CN103010214B - 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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- CN103010214B CN103010214B CN201210539122.9A CN201210539122A CN103010214B CN 103010214 B CN103010214 B CN 103010214B CN 201210539122 A CN201210539122 A CN 201210539122A CN 103010214 B CN103010214 B CN 103010214B
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Abstract
The invention provides a method for controlling parallel hybrid electric vehicle gear shifting. The method comprises: first, torque control step: after a gear shifting point is reached, the torques of an engine and a motor are unloaded, the torque of an input shaft of a transmission is gradually reduced until a synchronous gear and an output shaft gear are in zero torque meshing with each other, and the transmission carries out a neutral motion; speed regulation step: the motor provides instaneous torque, and the rotating speed of the input shaft of the transmission is regulated within a target rotating speed scope; and second, torque control step: a transmission controller sends a torque mode request to a whole vehicle controller, and the engine and the motor return to the normal torque output modes. According to the method, through the cooperative control of the engine, the motor and the automatic transmission, the gear shifting steps are simplified, the gear shifting time is reduced, the gear shifting impact to a transmission system is reduced, the stable vehicle speed is maintained, and the service life of a clutch is prolonged.
Description
Technical field
The present invention relates to field of automobile control, particularly relate to a kind of parallel hybrid electric shift control method.
Background technology
Nowadays automobile is more and more universal, come into the family of more people, 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 shift shock, simplifies driver's operation step, extends the service life of power-transfer clutch.And traditional mechanical type manual speed-changer requires that chaufeur is before gearshift, operated clutch, first separates power-transfer clutch, then carries out plucking gear, and input shaft is undertaken synchronous with output shaft 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 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, and be easy to cause life of clutch to shorten, vehicle is longer for break period at shift process medium power, impacts larger.
Summary of the invention
The present invention proposes a kind of parallel hybrid electric shift control method, to solve prior art Problems existing.
The invention provides a kind of parallel hybrid electric shift control method, the method comprises:
First direct torque step: after reaching shifting points, carries out the unloading of torque by driving engine and motor, input shaft torque is reduced to synchronizer gear gradually and engages with output shaft gear zero torque, and change-speed box carries out plucking gear action; Speed set-up procedure: motor provides instantaneous torque, adjustment input shaft rotating speed is to rotating speed of target scope; Second direct torque step: gearbox controller sends torque mode request to entire car controller, driving engine, motor revert to normal torque output mode.
First direct torque phase specifically comprised: after reaching shifting points, gearbox controller sends torque control model request to entire car controller, driving engine and the motor of work adjust input torque rapidly on request, driving engine and motor torque all carry out torque unloading according to the slope demarcated, engine output torque unloading is 0, it is 0 that motor torque also unloads, and now input torque is reduced to synchronizer gear gradually and engages with output shaft gear zero torque, and by feedback of status to gearbox controller; After gearbox controller receives feedback of status, controlled variator completes and plucks gear action.
Specifically comprise the adjustment period of speed: after change-speed box is in neutral, gearbox controller sends speed-regulating mode request, and while motor carries out electric machine speed regulation according to the rotating speed of target that gearbox controller sends, gearbox controller completes bit selecting and handles; After the satisfied condition of putting into gear of speed discrepancy of input shaft rotating speed and rotating speed of target, change-speed box carries out putting into gear action.Described rotating speed of target is calculated according to output shaft rotating speed and target gear speed ratio by gearbox controller.
Second direct torque phase specifically comprised: after completing gear shift operation, gearbox controller sends torque mode request to entire car controller, and driving engine, motor revert to normal torque output mode, and the torque of output returns to demand torque gradually, until receive gearshift END instruction, shift process terminates.
The described shifting points that reaches refers to when the speed discrepancy of input shaft rotating speed and rotating speed of target meets 20r/min, thinks that input shaft rotating speed reaches rotating speed of target scope, allows to carry out putting into gear action.
The embodiment of the present invention, by the Collaborative Control of driving engine, motor, automatic transmission with hydraulic torque converter, simplifies shift steps, reduces the gearshift time, reduces the impact of gearshift to driving system, keeps the steady of the speed of a motor vehicle, extends power-transfer clutch service life.
Accompanying drawing explanation
Inventive concept of the present invention will describe in detail in conjunction with the drawings below and introduce, and wherein accompanying drawing comprises:
Fig. 1 is the diagram of circuit of embodiment of the present invention parallel hybrid electric shift control method;
Fig. 2 is embodiment of the present invention parallel hybrid electric automatic machincal transmission no-clutch shift process schematic diagram;
Fig. 3 is embodiment of the present invention parallel hybrid electric various parts anatomical connectivity figure;
Fig. 4 is embodiment of the present invention parallel hybrid electric automatic machincal transmission no-clutch upshift process schematic;
Fig. 5 is embodiment of the present invention parallel hybrid electric automatic machincal transmission no-clutch power downshift process schematic;
Fig. 6 is embodiment of the present invention parallel hybrid electric automatic machincal transmission no-clutch parking downshift process schematic.
Detailed description of the invention
Be described the preferred embodiments of the present invention below in conjunction with accompanying drawing, the preferred embodiment that this part describes, only for instruction and explanation of the present invention, is not intended to limit the present invention.
Embodiment one
The invention is characterized in, after gearshift statement, first driving engine and motor are carried out the unloading of torque, driving engine is unloaded to the friction torque of driving engine, namely engine output torque is 0, motor output torque is also unloaded to 0, now input shaft torque is reduced to synchronizer gear gradually and engages with output shaft gear zero torque, change-speed box carries out plucking gear action, then motor provides instantaneous moment, adjustment input shaft rotating speed is to rotating speed of target scope, change-speed box carries out engage a gear action, thus complete no-clutch crash change of speed, it contains entire car controller, the co-ordination of electric machine controller and automatic transmission controller.
Refer to Fig. 1, Fig. 1 is the diagram of circuit of embodiment of the present invention parallel hybrid electric shift control method.
After change-speed box receives shifting commands, implement gearshift point three phases:
First direct torque phase S110: after reaching shifting points, carries out the unloading of torque by driving engine and motor, input shaft torque is reduced to synchronizer gear gradually and engages with output shaft gear zero torque, and change-speed box carries out plucking gear action.
In this step, according to schedule, after reaching shifting points, gearbox controller sends torque control model request to entire car controller, and driving engine and the motor of work adjust input torque rapidly on request, and driving engine and motor torque all carry out torque unloading according to the slope demarcated, being unloaded by engine output torque is 0, it is 0 that motor torque also unloads, and now torque is reduced to synchronizer gear gradually and engages with output shaft gear zero torque, and by feedback of status to gearbox controller; After gearbox controller receives feedback of status, controlled variator completes and plucks gear action;
The S120 adjustment period of speed: motor provides instantaneous torque, adjustment input shaft rotating speed is to rotating speed of target scope.
In this step, after change-speed box is in neutral, gearbox controller sends speed-regulating mode request, and the rotating speed of target that motor sends according to gearbox controller carries out speed governing, and rotating speed of target is calculated according to output shaft rotating speed and target gear speed ratio by gearbox controller; While electric machine speed regulation, gearbox controller completes bit selecting and handles; When the speed discrepancy of input shaft rotating speed and rotating speed of target meets within the scope of 20r/min, be considered as meeting condition of putting into gear, change-speed box carries out putting into gear action;
Second direct torque phase S130: gearbox controller sends torque mode request to entire car controller, and driving engine, motor revert to normal torque output mode.
In this step, after completing gear shift operation, gearbox controller sends torque mode request to entire car controller, driving engine, motor revert to normal torque output mode, the torque exported returns to operator demand's torque gradually, until receive gearshift END instruction, shift process terminates.
Concrete steps refer to Fig. 2 again, and Fig. 2 is embodiment of the present invention parallel hybrid electric automatic machincal transmission no-clutch shift process schematic diagram.As shown in the figure, after change-speed box receives shifting commands, implement gearshift point three phases: the first direct torque phase, the adjustment period of speed, the second direct torque phase.First direct torque phase, according to schedule, after reaching shifting points, gearbox controller sends torque control model request to entire car controller, driving engine and the motor of work adjust input torque rapidly on request, driving engine and motor torque all carry out torque unloading according to the slope demarcated, and torque is reduced to synchronizer gear gradually and engages with output shaft gear zero torque, and by feedback of status to gearbox controller; After gearbox controller receives feedback of status, controlled variator completes and plucks gear action.Speed afterwards adjustment period, after change-speed box is in neutral, gearbox controller sends speed-regulating mode request, and the rotating speed of target that motor sends according to gearbox controller carries out speed governing, and rotating speed of target is calculated according to output shaft rotating speed and target gear speed ratio by gearbox controller; While electric machine speed regulation, gearbox controller completes bit selecting and handles; After the satisfied condition of putting into gear of speed discrepancy of input shaft rotating speed and rotating speed of target, change-speed box carries out putting into gear action.Second direct torque phase, after completing gear shift operation, gearbox controller sends torque mode request to entire car controller, driving engine, motor revert to normal torque output mode, the torque exported returns to operator demand's torque gradually, until receive gearshift END instruction, shift process terminates.
Refer to Fig. 3, Fig. 3 is embodiment of the present invention parallel hybrid electric various parts anatomical connectivity figure simultaneously.As shown in the figure, this hybrid power system is parallel-connection structure, and motor is placed between electric control clutch and automatic machincal transmission, and namely clutch output shaft, machine shaft and input shaft are on an axis.Motor torque can mix to drive vehicle with motor torque.If a system jam, vehicle also can use motor or engine drive.
When entire car controller carries out gearshift cooperation control, control signal relevant to gearshift on automobile CAN-bus is as follows:
1. current shift: the gear that instruction vehicle is current, in shift process, after change-speed box plucks gear, current shift value does not change, until this numerical value just becomes new gear value after hanging up new gear;
2. demand gear: the gear of instruction vehicle needs;
3.Shift in Process: represent gearshift statement, sent by change-speed box, when current shift is not equal to demand gear, Shift in Process value becomes 1, represents and enters gearshift condition; Change-speed box hangs up new gear and driving engine, motor torque return to can after driven vehicle, Shift in Process value becomes 0, and shift process terminates;
4. transmission system works: the mode of operation of instruction transmission system, is sent by change-speed box; After change-speed box plucks gear, this value becomes 0; When change-speed box hangs up gear, this value is 1; " transmission system works " control signal to show in shift process two important timing nodes, significant to parallel hybrid power automatic machincal transmission no-clutch control method.
Refer to Fig. 4 again, Fig. 4 is embodiment of the present invention parallel hybrid electric automatic machincal transmission no-clutch upshift process schematic, and detailed change-speed box upshift control process is as follows:
The first step: judge
When the demand gear that entire car controller sends is greater than current shift, Shift in Process value becomes 1 from 0 at once, and vehicle enters upshift process.
Second step: unloading
Three kinds of situations may be had: pure engine drive, pure motor drive, motor of engine combination drive (motor power-assisted), no matter which kind of situation, and whether power-transfer clutch combines, and all needs first to unload power after entering upshift process before upshift.After Shift in Process value becomes 1, driving engine or motor get started unloading, and driving engine and motor setting torque are all pressed certain slope and declined.Driving engine is unloaded to the friction torque of driving engine, and namely engine output torque is 0, and motor output torque is also unloaded to 0.
3rd step: pluck gear
When motor torque or motor torque unloaded to a very little value time, change-speed box plucks gear, and " transmission system works " value becomes 0.This opportunity of plucking gear judges to be completed by gearbox controller with the process of plucking gear, does not need entire car controller to participate in.But entire car controller needs to unload motor of engine torque in advance, otherwise change-speed box can not carry out plucking gear operation.If pluck the torque of gear rear engine be also not equal to zero, entire car controller needs it to reduce to zero at once.
4th step: synchronous
Motor torque provides an instantaneous lock torque, to reduce input shaft rotating speed by the rule of setting.
5th step: put into gear
When the current rotating speed of input shaft is down within rotating speed of target 20r/min scope, change-speed box is put into gear, and " transmission system works " value becomes 1.The judgement on opportunity of putting into gear is same with the process of putting into gear to be completed by gearbox controller, does not need entire car controller to participate in.
6th step: power recovers
Driving engine or motor torque rise.Driving engine, motor torque return to can after driven vehicle, and Shift in Process value becomes 0, and upshift process terminates.
Downshift and upshift process similar, detailed downshift control policy is as follows:
The first step: judge
When the demand gear that entire car controller sends is less than current shift, Shift in Process value becomes 1 from 0 at once, and vehicle enters downshift process.
Second step: unloading
After Shift in Process value becomes 1, driving engine or motor get started unloading, and driving engine and motor setting torque are all pressed certain slope and declined.Driving engine is unloaded to the friction torque of driving engine, and namely engine output torque is 0, and motor output torque is also unloaded to 0.
3rd step: pluck gear
When motor torque or motor torque unloaded to a very little value time, change-speed box plucks gear, and " transmission system works " value becomes 0.If pluck the torque of gear rear engine be also not equal to zero, then reduce to zero at once.
4th step: synchronous
Motor torque provides an instantaneous moment, to raise input shaft rotating speed by the rule of setting.
5th step: put into gear
When the current rotating speed of input shaft is down within rotating speed of target 20r/min scope, change-speed box is put into gear, and " transmission system works " value becomes 1.
6th step: stop or power recovery
If parking downshift, then the process of unpowered recovery, after hanging up 2 gears, Shift in Process value becomes 0, and downshift process terminates.
If power downshift, then driving engine or motor torque rise.Driving engine, motor torque return to can after driven vehicle, and Shift in Process value becomes 0, and downshift process terminates.
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, to slide or the high gear of braking mode exits, is directly down to 2 gears and is stopped, can be referred to as parking downshift; Another kind of situation in the middle of driving process, runs into the reasons such as ramp need downshift, can be referred to as 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 is all in idling; During power downshift, power-transfer clutch must be bonding state, and driving engine needs to identify oneself with in shift process; In addition the control method of two kinds of downshifts is identical substantially.Fig. 5 and Fig. 6 describes this two kinds of downshift processes.
Refer to Fig. 5, Fig. 5 is embodiment of the present invention parallel hybrid electric automatic machincal transmission no-clutch power downshift process schematic, and power downshift course control method for use is as follows:
1. according to gearshift selection strategy, determine downshift, send 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 is also unloaded to 0.
3., when after motor and motor torque unloading, change-speed box plucks gear.
4. motor torque becomes and just drives, and improves input shaft rotating speed.
5., when the difference between input shaft rotating speed and the rotating speed of target calculated according to new gear is less than 20r/min, change-speed box is put into gear.
6. terminate gearshift, enter conventional operating mode.
Driving torque during motor downshift adopts PID to control.Analyzed and mathematic(al) simplification process by real vehicle measured data, motor driving torque expression formula is shown in following formula.
T_mot_set＝P*Δn
Wherein proportional P can pass through parameter fitting.
Refer to Fig. 6 again, Fig. 6 is embodiment of the present invention parallel hybrid electric automatic machincal transmission no-clutch parking downshift process schematic, and its control method is as follows:
1. when the speed of a motor vehicle is lower than (as being set as 5.3km/h) during concrete limit value, change-speed box sends downshift statement, requires 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 is also unloaded to 0.
3., when after motor and motor torque unloading, change-speed box plucks gear.
4. motor increases torque according to a fixing torque rate of change and exports to improve input shaft rotating speed, until motor torque reaches a fixed value, as 120Nm.
5. when input shaft rotating speed and the difference of rotating speed of target that calculates according to new gear are between 20r/min, unloading motor torque.
6., when after motor unloading, change-speed box is put into gear.
7. terminate parking gear shift operation.
The present invention is directed to hand-operated transmission control step many, the gearshift time is long, to shortcomings such as clutch loss are large, propose automatic transmission with hydraulic torque converter no-clutch control method, by the Collaborative Control of driving engine, motor, automatic transmission with hydraulic torque converter, simplify shift steps, reduce the gearshift time, reduce the impact of gearshift to driving system, keep the steady of the speed of a motor vehicle.
Claims (5)
1. a parallel hybrid electric shift control method, is characterized in that, the method comprises:
First direct torque step: after reaching shifting points, carries out the unloading of torque by driving engine and motor, input shaft torque is reduced to synchronizer gear gradually and engages with output shaft gear zero torque, and change-speed box carries out plucking gear action;
Speed set-up procedure: motor provides instantaneous torque, adjustment input shaft rotating speed is to rotating speed of target scope;
Second direct torque step: gearbox controller sends torque mode request to entire car controller, driving engine, motor revert to normal torque output mode;
Wherein, the first direct torque phase specifically comprised:
After reaching shifting points, gearbox controller sends torque control model request to entire car controller, driving engine and the motor of work adjust input torque rapidly on request, driving engine and motor torque all carry out torque unloading according to the slope demarcated, being unloaded by engine output torque is 0, it is 0 that motor torque also unloads, and now torque is reduced to synchronizer gear gradually and engages with output shaft gear zero torque, and by feedback of status to gearbox controller; After gearbox controller receives feedback of status, controlled variator completes and plucks gear action.
2. method according to claim 1, is characterized in that, specifically comprises the adjustment period of speed:
After change-speed box is in neutral, gearbox controller sends speed-regulating mode request, and while motor carries out electric machine speed regulation according to the rotating speed of target that gearbox controller sends, gearbox controller completes bit selecting and handles; After the satisfied condition of putting into gear of speed discrepancy of input shaft rotating speed and rotating speed of target, change-speed box carries out putting into gear action.
3. method according to claim 2, is characterized in that:
Described rotating speed of target is calculated according to output shaft rotating speed and target gear speed ratio by gearbox controller.
4. method according to claim 1, is characterized in that, the second direct torque phase specifically comprised:
After completing gear shift operation, gearbox controller sends torque mode request to entire car controller, and driving engine, motor revert to normal torque output mode, and the torque of output returns to demand torque gradually, until receive gearshift END instruction, shift process terminates.
5. method according to claim 1, is characterized in that:
Describedly reach speed discrepancy that shifting points refers to when input shaft rotating speed and rotating speed of target and meet when being less than or equal to 20r/min, think that input shaft rotating speed reaches rotating speed of target scope, allow to carry out putting into gear action.
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