CN103183023B - A kind of hybrid power system enters Torque Control method and the automobile of electric idling - Google Patents
A kind of hybrid power system enters Torque Control method and the automobile of electric idling Download PDFInfo
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- CN103183023B CN103183023B CN201110457003.4A CN201110457003A CN103183023B CN 103183023 B CN103183023 B CN 103183023B CN 201110457003 A CN201110457003 A CN 201110457003A CN 103183023 B CN103183023 B CN 103183023B
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Abstract
The invention provides a kind of Torque Control method that hybrid power system enters electric idling.The method comprises the following steps: a enters electric idling mode; B draws the feed-forward moment of the R shelves of correction according to motor speed and the time after being switched to R shelves; C carries out PID control according to the rotating speed of target electricity idling with the difference of actual motor speed, calculates PID control torque; The feed-forward moment of the R shelves that d calculating is revised and PID control torque sum draw the target control moment of motor.Utilize the present invention, effectively can improve the ride comfort entering electric idling after hanging R shelves.
Description
Technical field
The invention belongs to hybrid vehicle control technology field, particularly relate to a kind of hybrid vehicle and enter R shelves electricity idling Torque Control method.
Background technology
In the prior art; band Automatic Transmission also has electric idling function (electric idling refers to that driving engine does not work (not oil spout, misfire); only drive the pattern of automobile by machine operation) hybrid vehicle system in; after auto-stop; switch gear and can trigger automatic starting, if now condition meets and can enter electric idling mode.The Torque Control method of this situation is not described in existing patent.Particularly when after auto-stop, switch R gear and trigger starting automatically, the Torque Control mode entered in electric idling mode is described.
Summary of the invention
In view of this, the invention provides a kind of Torque Control method that hybrid power system enters electric idling.
In view of this, the invention provides following technical scheme:
1, hybrid power system enters a Torque Control method for electric idling, it is characterized in that, said method comprising the steps of:
A enters electric idling mode;
B draws the feed-forward moment of the R shelves of correction according to motor speed and the time after being switched to R shelves;
C carries out PID control according to the rotating speed of target electricity idling with the difference of actual motor speed, calculates PID control torque; And
The feed-forward moment of the R shelves that d calculating is revised and PID control torque sum draw the target control moment of motor.
2, the method as described in technical scheme 1, is characterized in that, the proportional control factor that described PID controls is 0.01 ~ 0.2, integral control coefficient is 0.01 ~ 0.2, derivative control coefficient is 0.001 ~ 0.01.
3, the method as described in technical scheme 1 or 2, is characterized in that, step b comprises the following steps:
Table look-up according to motor speed and draw the feed-forward moment of employing R shelves;
To table look-up the feed-forward moment correction drawing and enter R shelves according to the time after being switched to R shelves; And
The difference calculating the feed-forward moment correction adopting the feed-forward moment of R shelves and enter R shelves draws the feed-forward moment of the R shelves of correction.
4, a hybrid vehicle, is characterized in that, described hybrid vehicle comprises the hybrid power system of the method adopted as described in one of technique scheme.
Utilize the present invention, effectively can improve the ride comfort entering electric idling after hanging R shelves.
Accompanying drawing explanation
Fig. 1 is the schematic diagram according to control method of the present invention; And
Fig. 2 is the effect curve figure of the Torque Control method adopting the present invention and prior art.
Detailed description of the invention
Describe the preferred embodiments of the present invention in detail below in conjunction with accompanying drawing, reference number identical in the accompanying drawings represents identical element.
Fig. 1 is the schematic diagram according to control method of the present invention.Fig. 2 is the effect curve figure of the Torque Control method adopting the present invention and prior art.As shown in Figure 2, after D shelves auto-stop, hang R shelves and trigger automatic starting, after automatic proceed-to-send, enter electric idling mode.
In automatic originate mode, the moment of motor adopts open loop control mode to carry out, and tabling look-up according to the different rotating speed of motor obtains the output control torque of motor.
As shown in Figure 1, the Torque Control method entering electric idling mode after automatic originate mode completes is as follows:
Feed-forward moment is gone out according to motor speed with according to the Time Calculation after being switched to R shelves.First, to table look-up the feed-forward moment drawing and adopt R shelves according to the different motor speeds after entering electric idling mode.Specifically, table look-up and such as can carry out in the following manner: set a series of different motor speeds point, a series of motor speed points of corresponding setting have the motor target output torque of respective settings, and the input speed according to motor draws motor target output torque by the motor speed point set and the motor target output torque point Linear interpolation set corresponding to it.Secondly, look into Map1 table according to the different time after being switched to R shelves and draw the feed-forward moment correction entering R shelves.Specifically, look into Map1 table such as can carry out in the following manner: set and a series ofly different be switched to the time point after R shelves, time point after a series of R of being switched to shelves of corresponding setting has the motor target of corresponding a series of setting to export to revise Moment Point, according to the time after being switched to R shelves by setting be switched to R shelves after time point and the motor target that sets corresponding to it export and revise moment point Linear interpolation and show that motor target exports and revise moment.How to set motor speed and motor target output torque in view of skilled in the art will recognize that, be switched to the time point after R shelves and motor target output correction moment, the present invention is not repeating at this.
Afterwards, the rotating speed according to target electricity idling carries out PID control with the difference of actual motor speed, calculates PID control torque.PID in above-mentioned controls to refer to that ratio in dominant project, integration, differential control.PID control torque be respectively rotating speed and the actual motor speed of target electricity idling difference not and PID control in proportional, integration item, differential term product and.The proportional control factor that PID controls, integral control coefficient, derivative control coefficient are respectively the variable that can demarcate.The proportional control factor that PID controls is 0.01 ~ 0.2, integral control coefficient is 0.01 ~ 0.2, derivative control coefficient is 0.001 ~ 0.01.
Finally, the result sum that three above-mentioned steps calculate is drawn the target control moment of motor.Namely the target control moment of motor is the feed-forward moment, the feed-forward moment correction entering R shelves, the PID control torque sum that adopt R shelves.
As shown in Figure 2, motor output torque 2 have employed this method, carries out the working control output torque of torque compensation according to the time being linked into R shelves.Motor speed 2 is the control effects corresponding to motor output torque 2.Motor output torque 1 is the working control output torque of the time not having basis to be linked into R shelves carrying out torque compensation, and motor speed 1 is the control effects corresponding to motor output torque 1.Can find out in figure have employed control method of the present invention can effectively improve hang R shelves after enter the ride comfort of electric idling.
The present invention also provides a kind of hybrid vehicle, comprises the hybrid power system of the method adopted as described in the above embodiment of the present invention.This automobile adopts above-mentioned Torque Control method.Effectively effectively can improve the ride comfort entering electric idling after hanging R shelves.
Claims (4)
1. hybrid power system enters a Torque Control method for electric idling, it is characterized in that, said method comprising the steps of:
A, after D shelves auto-stop, hangs R shelves and triggers automatic starting, after automatic proceed-to-send, enter electric idling mode;
B draws the feed-forward moment of the R shelves of correction according to motor speed and the time after being switched to R shelves;
C carries out PID control according to the rotating speed of target electricity idling with the difference of actual motor speed, calculates PID control torque; And
The feed-forward moment of the R shelves that d calculating is revised and PID control torque sum draw the target control moment of motor.
2. the method for claim 1, is characterized in that, the proportional control factor that described PID controls is 0.01 ~ 0.2, integral control coefficient is 0.01 ~ 0.2, derivative control coefficient is 0.001 ~ 0.01.
3. the method for claim 1, is characterized in that, step b comprises the following steps:
Table look-up according to motor speed and draw the feed-forward moment of employing R shelves;
To table look-up the feed-forward moment correction drawing and enter R shelves according to the time after being switched to R shelves; And
The difference calculating the feed-forward moment correction adopting the feed-forward moment of R shelves and enter R shelves draws the feed-forward moment of the R shelves of correction.
4. a hybrid vehicle, is characterized in that, described hybrid vehicle comprises the hybrid power system of the method adopted as described in one of the claims.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110457003.4A CN103183023B (en) | 2011-12-31 | 2011-12-31 | A kind of hybrid power system enters Torque Control method and the automobile of electric idling |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110457003.4A CN103183023B (en) | 2011-12-31 | 2011-12-31 | A kind of hybrid power system enters Torque Control method and the automobile of electric idling |
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| CN103183023A CN103183023A (en) | 2013-07-03 |
| CN103183023B true CN103183023B (en) | 2015-11-18 |
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| CN105416092B (en) * | 2015-12-29 | 2018-04-03 | 潍柴动力股份有限公司 | A kind of pure electric vehicle back-sliding prevention control method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101480952A (en) * | 2007-11-04 | 2009-07-15 | 通用汽车环球科技运作公司 | Method and apparatus for constraining output torque in a hybrid powertrain system |
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| JP3696571B2 (en) * | 2002-04-26 | 2005-09-21 | 本田技研工業株式会社 | Tension control method in auto tensioner device |
| JP2004236462A (en) * | 2003-01-31 | 2004-08-19 | Denso Corp | Controller for vehicle |
| JP4365424B2 (en) * | 2007-03-30 | 2009-11-18 | トヨタ自動車株式会社 | Control device for hybrid vehicle |
| JP5119987B2 (en) * | 2008-03-07 | 2013-01-16 | トヨタ自動車株式会社 | Hybrid vehicle and control method thereof |
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| CN101480952A (en) * | 2007-11-04 | 2009-07-15 | 通用汽车环球科技运作公司 | Method and apparatus for constraining output torque in a hybrid powertrain system |
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