CN102897214A - Method for analyzing torque required by driver - Google Patents
Method for analyzing torque required by driver Download PDFInfo
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- CN102897214A CN102897214A CN2012103955284A CN201210395528A CN102897214A CN 102897214 A CN102897214 A CN 102897214A CN 2012103955284 A CN2012103955284 A CN 2012103955284A CN 201210395528 A CN201210395528 A CN 201210395528A CN 102897214 A CN102897214 A CN 102897214A
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Abstract
The invention discloses a method for analyzing torque required by a driver at wheels. The method comprises the following steps of: calculating the maximum discharge power value of a power supply system; calculating the maximum output torque array of each motor in a driving system according to the maximum discharge power value of the power supply system and the peak torque characteristics of each motor; calculating the maximum torque array transmitted to wheels at a front axle and a rear axle by the power system according to the maximum output torque array of each motor, an external characteristic torque curve of an engine and the gear ratio and the transmission efficiency of a transmission system; limiting the torque of the front axle and the rear axle based on the maximum ground attachment force; calculating the maximum torque array, obtained at the wheels, of a vehicle when the opening of an accelerator pedal is maximum, and linearly interpolating the torque array when other pedals are opened; and setting the opening of the accelerator pedal and the vehicle speed, and interpolating to obtain the torque value required by the driver at the wheels.
Description
Technical field
The present invention relates to the analytic method of chaufeur demand torque, be specifically related to the demand torque of analytic method chaufeur in the electronlmobil drives to(for) the wheel of vehicle place.
Background technology
In the control system of hybrid vehicle, plug-in hybrid-power automobile and pure electric automobile, normally dope the torque of chaufeur demand according to acceleration pedal aperture and the speed of a motor vehicle, then according to the torque of chaufeur demand, the speed of a motor vehicle and storage battery charge state value (State of Charge, SOC), determine motor output torque, engine output torque and transmission gear.The analytic method of chaufeur demand torque has important impact to dynamic property, economy and the control system of vehicle.
In the current driver's torque resolving, mainly be with reference to engine management system (Engine Management system, EMS) Forecasting Methodology in, according to power system maximum torque curve, acceleration pedal aperture and the speed of a motor vehicle (rotating speed), from the input end of single reduction gear or change speed gear box, the demand torque of parsing chaufeur.For the pure electric vehicle of only equipping single reduction gear, current analytic method can meet the demands; But for step type automatic transmission with hydraulic torque converter (Automatic transmission such as equipment 5 gears or 6 gears, AT) new energy vehicle, according to current analytic method, parsing be the demand torque of change speed gear box input end, can cause like this schedule of change speed gear box and Torque-sharing strategy to be optimized.
Summary of the invention
The problem of optimizing in order to solve gearbox shifting rule and torque distribution the invention provides a kind of wheel of vehicle place that predicts and drives the analytic method of demand torque.
Principle of work of the present invention is:
At first, calculate the maximum discharge power numerical value (Maximum Power, MP) of power-supply system, this magnitude of power refers to the maximum power numerical value that power-supply system can discharge; Power-supply system is if independent storage battery or super capacitor, and MP is separately maximum discharge power of storage battery or super capacitor; Power-supply system is if the association that is comprised of power supplys such as super capacitor and storage batterys, and MP refers to the maximum electromotive power output sum of each unit in the association; If power-supply system comprises the auxiliary power unit (Auxiliary Power Unit, APU) that driving engine and electrical generator form, and the independent power-supply system such as storage battery or super capacitor, MP refers to APU and the maximum discharge power sum of each power-supply system.
Secondly, according to the peak torque characteristic of MP and the motor of power-supply system, calculate the maximum output torque array (Motor Maximum Torque Array, MTA) of each motor in the drive system; Set a rotating speed array (Speed Array, SA), SA refers to form from 0 to a plurality of rotating speeds the motor maximum speed of revolution, take a certain fixed rotating speed (for example 100r/min) as the interval, according to SA and MP, calculate each numerical value is corresponding among the SA torque, composition MTA, numerical value is corresponding one by one among MTA and the SA; For pure electric automobile, tandem and parallel hybrid electric vehicle, generally only has a drive motor, according to the MP of power-supply system, calculate corresponding MTA, be referred to as the MTA of power-supply system restriction, simultaneously, but the peak torque characteristic interpolation according to motor obtains maximum torque corresponding to rotating speed array, be referred to as the MTA of motor characteristic restriction, there are the maximum torque of a power-supply system restriction and the maximum torque of a motor characteristic restriction during each rotating speed, the MTA that two torque-limitings are got minimum value, minimum value forms in the time of can obtaining different rotating speeds; For Series-Parallel HEV; there are two motors; one is main motor; power is large and be used for driving vehicle; one is from motor; power is less and be mainly used in start and stop or generating; main; all might drive simultaneously vehicle from two motors; at first allow the power-supply system discharge power satisfy main motor peak power requirements; the power that obtains from motor is the poor of the maximum discharge power of power-supply system and main motor peak power; with this understanding; the MTA of main motor is its peak torque array; according to the power that obtains from motor and its peak torque, according to the method for calculating of pure electric automobile motor MTA, can obtain the MTA from motor.
Again, gear number ratio and driving efficiency according to motor M TA, engine test bench characteristic torque curve, driving system calculate the maximum torque array (Wheel Maximum Torque Array, WTA) that power system is passed to front axle and rear axle wheel place; Drive for single shaft, power system is by motor and single reduction gear (Motor and Reduction, MR) pure electric automobile and the serial type hybrid automobile that form, according to SA and single-stage speed reducing speed ratio, calculate speed of a motor vehicle array (Velocity Array, VA), motor M TA multiply by single-stage speed reducing speed ratio and driving efficiency, can obtain maximum torque array (the Wheel Maximum Torque Array at wheel place, WTA), if vehicle is front (afterwards) wheel drive, the WTA of the driving torque of front (afterwards) axle wheel for calculating, (front) axle wheel driving torque is that 0, VA and WTA numerical value are corresponding one by one afterwards; Drive for single shaft, power system is by driving engine, motor and automatic transmission with hydraulic torque converter (Engine, Motor and Transmission, EMT) parallel hybrid electric vehicle that forms, motor M TA and engine test bench characteristic torque curve are sued for peace, obtain the compound torque array of power system, according to compound torque array, each gear speed ratio of SA and change-speed box, calculate VA corresponding to each gear and WTA, draw out each gear VA and WTA curve, ask for the envelop curve of torque maximum value, the speed of a motor vehicle that envelop curve is corresponding and torque are the corresponding relation of final VA and WTA, if vehicle is front (afterwards) wheel drive, the WTA of the torque array of front (afterwards) axle wheel for finally calculating, rear (front) axle wheel driving torque is 0; Usually formed by driving engine, motor and automatic transmission with hydraulic torque converter for the front axle power system, the Series-Parallel HEV that the rear axle power system is comprised of motor and single reduction gear, according to MR and EMT system-computed method, calculate respectively the WTA of front axle and rear axle, obtain WTA with the variation relation of VA;
At last, according to ground maximum adhesion ability front axle and rear shaft torque are limited, maximum torque array (the Vehicle Maximum Torque Array that vehicle obtains at the wheel place when calculating acceleration pedal aperture maximum, VTA), according to the method for calculating of front axle in the automobile theory and rear axle wheel traction, calculate maximum torque numerical value (the Maximum Adhesive Torque that traction provides respectively, MAT), front axle MAT is that 0 o'clock formula calculates according to acceleration/accel, according to the peak acceleration of common driving cycle, calculate the MAT of rear axle; Each numerical value and front (afterwards) axle MAT among front (afterwards) axle WTA get minimum, obtain maximum torque array (the Maximum Adhesive Limited Wheel Torque Array at lower front (afterwards) the axle wheel place of adhesive ability restriction, MAWA), front axle and rear axle MAWA sum are the VTA of vehicle, and numerical value is corresponding one by one among VTA and the VA; VTA is with the variation relation of VA, wheel place's chaufeur demand torque was with the variation relation of the speed of a motor vehicle when expression acceleration pedal aperture was 100%, setting the acceleration pedal aperture is that demand torque corresponding to each speed of a motor vehicle in 0 o'clock is 0, utilizes linear interpolation method, can determine the demand torque array of different accelerator open degrees; Given acceleration pedal aperture and the speed of a motor vehicle, but just interpolation obtains wheel place chaufeur demand torque numerical value.
Superior effect of the present invention is: directly predict the demand torque of wheel of vehicle place chaufeur, vehicle for the equipment change-speed box, the torque of wheel place is directly proportional with the torque of change-speed box mouth, demand torque rear, that can obtain the change-speed box mouth that the demand torque of wheel place is determined, according to the torque of change-speed box mouth demand, utilize the efficiency curve of motor (driving engine), select suitable gear, can make motor (driving engine) work in the greater efficiency zone.
Description of drawings
Fig. 1 is motor peak torque curve;
Fig. 2 is the engine test bench characteristic torque characteristic curve;
Fig. 3 is the maximum torque curve of driving engine and the compound torque of motor;
Fig. 4 is VA and the WTA curve of 5 gears;
Fig. 5 is the envelop curve of 5 gear torque maximum values, and the curve of drawing according to front axle MAT;
Fig. 6 be the acceleration pedal aperture when being 100% vehicle VTA with the change curve of VA;
Fig. 7 is that the chaufeur demand torque of wheel place is with the variation relation of the speed of a motor vehicle and acceleration pedal aperture.
The specific embodiment
See also shown in the accompanying drawing, the parallel hybrid electric vehicle that drives the EMT system take front axle is as object, and the invention will be further described.
At first, object vehicle power-supply system only comprises that the MP that storage battery, battery system provide is 30kW;
Secondly, 13 rotating speeds of SA by 0 to 6000r/min, take 500r/min as the interval form; According to SA and MP, calculate each numerical value is corresponding among the SA torque, composition MTA, MTA is comprised of 13 torque numerical values, and this array is the MTA of power-supply system restriction; Simultaneously, but obtain the MTA of motor characteristic restriction corresponding to rotating speed array according to the peak torque characteristic interpolation of Fig. 1 motor; Through calculating, each value among the power-supply system restriction MTA all greater than motor characteristic limit the MTA respective value, Fig. 1 is that final MTA is with the variation relation of SA;
Again, the compound torque array of power system is sued for peace, obtained to motor M TA and engine test bench characteristic torque curve (Fig. 2), compound torque with the SA change curve as shown in Figure 3; According to SA and 5 gear speed ratios of change-speed box, calculate VA corresponding to each gear and WTA, draw out each gear VA and WTA curve, as shown in Figure 4, ask for the envelop curve of the speed of a motor vehicle and torque maximum value, shown in Fig. 5 curve 1, curve 1 be WTA with the variation relation of the speed of a motor vehicle, rear axle wheel driving torque is 0;
At last, acceleration/accel is that 0 o'clock front axle MAT is 2100Nm, the maximum adhesion torque that obtains for front axle, curve 2 is to draw according to front axle MAT to get among Fig. 5, each numerical value and 2100Nm among the front axle WTA get minimum, obtain front axle wheel MAWA with speed of a motor vehicle variation relation, as shown in Figure 6, vehicle VTA was with the speed of a motor vehicle variation relation when Fig. 6 was acceleration pedal aperture 100%, setting the acceleration pedal aperture is that demand torque corresponding to each speed of a motor vehicle in 0 o'clock is 0, utilize linear interpolation method, can determine different accelerator open degree demand torque arrays with the variation relation of VA, as shown in Figure 7; Given acceleration pedal aperture and the speed of a motor vehicle, but according to Fig. 7, with regard to interpolation acquisition wheel place chaufeur demand torque numerical value.
Claims (1)
1. the analytic method of chaufeur demand torque, the step of the method is:
1) the maximum discharge power numerical value (Maximum Power, MP) of calculating power-supply system;
2) according to the peak torque characteristic of MP and the motor of power-supply system, calculate the maximum output torque array (Motor Maximum Torque Array, MTA) of each motor in the drive system;
3) according to gear number ratio and the driving efficiency of motor M TA, engine test bench characteristic torque curve, driving system, calculate the maximum torque array (Wheel Maximum Torque Array, WTA) that power system is passed to front axle and rear axle wheel place;
4) according to ground maximum adhesion ability front axle and rear shaft torque are limited, maximum torque array (the Vehicle Maximum Torque Array that vehicle obtains at the wheel place when calculating acceleration pedal aperture maximum, and the torque array of linear interpolation when going out other pedal apertures VTA).
Maximum discharge power numerical value (the Maximum Power of described calculating power-supply system, MP) method of designing is as follows: this magnitude of power refers to the maximum power numerical value that power-supply system can discharge, power-supply system is if independent storage battery or super capacitor, and MP is separately maximum discharge power of storage battery or super capacitor; Power-supply system is if the association that is comprised of power supplys such as super capacitor and storage batterys, and MP refers to the maximum electromotive power output sum of each unit in the association; If power-supply system comprises the auxiliary power unit (Auxiliary Power Unit, APU) that driving engine and electrical generator form, and the independent power-supply system such as storage battery or super capacitor, MP refers to APU and the maximum discharge power sum of each power-supply system;
The peak torque characteristic of described MP and motor according to power-supply system, calculate maximum output torque array (the Motor Maximum Torque Array of each motor in the drive system, MTA) method of designing is as follows: set a rotating speed array (Speed Array, SA), SA refers to form from 0 to a plurality of rotating speeds the motor maximum speed of revolution, take a certain fixed rotating speed (for example 100r/min) as the interval, according to SA and MP, calculate each numerical value is corresponding among the SA torque, composition MTA, numerical value is corresponding one by one among MTA and the SA; For pure electric automobile, tandem and parallel hybrid electric vehicle, generally only has a drive motor, according to the MP of power-supply system, calculate corresponding MTA, be referred to as the MTA of power-supply system restriction, simultaneously, but the peak torque characteristic interpolation according to motor obtains maximum torque corresponding to rotating speed array, be referred to as the MTA of motor characteristic restriction, there are the maximum torque of a power-supply system restriction and the maximum torque of a motor characteristic restriction during each rotating speed, the MTA that two torque-limitings are got minimum value, minimum value forms in the time of can obtaining different rotating speeds; For Series-Parallel HEV, there are two motors, one is main motor, power is large and be used for driving vehicle, one is from motor, power is less and be mainly used in start and stop or generating, main, all might drive simultaneously vehicle from two motors, at first allow the power-supply system discharge power satisfy main motor peak power requirements, the power that obtains from motor is the poor of the maximum discharge power of power-supply system and main motor peak power, with this understanding, the MTA of main motor is its peak torque array, according to the power that obtains from motor and its peak torque, according to the method for calculating of pure electric automobile motor MTA, can obtain the MTA from motor;
Described according to motor M TA, the engine test bench characteristic torque curve, gear number ratio and the driving efficiency of driving system, calculate maximum torque array (the Wheel Maximum Torque Array that power system is passed to front axle and rear axle wheel place, WTA) method of designing is as follows: drive for single shaft, power system is by motor and single reduction gear (Motor and Reduction, MR) pure electric automobile and the serial type hybrid automobile that form, according to SA and single-stage speed reducing speed ratio, calculate speed of a motor vehicle array (Velocity Array, VA), motor M TA multiply by single-stage speed reducing speed ratio and driving efficiency, can obtain maximum torque array (the Wheel Maximum Torque Array at wheel place, WTA), if vehicle is front (afterwards) wheel drive, the WTA of the driving torque of front (afterwards) axle wheel for calculating, (front) axle wheel driving torque is that 0, VA and WTA numerical value are corresponding one by one afterwards; Drive for single shaft, power system is by driving engine, motor and automatic transmission with hydraulic torque converter (Engine, Motor and Transmission, EMT) parallel hybrid electric vehicle that forms, motor M TA and engine test bench characteristic torque curve are sued for peace, obtain the compound torque array of power system, according to compound torque array, each gear speed ratio of SA and change-speed box, calculate VA corresponding to each gear and WTA, draw out each gear VA and WTA curve, ask for the envelop curve of torque maximum value, the speed of a motor vehicle that envelop curve is corresponding and torque are the corresponding relation of final VA and WTA, if vehicle is front (afterwards) wheel drive, the WTA of the torque array of front (afterwards) axle wheel for finally calculating, rear (front) axle wheel driving torque is 0; Usually formed by driving engine, motor and automatic transmission with hydraulic torque converter for the front axle power system, the Series-Parallel HEV that the rear axle power system is comprised of motor and single reduction gear, according to MR and EMT system-computed method, calculate respectively the WTA of front axle and rear axle, obtain WTA with the variation relation of VA;
Describedly according to ground maximum adhesion ability front axle and rear shaft torque are limited, maximum torque array (the Vehicle Maximum Torque Array that vehicle obtains at the wheel place when calculating acceleration pedal aperture maximum, VTA), and the method for designing of the torque array of linear interpolation when going out other pedal apertures is as follows: according to the method for calculating of front axle in the automobile theory and rear axle wheel traction, calculate respectively maximum torque numerical value (the Maximum Adhesive Torque that traction provides, MAT), front axle MAT is that 0 o'clock formula calculates according to acceleration/accel, according to the peak acceleration of common driving cycle, calculate the MAT of rear axle; Each numerical value and front (afterwards) axle MAT among front (afterwards) axle WTA get minimum, obtain maximum torque array (the Maximum Adhesive Limited Wheel Torque Array at lower front (afterwards) the axle wheel place of adhesive ability restriction, MAWA), front axle and rear axle MAWA sum are the VTA of vehicle, and numerical value is corresponding one by one among VTA and the VA; VTA is with the variation relation of VA, wheel place's chaufeur demand torque was with the variation relation of the speed of a motor vehicle when expression acceleration pedal aperture was 100%, setting the acceleration pedal aperture is that demand torque corresponding to each speed of a motor vehicle in 0 o'clock is 0, utilizes linear interpolation method, can determine the demand torque array of different accelerator open degrees; Given acceleration pedal aperture and the speed of a motor vehicle, but just interpolation obtains wheel place chaufeur demand torque numerical value.
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| CN104648404A (en) * | 2013-11-20 | 2015-05-27 | 清华大学 | Analytic method of driver driving intention |
| CN106274890A (en) * | 2015-06-26 | 2017-01-04 | 北汽福田汽车股份有限公司 | The control method of bimodulus hybrid vehicle based on penalty factor and device |
| CN107117159A (en) * | 2017-05-12 | 2017-09-01 | 吉林大学 | A kind of CVT parallel hybrid electrics operator demand's torque estimation method |
| CN107139916A (en) * | 2017-05-17 | 2017-09-08 | 中国第汽车股份有限公司 | Operator torque demands' analytic method for hybrid vehicle |
| CN108725220A (en) * | 2018-05-29 | 2018-11-02 | 武汉理工大学 | A kind of In-wheel motor driving all-terrain baby offroad vehicle dynamical system and control method |
| CN109624988A (en) * | 2017-10-09 | 2019-04-16 | 郑州宇通客车股份有限公司 | A kind of vehicle power output control system and its control method based on car weight |
| CN109878319A (en) * | 2019-03-06 | 2019-06-14 | 吉林大学 | The plug-in series-parallel four-wheel-drive hybrid power system of one kind and control method |
| CN110304042A (en) * | 2019-05-20 | 2019-10-08 | 北京理工大学 | Rule-based 4 wheel driven PHEV torque distribution control method |
| CN113022543A (en) * | 2021-03-25 | 2021-06-25 | 深圳臻宇新能源动力科技有限公司 | Self-learning method, device and equipment of hybrid electric vehicle and storage medium |
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| CN104029675A (en) * | 2013-03-04 | 2014-09-10 | 上海汽车集团股份有限公司 | Hybrid power vehicle and power system torque control method thereof |
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| CN108725220B (en) * | 2018-05-29 | 2021-08-17 | 武汉理工大学 | Wheel hub motor driven all-terrain off-road vehicle power system and control method |
| CN109878319A (en) * | 2019-03-06 | 2019-06-14 | 吉林大学 | The plug-in series-parallel four-wheel-drive hybrid power system of one kind and control method |
| CN109878319B (en) * | 2019-03-06 | 2021-07-09 | 吉林大学 | Plug-in series-parallel four-wheel drive hybrid power system and control method |
| CN110304042A (en) * | 2019-05-20 | 2019-10-08 | 北京理工大学 | Rule-based 4 wheel driven PHEV torque distribution control method |
| CN110304042B (en) * | 2019-05-20 | 2022-01-11 | 北京理工大学 | Rule-based four-wheel-drive PHEV torque distribution control method |
| CN113022543A (en) * | 2021-03-25 | 2021-06-25 | 深圳臻宇新能源动力科技有限公司 | Self-learning method, device and equipment of hybrid electric vehicle and storage medium |
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