据基于其转矩和旋转速度决定的驱动点而变化。
发明内容
本发明提供一种用于控制混合动力车的电动机的系统和方法，其具有通过在混合动力车中的多个电动机在预定条件下工作时有效地将总需求转矩分配到多个电动机而有效且稳定地控制每个电动机转矩的优点。
在一个实施方式中，本发明的系统和方法被应用到使用发动机和多个电动机作为动力源的混合动力车中。
在一个方面中，本发明提供一种用于控制包含一个发动机和多个电动机作为动力源的混合动力车的电动机的系统，该系统包括控制器，该控制器通过将电动机的总需求转矩与每个电动机的连续额定转矩之和进行比较来决定每个电动机的转矩，其中多个电动机在预定条件下工作。
在一个实施方式中，控制器通过使用转矩分配图来决定每个电动机的转矩，其中转矩分配图由每个电动机的旋转速度和总需求转矩确定，其中电动机的总需求转矩小于每个电动机的连续额定转矩之和。
在另一个实施方式中，控制器通过将每个电动机的连续额定转矩，与通过分配总需求转矩和与每个电动机性能相应的连续额定转矩之和之间的差值所得到的每个电动机的分配转矩相加，来确定每个电动机的转矩，其中电动机的总需求转矩大于或等于每个电动机的连续额定转矩之和。
在另一个实施方式中，该控制器通过以下等式决定第I个电动机的转矩，其中，第I个电动机的转矩＝第I个电动机的连续额定转矩+总需求转矩与连续额定转矩总和之差×第I个电动机的分配率。
在另一方面中，本发明提供一种用于控制混合动力车的电动机的方法，包括：检测多个电动机和行星齿轮组的状态；决定电动机的总需求转矩，其中多个电动机在预定条件下工作；确定电动机的总需求转矩是否小于每个电动机的连续额定转矩之和；通过使用转矩分配图来决定每个电动机的转矩，其中转矩分配图由每个电动机的旋转速度和总需求转矩确定，其中电动机的总需求转矩小于每个电动机的连续额定转矩之和；以及基于所决定的每个电动机的转矩来控制每个电动机。
在某些实施方式中，该方法还包括通过将每个电动机的连续额定转矩，与通过分配总需求转矩和与每个电动机性能相应的连续额定转矩之和之间的差值所得到的每个电动机的分配转矩相加来决定每个电动机的转矩的步骤，其中电动机的总需求转矩大于或等于每个电动机的连续额定转矩之和。
在另一个实施方式中，本发明提供一种方法，其中每个电动机的分配转矩可以通过将每个电动机的分配率与总需求转矩和连续额定转矩之和之间的差值相乘来计算得到。
在另一个实施方式中，本发明提供一种方法，其中电动机的总需求转矩是可以基于驱动需求转矩、车速和电池充电状态(SOC)来决定。
附图说明
图1是示出根据本发明一个实施方式的混合动力车的动力传动系的示意图；
图2是根据本发明一个实施方式用于控制混合动力车电动机的方法的流程图。
<符号说明>
10：发动机21、23：第一和第二电动机
30：行星齿轮组40：控制器
具体实施方式
下文将参照附图详细说明本发明的示例性实施方式。
本领域技术人员应该认识到，所说明的实施方式可以以不同方式变化，所有这些变化都不偏离本发明的精神或范围。在此省略对本发明而言为非必需组件的说明，在本说明书中使用相同的附图标记来表示相同的组件。
图1是显示出根据本发明一个实施方式的混合动力车的动力传动系的示意图。
参照图1，混合动力车包括作为动力源的发动机10与第一和第二电动机21和23、行星齿轮组30、第一和第二离合器CL1和CL2、第一和第二刹车BK1和BK2，以及控制器40。行星齿轮组30包括第一和第二太阳齿轮S1和S2、第一和第二支架(carriers)C1和C2、以及第一和第二环形齿轮R1和R2。
发动机10的输出直接被传输给构成变速器的行星齿轮组30的第一支架32，且选择性地通过第二离合器CL2传输到第二电动机23和第二太阳齿轮43。
根据第二离合器CL2的操作，发动机10和第二电动机23的转矩之和或第二电动机23的转矩可以作为第二太阳齿轮43的输入。
第一电动机21连接于第一刹车BK1和第一太阳齿轮31，并作为发电机工作以在再生制动时对电池再充电(未示出)。
第二电动机23作为发电机工作以便在通过第二离合器CL2输入的发动机10的输出充足时对电池再充电。
行星齿轮组30的第一环形齿轮33连接于第二支架35，而第二支架35连接于变速器的输出轴，且第二环形齿轮36连接于第二刹车BK2且通过第一离合器CL1连接于第一支架32。
考虑第一电动机21和第二电动机23的性能，控制器40决定每个电动机的转矩。
控制器40将第一、第二电动机21和23的总需求转矩与每个电动机的连续额定转矩之和进行比较，并通过使用分配图或通过根据每个电动机的性能来分配总需求转矩来决定每个电动机的转矩。
参照图2，以下将详细说明根据本发明一个实施方式用于控制混合动力车电动机的方法。
图2是用于控制根据本发明一个实施方式用于控制混合动力车电动机的方法的流程图。
在步骤S101中，在混合动力车行驶状态下，控制器40检测第一、第二电动机21和23的状态，以及行星齿轮组30的状态；在步骤S102中，确定第一、第二电动机21和23是否在预定条件下工作。
在当前驱动状态是处于第二离合器CL2和第二刹车BK2工作的欠驱动状态(underdrivestate)或者第一离合器CL1和第二离合器CL2工作的1∶1传动比状态时可以满足预定条件。或者，当多个电动机同时工作时可以满足预定条件。特别地，当多个电动机的旋转速度限于特定的齿轮比时可以满足预定条件。
如果在步骤S102中不满足预定条件，则控制器40返回步骤S101。
然而，如果在步骤S102满足预定条件，则控制器40在步骤S103中根据第一和第二电动机21和23的性能来决定第一和第二电动机21和23应该输出的总需求转矩，和第一、第二电动机21和23的辅助转矩或再生转矩。
第一、第二电动机21和23的总需求转矩由驱动需求转矩、车速、和/或电池的充电状态(SOC)决定。
如果在步骤S103中第一、第二电动机21和23应该输出总需求转矩，则在步骤S104中，控制器40将第一、第二电动机21和23的总需求转矩与第一、第二电动机21和23的连续额定转矩之和进行比较，并在步骤S105中确定第一、第二电动机21和23的总需求转矩是否小于第一、第二电动机21和23的连续额定转矩之和。
如果在步骤S105中，第一、第二电动机21和23的总需求转矩小于第一、第二电动机21和23的连续额定转矩之和，则在步骤S106中，控制器40通过使用可以使第一、第二电动机21和23的效率最大的最优转矩分配图来决定第一、第二电动机21和23的转矩。
通过使用根据每个电动机旋转速度和电动机总需求转矩的最优转矩分配图来决定第一、第二电动机21和23的转矩。
最优转矩分配图可以通过以下的最优化步骤获得：
最大(电动机工作效率)＝最大(机械能/放电能)
＝最大(∑(ωmotor_i×Tmotor_i)/(∑Pmotor_electrical_i))(在放电情况下)
＝最大(充电能/机械能)
＝最大(∑Pmotor_electrical_i)/∑(ωmotor_i×Tmotor_i))(在充电情况下)
在此，Tmotor_i(i＝1-N)
T* motor＝∑Tmotor_i(电动机总需求转距)
ωmotor＝k1ωmotor_1＝...＝kNωmotor_N(每个电动机的齿轮比应该保持不变，ki＞0)
Tmotor_i＜Tmotor_conti_i(每个电动机的转矩应该被决定在连续额定转矩内)
也就是，电动机速度ωmotor和电动机的总需求转矩∑Tmortor_i的所有可能的设置被最优化以获得最优图。
如果在步骤S106中通过使用最优转矩分配图来决定第一、第二电动机21和23的转矩，则在步骤S107中，控制器40通过功率控制器(未示出)来控制施加于第一电动机21和第二电动机23的电压以控制每个电动机的输出转矩。
然而，在步骤S105中，如果第一、第二电动机21和23的总需求转矩大于或等于第一、第二电动机21和23的连续额定转矩之和，则控制器40决定第一、第二电动机21和23的转矩。更详细地，在步骤S108中，控制器40计算第一、第二电动机21和23的总需求转矩与第一、第二电动机21和23的连续额定转矩总和之间的差值，并通过将由根据第一、第二电动机21和23的性能来分配差值而得到的每个电动机的分配转矩，与每个电动机的连续额定转矩相加，来决定第一、第二电动机21和23的转矩。
每个电动机的转矩如下确定：
Tmotor_i＝Tmotor_conti_i+(T* motor-∑Tmotor_conti_i)×(Tmotor_max_i-Tmotor_conti_i)/∑(Tmotor_max_i-Tmotor_conti_i)
即，第I个电动机的转矩＝第I个电动机的连续额定转矩+总需求转矩与连续额定转矩和之间的差值×第I个电动机的分配率
之后，在步骤S107中，控制器40控制通过功率控制器(未示出)施加给第一电动机21和第二电动机23的电压以控制每个电动机的输出转矩。
如上所述，由于根据混合动力车中的每个电动机的热性能均匀分配电动机的总需求转矩，因此根据本发明电动机不会过热。
因此，可提高系统的稳定性。
由本发明一个实施方式提出的电动机的分配率((Tmotor_max_i-Tmotor_conti_i)/∑(Tmotor_max_i-Tmotor_conti_i)可应用于每个电动机的热特性为线性的情况。可以根据每个电动机的热特性来加权分配率。
根据本发明的一个实施方式，由于在混合动力车中的多个电动机可有效工作并且每个电动机的转矩可被稳定控制，因此提高电动机的燃料效率和稳定性。
尽管已经结合目前被认为是实用的示例性实施方式说明本发明，然而应该理解，本发明并不限于所公开的实施方式，而是相反地，意图覆盖包含在所附权利要求的精神和范围内的各种变型和等效配置。

Claims (7)

1.一种用于控制包含一个发动机和多个电动机作为动力源的混合动力车的电动机的系统，所述系统包括控制器，所述控制器通过将电动机的总需求转矩与每个电动机的连续额定转矩之和进行比较来决定每个电动机的转矩，
其中多个电动机在预定条件下工作，
所述控制器通过使用转矩分配图决定每个电动机的转矩；并且
所述转矩分配图由每个电动机的旋转速度和总需求转矩确定，其中所述电动机的所述总需求转矩小于每个电动机的连续额定转矩之和。
2.一种用于控制包含一个发动机和多个电动机作为动力源的混合动力车的电动机的系统，所述系统包括控制器，所述控制器通过将电动机的总需求转矩与每个电动机的连续额定转矩之和进行比较来决定每个电动机的转矩，
其中多个电动机在预定条件下工作，并且
所述控制器通过将每个电动机的连续额定转矩，与通过分配所述总需求转矩和与每个电动机性能相应的连续额定转矩之和之间的差值所得到的每个电动机的分配转矩相加，来确定每个电动机的转矩，
其中所述电动机的所述总需求转矩大于或等于每个电动机的连续额定转矩之和。
3.如权利要求2所述的系统，其中所述控制器通过以下等式决定第I个电动机的转矩，其中，
第I个电动机的转矩＝第I个电动机的连续额定转矩+总需求转矩与连续额定转矩总和之差×第I个电动机的分配率。
4.一种用于控制混合动力车的电动机的方法，包括：
检测多个电动机和行星齿轮组的状态；
决定所述电动机的总需求转矩，其中多个电动机在预定条件下工作；
确定所述电动机的所述总需求转矩是否小于每个电动机的连续额定转矩之和；
通过使用转矩分配图来决定每个电动机的转矩，其中所述转矩分配图由每个电动机的旋转速度和总需求转矩确定，其中所述电动机的所述总需求转矩小于每个电动机的连续额定转矩之和；以及
基于所决定的每个电动机的转矩来控制每个电动机。
5.如权利要求4所述的方法，还包括通过将每个电动机的所述连续额定转矩，与通过分配总需求转矩和与每个电动机性能相应的连续额定转矩之和之间的差值所得到的每个电动机的分配转矩相加来决定每个电动机的转矩的步骤，其中所述电动机的所述总需求转矩大于或等于每个电动机的所述连续额定转矩之和。
6.如权利要求5所述的方法，其中每个电动机的分配转矩是通过将每个电动机的分配率与总需求转矩和所述连续额定转矩之和之间的差值相乘来计算得到的。
7.如权利要求4所述的方法，其中所述电动机的所述总需求转矩是基于驱动需求转矩、车速和电池充电状态决定的。
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