CN103010214A - Method for controlling parallel hybrid electric vehicle gear shifting - Google Patents
Method for controlling parallel hybrid electric vehicle gear shifting Download PDFInfo
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Abstract
本发明提供一种并联混合动力汽车换挡控制方法，该方法包括：第一转矩控制步骤：达到换挡点后，将发动机和电机进行转矩的卸载，变速器输入轴转矩逐渐降低至同步齿轮与输出轴齿轮零转矩啮合，变速器进行摘挡动作；速度调整步骤：电机提供瞬时的转矩，调整变速器输入轴转速至目标转速范围；第二转矩控制步骤：变速器控制器向整车控制器发出转矩模式请求，发动机、电机恢复为正常转矩输出模式。本发明通过发动机、电机、自动变速器的协同控制，简化换挡步骤，减少换挡时间，减小换挡对传动系统的冲击，保持车速的平稳，延长离合器使用寿命。
The invention provides a shift control method for a parallel hybrid electric vehicle. The method includes: a first torque control step: after reaching the shift point, the torque of the engine and the motor is unloaded, and the torque of the input shaft of the transmission is gradually reduced to a synchronous The gear meshes with the output shaft gear with zero torque, and the transmission performs gear shifting action; the speed adjustment step: the motor provides instantaneous torque, and adjusts the speed of the transmission input shaft to the target speed range; the second torque control step: the transmission controller sends The controller sends a torque mode request, and the engine and motor return to the normal torque output mode. The invention simplifies the steps of gear shifting through the coordinated control of the engine, motor and automatic transmission, reduces the gear shifting time, reduces the impact of gear shifting on the transmission system, keeps the vehicle speed stable, and prolongs the service life of the clutch.
Description
Technical field
The present invention relates to field of automobile control, relate in particular to a kind of parallel hybrid electric shift control method.
Background technology
Nowadays automobile is more and more universal, come into more people's family, and the handling of automobile is subject to people's attention more and more.Automatic machincal transmission can reduce the automobile gear shift time, reduces gearshift and impacts, and simplifies the driver's operation step, prolongs the service life of power-transfer clutch.And traditional mechanical type manual speed-changer requires chaufeur before gearshift, and operated clutch is separated power-transfer clutch first, then plucks gear, and input shaft and output shaft are undertaken synchronously by baulk ring, and then chaufeur is again in conjunction with power-transfer clutch.Whole process manual operation causes the gearshift time long, easily causes driver fatigue, and easily causes automobile gear shift to impact, and larger to the loss of power-transfer clutch.Therefore, the application of automatic machincal transmission on the parallel connection type hybrid power system dynamic assembly is more and more extensive.
In vehicle with automatic transmission, the clutch control of shift process is very important, but control process is very complicated, is easy to cause life of clutch to shorten, and vehicle is longer break period at the shift process medium power, impacts larger.
Summary of the invention
The present invention proposes a kind of parallel hybrid electric shift control method, the problem that exists to solve prior art.
The invention provides a kind of parallel hybrid electric shift control method, the method comprises:
The first torque control step: after reaching shifting points, driving engine and motor are carried out the unloading of torque, the input shaft torque is reduced to synchronizer gear and output shaft gear zero torque engagement gradually, and change-speed box is plucked gear and moved; The speed set-up procedure: motor provides instantaneous torque, adjusts the input shaft rotating speed to the rotating speed of target scope; The second torque control step: gearbox controller sends the torque mode request to entire car controller, and driving engine, motor revert to the normal torque output mode.
The first torque control phase specifically comprises: after reaching shifting points, gearbox controller sends the request of torque master mode to entire car controller, driving engine and the motor of work are adjusted rapidly input torque on request, driving engine and motor torque all carry out the torque unloading according to the slope of demarcating, the engine output torque unloading is 0, it is 0 that motor torque also unloads, and input torque was reduced to gradually zero torque of synchronizer gear and output shaft gear and meshed this moment, and with feedback of status to gearbox controller; Gearbox controller receives after the feedback of status control change-speed box and finishes and pluck the gear action.
Specifically comprise the adjustment period of speed: after change-speed box was in neutral, gearbox controller sent the speed-regulating mode request, and when the rotating speed of target that motor sends according to gearbox controller carried out electric machine speed regulation, gearbox controller was finished bit selecting and handled; After the speed discrepancy of input shaft rotating speed and rotating speed of target satisfies the condition of putting into gear, the change-speed box action of putting into gear.Described rotating speed of target is to be calculated according to output shaft rotating speed and target gear speed ratio by gearbox controller.
The second torque control phase specifically comprises: after finishing gear shift operation, gearbox controller sends the torque mode request to entire car controller, and driving engine, motor revert to the normal torque output mode, and the torque of output returns to the demand torque gradually, until receive the gearshift END instruction, shift process finishes.
The described shifting points that reaches refers to when the speed discrepancy of input shaft rotating speed and rotating speed of target satisfies 20r/min, thinks that the input shaft rotating speed reaches the rotating speed of target scope, and action allows to put into gear.
The embodiment of the invention is simplified shift steps by the Collaborative Control of driving engine, motor, automatic transmission with hydraulic torque converter, reduces the gearshift time, the impact to driving system of reducing to shift gears, keep the speed of a motor vehicle steadily, prolong power-transfer clutch service life.
Description of drawings
Inventive concept of the present invention will describe in detail in conjunction with the drawings and introduce below, and wherein accompanying drawing comprises:
Fig. 1 is the diagram of circuit of embodiment of the invention parallel hybrid electric shift control method;
Fig. 2 is embodiment of the invention parallel hybrid electric automatic machincal transmission no-clutch shift process schematic diagram;
Fig. 3 is embodiment of the invention parallel hybrid electric various parts structure connection diagram;
Fig. 4 is embodiment of the invention parallel hybrid electric automatic machincal transmission no-clutch upshift process schematic diagram;
Fig. 5 is embodiment of the invention parallel hybrid electric automatic machincal transmission no-clutch power downshift process schematic diagram;
Fig. 6 is embodiment of the invention parallel hybrid electric automatic machincal transmission no-clutch parking downshift process schematic diagram.
The specific embodiment
Below in conjunction with accompanying drawing the preferred embodiments of the present invention are described, the preferred embodiment that this part is described only is used for description and interpretation the present invention, is not intended to limit the present invention.
Embodiment one
The invention is characterized in, after the gearshift statement, at first driving engine and motor are carried out the unloading of torque, driving engine is unloaded to the friction torque of driving engine, be that engine output torque is 0, motor output torque also is unloaded to 0, input shaft torque this moment is reduced to synchronizer gear and output shaft gear zero torque engagement gradually, change-speed box is plucked the gear action, then motor provides instantaneous moment, adjusts the input shaft rotating speed to the rotating speed of target scope, and change-speed box carries out the engage a gear action, thereby finish the no-clutch crash change of speed, it has comprised entire car controller, the co-ordination of electric machine controller and automatic transmission controller.
See also Fig. 1, Fig. 1 is the diagram of circuit of embodiment of the invention parallel hybrid electric shift control method.
After change-speed box is received shifting commands, implement gearshift minute three phases:
The first torque control phase S110: after reaching shifting points, driving engine and motor are carried out the unloading of torque, the input shaft torque is reduced to synchronizer gear and output shaft gear zero torque engagement gradually, and change-speed box is plucked gear and moved.
In this step, according to schedule, after reaching shifting points, gearbox controller sends the request of torque master mode to entire car controller, and the driving engine of work and motor are adjusted rapidly input torque on request, and driving engine and motor torque all carry out the torque unloading according to the slope of demarcating, it is 0 that engine output torque is unloaded, it is 0 that motor torque also unloads, and torque this moment is reduced to gradually zero torque of synchronizer gear and output shaft gear and meshes, and with feedback of status to gearbox controller; Gearbox controller receives after the feedback of status control change-speed box and finishes and pluck the gear action;
The S120 adjustment period of speed: motor provides instantaneous torque, adjusts the input shaft rotating speed to the rotating speed of target scope.
In this step, after change-speed box is in neutral, gearbox controller sends the speed-regulating mode request, and motor carries out speed governing according to the rotating speed of target that gearbox controller sends, and rotating speed of target is calculated according to output shaft rotating speed and target gear speed ratio by gearbox controller; In the time of electric machine speed regulation, gearbox controller is finished bit selecting and is handled; When the speed discrepancy of input shaft rotating speed and rotating speed of target satisfies in the 20r/min scope, be considered as satisfying the condition of putting into gear, the change-speed box action of putting into gear;
The second torque control phase S130: gearbox controller sends the torque mode request to entire car controller, and driving engine, motor revert to the normal torque output mode.
In this step, finish gear shift operation after, gearbox controller sends the torque mode request to entire car controller, driving engine, motor revert to the normal torque output mode, the torque of output returns to the torque of chaufeur demand gradually, until receive the gearshift END instruction, shift process finishes.
Concrete steps see also Fig. 2 again, and Fig. 2 is embodiment of the invention parallel hybrid electric automatic machincal transmission no-clutch shift process schematic diagram.As shown in the figure, after change-speed box is received shifting commands, implement gearshift minute three phases: the first torque control phase, the adjustment period of speed, the second torque control phase.In first torque control phase, according to schedule, after reaching shifting points, gearbox controller sends the request of torque master mode to entire car controller, driving engine and the motor of work are adjusted rapidly input torque on request, driving engine and motor torque all carry out the torque unloading according to the slope of demarcating, and torque is reduced to gradually synchronizer gear and meshes with output shaft gear zero torque, and with feedback of status to gearbox controller; Gearbox controller receives after the feedback of status control change-speed box and finishes and pluck the gear action.After speed the adjustment period, after change-speed box is in neutral, gearbox controller sends the speed-regulating mode request, and motor carries out speed governing according to the rotating speed of target that gearbox controller sends, and rotating speed of target is calculated according to output shaft rotating speed and target gear speed ratio by gearbox controller; In the time of electric machine speed regulation, gearbox controller is finished bit selecting and is handled; After the speed discrepancy of input shaft rotating speed and rotating speed of target satisfies the condition of putting into gear, the change-speed box action of putting into gear.Second torque control phase, after finishing gear shift operation, gearbox controller sends the torque mode request to entire car controller, driving engine, motor revert to the normal torque output mode, the torque of output returns to the torque of chaufeur demand gradually, until receive the gearshift END instruction, shift process finishes.
See also simultaneously Fig. 3, Fig. 3 is embodiment of the invention parallel hybrid electric various parts structure connection diagram.As shown in the figure, this hybrid power system is parallel-connection structure, and motor is placed between electric control clutch and the automatic machincal transmission, and namely clutch output shaft, machine shaft and input shaft are on an axis.Motor torque can mix to drive with motor torque vehicle.If system's et out of order, vehicle also can only use motor or engine drive.
When entire car controller was shifted gears coordination control, control signal relevant with gearshift on the automobile CAN-bus was as follows:
1. current shift: the current gear of indication vehicle, in shift process, the current shift value did not change after change-speed box was plucked gear, until this numerical value just becomes new gear value after hanging up new gear;
2. demand gear: the gear of indication vehicle needs;
3.Shift in Process: expression gearshift statement, sent by change-speed box, when current shift was not equal to the demand gear, Shift in Process value became 1, and expression has entered the gearshift state; Change-speed box hang up new gear and driving engine, motor torque return to can the driven vehicle after, Shift in Process value becomes 0, shift process finishes;
4. transmission system is worked: the mode of operation of indication transmission system, sent by change-speed box; After change-speed box was plucked gear, this value became 0; When change-speed box hung up gear, this value was 1; " transmission system is worked " control signal has shown two important timing nodes in the shift process, and is significant to parallel hybrid power automatic machincal transmission no-clutch control method.
See also Fig. 4, Fig. 4 is embodiment of the invention parallel hybrid electric automatic machincal transmission no-clutch upshift process schematic diagram again, and detailed change-speed box upshift control process is as follows:
The first step: judge
The demand gear that entire car controller sends is during greater than current shift, and Shift in Process value becomes 1 by 0 at once, and vehicle enters the upshift process.
Second step: unloading
Three kinds of situations may be arranged before the upshift: pure engine drive, pure motor-driven, motor of engine combination drive (motor power-assisted), which kind of situation no matter, whether combination of power-transfer clutch all needs at first power to be unloaded after entering the upshift process.After Shift in Process value became 1, driving engine or motor got started unloading, and driving engine and motor setpoint torque are all pressed certain slope and descended.Driving engine is unloaded to the friction torque of driving engine, and namely engine output torque is 0, and motor output torque also is unloaded to 0.
The 3rd step: pluck gear
Unloaded during to a very little value when motor torque or motor torque, change-speed box is plucked gear, and " transmission system is worked " value becomes 0.Judge with the process of plucking gear this opportunity of plucking gear and finished by gearbox controller, do not need entire car controller to participate in.But entire car controller need to unload the motor of engine torque in advance, otherwise change-speed box can not plucked the gear operation.Also be not equal to zero if pluck the torque of gear rear engine, entire car controller need to be reduced to it zero at once.
The 4th step: synchronously
Motor torque provides an instantaneous lock torque by the rule of setting, to reduce the input shaft rotating speed.
The 5th step: put into gear
Be down within the rotating speed of target 20r/min scope when the current rotating speed of input shaft, change-speed box is put into gear, and " transmission system is worked " value becomes 1.Judge the opportunity of putting into gear with the process of putting into gear and finished by gearbox controller equally, do not need entire car controller to participate in.
The 6th step: power recovers
Driving engine or motor torque rise.Driving engine, motor torque return to can the driven vehicle after, Shift in Process value becomes 0, the upshift process finishes.
Downshift and upshift process are similar, and detailed downshift control policy is as follows:
The first step: judge
The demand gear that entire car controller sends is during less than current shift, and Shift in Process value becomes 1 by 0 at once, and vehicle enters the downshift process.
Second step: unloading
After Shift in Process value became 1, driving engine or motor got started unloading, and driving engine and motor setpoint torque are all pressed certain slope and descended.Driving engine is unloaded to the friction torque of driving engine, and namely engine output torque is 0, and motor output torque also is unloaded to 0.
The 3rd step: pluck gear
Unloaded during to a very little value when motor torque or motor torque, change-speed box is plucked gear, and " transmission system is worked " value becomes 0.Also be not equal to zero if pluck the torque of gear rear engine, then reduce at once zero.
The 4th step: synchronously
Motor torque provides an instantaneous moment by the rule of setting, with rising input shaft rotating speed.
The 5th step: put into gear
Be down within the rotating speed of target 20r/min scope when the current rotating speed of input shaft, change-speed box is put into gear, and " transmission system is worked " value becomes 1.
The 6th step: stop or the power recovery
If the parking downshift, the process of unpowered recovery then, hang up 2 gears after, Shift in Process value becomes 0, the end of downshift process.
If the power downshift, then driving engine or motor torque rise.Driving engine, motor torque return to can the driven vehicle after, Shift in Process value becomes 0, the downshift process finishes.
The appearance of vehicle downshift behavior may have two kinds of situations: a kind of situation is in the middle of the process of stopping, and vehicle directly is down to 2 gears and is stopped from sliding or the high gear of braking mode withdraws from, and can be referred to as the downshift of stopping; Another kind of situation is to run into the reason such as ramp to need downshift in the middle of driving process, can be referred to as the power downshift; Both of these case is slightly different: the general power-transfer clutch of parking downshift is released state, and whole process driving engine all is in idling; Power-transfer clutch must be bonding state during the power downshift, and driving engine need to identify oneself with in the shift process; In addition the control method of two kinds of downshifts is identical substantially.Fig. 5 and Fig. 6 have illustrated this two kinds of downshift processes.
See also Fig. 5, Fig. 5 is embodiment of the invention parallel hybrid electric automatic machincal transmission no-clutch power downshift process schematic diagram, and power downshift course control method for use is as follows:
1. according to the gearshift selection strategy, determine downshift, send the downshift statement.
2. driving engine and motor torque are unloaded.Driving engine is unloaded to the friction torque of driving engine, and namely engine output torque is 0, and motor output torque also is unloaded to 0.
3. after motor and motor torque unloading, change-speed box is plucked gear.
4. motor torque just becomes and drives, and improves the input shaft rotating speed.
5. when the difference between input shaft rotating speed and the rotating speed of target that calculates according to new gear during less than 20r/min, change-speed box is put into gear.
6. finish gearshift, enter the routine work pattern.
Driving torque during the motor downshift adopts PID control.Analyze and the mathematic(al) simplification processing by the real vehicle measured data, motor-driven torque expression formula is seen following formula.
T_mot_set＝P*Δn
Wherein proportional P can pass through parameter fitting.
See also Fig. 6, Fig. 6 is embodiment of the invention parallel hybrid electric automatic machincal transmission no-clutch parking downshift process schematic diagram again, and its control method is as follows:
1. when the speed of a motor vehicle is lower than concrete limit value (as being set as 5.3km/h), change-speed box are sent the downshift statement, require to enter parking downshift pattern.
2. driving engine and motor unload.Driving engine is unloaded to the friction torque of driving engine, and namely engine output torque is 0, and motor output torque also is unloaded to 0.
3. after motor and motor torque unloading, change-speed box is plucked gear.
4. motor exports to improve the input shaft rotating speed according to a fixing torque rate of change increase torque, until motor torque reaches a fixed value, such as 120Nm.
5. the difference of the rotating speed of target that calculates when the input shaft rotating speed and according to new gear is between 20r/min the time, the unloading motor torque.
6. after the motor unloading, change-speed box is put into gear.
7. finish the parking gear shift operation.
The present invention is directed to the hand-operated transmission control step many, the gearshift time is long, to shortcomings such as clutch loss are large, automatic transmission with hydraulic torque converter no-clutch control method has been proposed, by the Collaborative Control of driving engine, motor, automatic transmission with hydraulic torque converter, simplify shift steps, reduce the gearshift time, reduce to shift gears impact to driving system, keep the speed of a motor vehicle steadily.
Claims (6)
1. a parallel hybrid electric shift control method is characterized in that, the method comprises:
The first torque control step: after reaching shifting points, driving engine and motor are carried out the unloading of torque, the input shaft torque is reduced to synchronizer gear and output shaft gear zero torque engagement gradually, and change-speed box is plucked gear and moved;
The speed set-up procedure: motor provides instantaneous torque, adjusts the input shaft rotating speed to the rotating speed of target scope;
The second torque control step: gearbox controller sends the torque mode request to entire car controller, and driving engine, motor revert to the normal torque output mode.
2. method according to claim 1 is characterized in that, the first torque control phase specifically comprises:
After reaching shifting points, gearbox controller sends the request of torque master mode to entire car controller, driving engine and the motor of work are adjusted rapidly input torque on request, driving engine and motor torque all carry out the torque unloading according to the slope of demarcating, it is 0 that engine output torque is unloaded, it is 0 that motor torque also unloads, and torque this moment is reduced to gradually zero torque of synchronizer gear and output shaft gear and meshes, and with feedback of status to gearbox controller; Gearbox controller receives after the feedback of status control change-speed box and finishes and pluck the gear action.
3. method according to claim 1 is characterized in that, specifically comprises the adjustment period of speed:
After change-speed box was in neutral, gearbox controller sent the speed-regulating mode request, and when the rotating speed of target that motor sends according to gearbox controller carried out electric machine speed regulation, gearbox controller was finished bit selecting and handled; After the speed discrepancy of input shaft rotating speed and rotating speed of target satisfies the condition of putting into gear, the change-speed box action of putting into gear.
4. method according to claim 3 is characterized in that:
Described rotating speed of target is to be calculated according to output shaft rotating speed and target gear speed ratio by gearbox controller.
5. method according to claim 1 is characterized in that, the second torque control phase specifically comprises:
After finishing gear shift operation, gearbox controller sends the torque mode request to entire car controller, and driving engine, motor revert to the normal torque output mode, and the torque of output returns to the demand torque gradually, until receive the gearshift END instruction, shift process finishes.
6. method according to claim 1 is characterized in that:
The described shifting points that reaches refers to satisfy when being less than or equal to 20r/min when the speed discrepancy of input shaft rotating speed and rotating speed of target, thinks that the input shaft rotating speed reaches the rotating speed of target scope, and action allows to put into gear.
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