CN103935226B - The dynamical system of stroke lengthening hybrid power automobile and control method thereof - Google Patents
The dynamical system of stroke lengthening hybrid power automobile and control method thereof Download PDFInfo
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- CN103935226B CN103935226B CN201410161237.8A CN201410161237A CN103935226B CN 103935226 B CN103935226 B CN 103935226B CN 201410161237 A CN201410161237 A CN 201410161237A CN 103935226 B CN103935226 B CN 103935226B
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- 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
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Abstract
This application discloses the dynamical system of a kind of stroke lengthening hybrid power automobile, including ISG, electromotor, EMS, HCU.ISG or the starting motor as electromotor work, or as generator operation.HCU connects EMS by CAN and independent cable.When ISG is as generator operation, HCU sends rotating speed of target signal and the target torque signal of electromotor by CAN to EMS, and HCU starts simulated oil door position signal also by described independent cable to EMS.EMS control electromotor output speed reaches rotating speed of target, output moment of torsion reaches target torque.The application is no longer necessary to directly be controlled ISG during generating by HCU, thus simplifies the control mode of HCU, thus reduces the development difficulty of stroke lengthening hybrid power automobile, reduces the development time, cost-effective, improves reliability.
Description
Technical field
The application relates to the dynamical system of a kind of stroke lengthening hybrid power automobile.
Background technology
Referring to Fig. 1, the dynamical system of orthodox car includes:
Electromotor, usually petrol engine, connect the drive mechanisms such as change speed gear box；
Sensor, including mass air flow sensor (or gas temperature pressure transducer), engine speed sensor,
Crankshaft position sensor etc.；
Executor, including inlet valve, fuel injector, igniter etc.；
Engine management system (Engine Management System, referred to as EMS), gathers each sensor
Signal, controls the operation of each executor.
The control method of the dynamical system of orthodox car is: various sensors provide desired signal for EMS, and EMS is according to sending out
The air-fuel ratio demand of motivation operation conditions, calculates the fuel delivery of each cycle of operation, controls various executor and carries out accordingly
Operation, it is achieved the balance of engine performance.The signal of described sensor includes: mass air flow sensor or gas temperature pressure
Sensor detects the air inflow of electromotor, provides air flow rate signal for EMS；Engine speed sensor is that EMS carries
For engine rotational speed signal；Crankshaft position sensor provides corner signal for EMS.The operation of described executor includes:
Control the aperture of inlet valve, the distributive value controlling fuel injector and injection time, the duration of ignition etc. of control igniter.
Electromotor can be divided into idling operation and non-idling operation in the running.During idling operation, EMS uses closed loop rotating speed control
System, with according to the rotating speed of target set by engine operating condition for controlling target, based on actual speed and rotating speed of target
Difference is input, air inflow and the angle of ignition carries out PID calculating, to ensure the speed stability of electromotor.Non-idling work
During condition, EMS uses moment of torsion to control, and sets up the moment of torsion input/output model of electromotor, dynamically adjusts air inflow and the angle of ignition
Degree, makes the output of electromotor actual torque follow the torque demand of driver, to ensure that power output meets driving moment of torsion needs.
Referring to Fig. 2, the dynamical system of existing stroke lengthening hybrid power automobile includes:
Accumulator, stores electricity, or provides the energy to driving motor, ISG by power inverter.
Drive motor, with alternating current as power supply, usually High Level AC Voltage, drive wheel to make vehicle travel.
Electromotor, is only used for driving ISG generating.
Integrated Starter motor and electromotor (Integrated starter/generator, referred to as ISG) are logical
It is often permagnetic synchronous motor, is directly integrated on the main shaft of electromotor.On the one hand, ISG as the starting motor of electromotor,
Help electromotor starts.On the other hand, after normal working of engine, ISG is as electromotor, driven by engine produce
Alternating current.
Power inverter, is on the one hand converted to direct current by the alternating current that ISG generating produces, charges for accumulator；
On the other hand, when battery discharging, the unidirectional current that accumulator exports is converted to High Level AC Voltage, as drive motor,
The power source of ISG.
EMS, controls electromotor operating.During idling operation, electromotor is used closed loop rotating speed to control by EMS.Non-idling
During operating mode, electromotor is used moment of torsion to control by EMS.
Entire car controller (Hybrid Control Unit, referred to as HCU), three produced when gathering ISG generating
The phase current signal of cross streams electricity and engine rotational speed signal and the rotor-position signal of ISG, carried out ISG
Exciting current controls.
Stroke lengthening hybrid power automobile can work in electric-only mode as required, increase journey pattern or hybrid mode.Pure
Under electric model, electromotor is inoperative, is driven motor rotation by accumulator deposit electricity supply completely.Increase under journey pattern,
Electromotor operating drives ISG generating, is driven motor rotation, not battery consumption storage by the generating electricity supply of this part completely
Standby electricity.Under hybrid mode, driven by engine ISG generating and accumulator are powered, by power inverter one simultaneously
Play supply and drive motor rotation.
ISG is as when starting motor work, it is desirable to provide high pulling torque at slow-speed of revolution Heng Niujuqu；It is currently employing autocontrol
Frequency Varying and speed changing method, installs rotor-position sensor on motor shaft, can detect the position of magnetic pole of rotor, by controlling
The power frequency of stator and phase place produce rotating excitation field, and this rotating excitation field produces constant torque to rotor.
Refer to Fig. 3, the control when ISG is as generator operation of the dynamical system of existing stroke lengthening hybrid power automobile
Method processed is: the phase current signal of three-phase alternating current that HCU produces when gathering ISG generating and engine rotational speed signal,
And the rotor-position signal of ISG, ISG is carried out exciting current control.When ISG is as generator operation, it is desirable to real
Existing generating voltage-stabilized electricity by use.HCU uses field weakening control method to ISG, sends out to the exciting current of ISG, holding by reducing output
Piezoelectric voltage is stable.But, the rotating speed of electromotor can change in broader scope, and the wide scope of permagnetic synchronous motor
Weak control technique difficulty is very big, strong to the dependency of the ISG parameter of electric machine and dynamic response is poor.Alternatively,
May be used without DC-DC converter when ISG is as generator operation and realize generating voltage-stabilized electricity by use, but this will increase system cost,
Reduce generating efficiency simultaneously.
Summary of the invention
Technical problems to be solved in this application are to provide the dynamical system of a kind of stroke lengthening hybrid power automobile, make at ISG
For simplifying control program during generator operation, do not increase extra cost, realize the burning voltage output of ISG equally.To this end,
The application also provides the control method of the dynamical system of a kind of stroke lengthening hybrid power automobile.
For solving above-mentioned technical problem, the dynamical system of the application stroke lengthening hybrid power automobile includes Integrated Starter motor
With electromotor, electromotor, engine management system, entire car controller；Described Integrated Starter motor and electromotor or
Starting motor as electromotor works, or as generator operation；
Described entire car controller connects engine management system by CAN and independent cable；
When described Integrated Starter motor and electromotor are as generator operation, entire car controller passes through CAN to starting
Machine management system sends rotating speed of target signal and the target torque signal of electromotor, and entire car controller is also by described independent lines
Cable starts to simulate accelerator pedal position signal to engine management system；
Described engine management system control electromotor output speed reaches rotating speed of target, output moment of torsion reaches target torque.
The control method of the dynamical system of the application stroke lengthening hybrid power automobile is: when Integrated Starter motor and electromotor
During as generator operation, entire car controller calculates target torque and the rotating speed of target of electromotor, and passes through CAN
Pass to engine management system；Entire car controller also simulates throttle with independent cable to engine management system transmission simultaneously
Position signalling；
When the communication of CAN is normal, and engine management system judges that engine target rotating speed is less than or equal to idling
The maximum speed of operating mode, then use closed loop rotating speed to control in electromotor, makes the rotating speed output of electromotor reach rotating speed of target；
When the communication of CAN is normal, and engine management system judges that engine target rotating speed is more than idling operation
Maximum speed, then use closed loop rotating speed to control in electromotor and moment of torsion control, and closed loop rotating speed controls to make the rotating speed of electromotor defeated
Going out and reach rotating speed of target, moment of torsion controls to make the moment of torsion output of electromotor to reach target torque；
When communication failure occurs in CAN, engine management system response simulation accelerator pedal position signal, in idling
The idling speed making electromotor under operating mode is stable, makes the moment of torsion output of electromotor follow simulation throttle position under non-idling operation
Put change.
The application is no longer necessary to directly be controlled ISG during generating by HCU, thus simplifies the control mode of HCU,
Thus reduce the development difficulty of stroke lengthening hybrid power automobile, and reduce the development time, cost-effective, improve reliability.
Accompanying drawing explanation
Fig. 1 is the structural representation of the dynamical system of orthodox car；
Fig. 2 is the structural representation of the dynamical system of existing stroke lengthening hybrid power automobile；
Fig. 3 is the dynamical system of the existing stroke lengthening hybrid power automobile control method when ISG is as generator operation
Flow chart；
Fig. 4 is the structural representation of the dynamical system of the stroke lengthening hybrid power automobile of the application；
Fig. 5 is the dynamical system of the stroke lengthening hybrid power automobile of the application controlling party when ISG is as generator operation
The flow chart of method.
Detailed description of the invention
Referring to Fig. 4, the dynamical system of the stroke lengthening hybrid power automobile of the application includes:
Accumulator, this accumulator can accept external charging pile, industrial power, the charging of civilian power supply, also can
Accept the charging of the direct current of power inverter output.
Drive motor, with alternating current as power supply, usually High Level AC Voltage, drive wheel to make vehicle travel.
Electromotor, usually petrol engine.This electromotor is only used for driving ISG generating.
ISG, usually permagnetic synchronous motor, be directly integrated on the main shaft of electromotor.On the one hand, ISG is as sending out
The starting motor of motivation, helps electromotor to start.On the other hand, after normal working of engine, ISG is as electromotor,
Alternating current is produced by driven by engine.
Power inverter: on the one hand the alternating current that ISG generating produces is converted to direct current, charges for accumulator；
On the other hand, when battery discharging, the unidirectional current that accumulator exports is converted to High Level AC Voltage, as drive motor,
The power source of ISG.
EMS, controls electromotor operating, and during idling operation, electromotor is used closed loop rotating speed to control by EMS, makes to start
Machine output speed reaches rotating speed of target.During non-idling operation, EMS uses closed loop rotating speed to control in electromotor and moment of torsion controls,
Make electromotor output speed reach rotating speed of target, engine output torque reaches target torque.
HCU, the phase current signal of three-phase alternating current produced when gathering engine rotational speed signal, ISG generating, simulation
Throttle position signal and accumulator electric-quantity, the rotating speed of target sending electromotor by CAN to EMS after calculating is believed
Number and target torque signal.HCU connects EMS also by independent cable, and this independent cable is for the mould gathered by HCU
Intend throttle position signal and pass to EMS.There is on orthodox car gas pedal, adjust sky by controlling throttle opening
Gas air inflow, finally changes engine speed.Corresponding on stroke lengthening hybrid power automobile is simulation gas pedal,
It is used for expressing the drive demand of driver to entire car controller and/or EMS.
Referring to Fig. 5, the dynamical system of the stroke lengthening hybrid power automobile of the application is when ISG is as generator operation
Control method is: when ISG is as generator operation, the electricity mutually of the three-phase alternating current that HCU produces when gathering ISG generating
Stream signal, engine rotational speed signal, simulated oil door position signal, accumulator electric-quantity, calculate as making ISG generating voltage
Target torque T of the electromotor stablized and drive ISG to rotate coaxially and rotating speed of target N, and passed to by CAN
EMS.Described computational methods are: if the output voltage when output of electromotor is referred to as P, ISG generating is referred to as U,
Output electric current is referred to as I, ISG and is referred to as η as the efficiency factor of electromotor, then have P=U × I/ η, T=9550 × P/N.
In order to ensure the economy of vehicle, entire car controller, according to simulated oil door position signal and accumulator electric-quantity, determines ISG's
Generating voltage U and generation current I, the operating characteristic further according to electromotor determines rotating speed of target N and target torque T.With
Time in order to ensure that vehicle remains to trouble free service when CAN fault, HCU also sends simulated oil with independent cable to EMS
Door position signal Wped, the aperture of this characterization simulation gas pedal.
When the communication of CAN is normal, EMS judges the maximum speed N that rotating speed of target N controls with idling operation0Between
Relation.
As rotating speed of target N≤N0Time (idling operation), electromotor is used closed loop rotating speed to control by EMS, turns with target
Speed N, for controlling target, with the difference of rotating speed of target and actual speed for input, carries out PID(proportional-integral-differential)
Air inlet amount and the angle of ignition of electromotor is controlled, to ensure that the actual speed output of electromotor is stable at target and turns after calculating
Speed N.Here it is traditional idling operation control method.
As rotating speed of target N ＞ N0Time (non-idling operation), electromotor is used closed loop rotating speed to control and moment of torsion control by EMS
The two methods of system.Closed loop method for controlling number of revolution is: with rotating speed of target N for controlling target, turns with actual with rotating speed of target
The difference of speed is input, controls air inlet amount and the ignition angle of electromotor, to ensure electromotor after carrying out PID calculating
Actual speed output be stable at rotating speed of target N.Torque control method is: with target torque T for controlling target, by mesh
The moment of torsion input/output model of mark torque T input electromotor, by controlling the aperture of air throttle, to guarantee the defeated of electromotor
Go out moment of torsion and reach target torque T.Compared with traditional idling operation control method, the application is on the basis of moment of torsion control
Control in conjunction with closed loop rotating speed.
When communication failure occurs in CAN, EMS response simulation throttle position signal Wped, in idling operation (simulation
Gas pedal is not operated) EMS makes the idling speed of electromotor stable；At non-idling operation, (simulation gas pedal is stepped on
Under) EMS make electromotor actual torque output follow simulation gas pedal change, with ensure power output meet drive moment of torsion
Need.Here it is driver's steer mode of conventional truck.
Compared with the dynamical system of existing stroke lengthening hybrid power automobile and control method thereof, the main improvement of the application exists
In:
One, when ISG is as generator operation, is controlled electromotor by EMS and then controls by the ISG of driven by engine.
HCU the most directly controls ISG, and only need to calculate rotating speed of target and the target torque of electromotor.This reduces HCU
Work load, lower-cost microcontroller (MCU) can be used, it is also possible to greatly reduce its perform software code.
Its two, when ISG is as generator operation, if engine target rotating speed exceedes the rotating speed of idling operation, then EMS
The output of electromotor is controlled with rotating speed and moment of torsion two methods.This assures the output of the ISG that electromotor is driven
Voltage is steady, and turn avoid existing HCU and use the technical sophistication of field weakening control method, rely on the ISG parameter of electric machine
Property strong, shortcoming that dynamic response is poor, it also avoid cost increase, the decrease in power generation efficiency increasing DC-DC circuit and being brought
Shortcoming.
Its three, both by the CAN transmission rotating speed of target of electromotor and target torque between HCU and EMS, further through
Independent cable transmission simulated oil door position signal.Even if so communication failure occurs in CAN, still ensure that EMS is to sending out
The control of motivation lower degree, significantly enhances fault-tolerance.
These are only the preferred embodiment of the application, be not used to limit the application.For a person skilled in the art,
The application can have various modifications and variations.All within spirit herein and principle, any amendment of being made, equivalent
Replacement, improvement etc., within should be included in the protection domain of the application.
Claims (6)
1. a dynamical system for stroke lengthening hybrid power automobile, including Integrated Starter motor and electromotor, electromotor,
Engine management system, entire car controller；Described Integrated Starter motor and electromotor or play galvanic electricity as electromotor
Machine works, or as generator operation；It is characterized in that:
Described entire car controller connects engine management system by CAN and independent cable；
When described Integrated Starter motor and electromotor are as generator operation, entire car controller passes through CAN to starting
Machine management system sends rotating speed of target signal and the target torque signal of electromotor, and entire car controller is also by described independent lines
Cable sends simulated oil door position signal to engine management system；
Described engine management system control electromotor output speed reaches rotating speed of target, output moment of torsion reaches target torque；
Described engine management system controls electromotor output speed under idling operation and reaches rotating speed of target, in non-idling
Output speed under operating mode reaches rotating speed of target, output moment of torsion reaches target torque.
The dynamical system of stroke lengthening hybrid power automobile the most according to claim 1, also includes accumulator, and it is special
Levying and be: when described Integrated Starter motor and electromotor are as generator operation, entire car controller gathers engine speed letter
Number, Integrated Starter motor and the phase current signal of three-phase alternating current produced during electrical power generators, simulation throttle position letter
Number and accumulator electric-quantity.
3. a control method for the dynamical system of stroke lengthening hybrid power automobile, is characterized in that, when Integrated Starter electricity
When machine and electromotor are as generator operation, entire car controller calculates target torque and the rotating speed of target of electromotor, and leads to
Cross CAN and pass to engine management system；Entire car controller also passes to engine management system with independent cable simultaneously
Pass simulated oil door position signal；
When the communication of CAN is normal, and engine management system judges that engine target rotating speed is less than or equal to idling
The maximum speed of operating mode, then use closed loop rotating speed to control in electromotor, makes the rotating speed output of electromotor reach rotating speed of target；
When the communication of CAN is normal, and engine management system judges that engine target rotating speed is more than idling operation
Maximum speed, then use closed loop rotating speed to control in electromotor and moment of torsion control, and closed loop rotating speed controls to make the rotating speed of electromotor defeated
Going out and reach rotating speed of target, moment of torsion controls to make the moment of torsion output of electromotor to reach target torque；
When communication failure occurs in CAN, engine management system response simulation throttle position signal, at idling operation
Under make the idling speed of electromotor stable, make the moment of torsion output of electromotor follow simulation throttle position under non-idling operation and become
Change.
The control method of the dynamical system of stroke lengthening hybrid power automobile the most according to claim 3, is characterized in that,
When Integrated Starter motor and electromotor are as generator operation, entire car controller gathers engine rotational speed signal, integrated
The phase current signal of three-phase alternating current, simulated oil door position signal and the electric power storage that formula produces when starting motor and electrical power generators
Pond electricity, calculates and drives for making Integrated Starter motor and electrical power generators voltage stabilization what ISG rotated coaxially to start
The target torque of machine and rotating speed of target.
The control method of the dynamical system of stroke lengthening hybrid power automobile the most according to claim 3, is characterized in that,
Closed loop rotating speed controls to be with the rotating speed of target of electromotor for control target, is defeated with rotating speed of target and the difference of actual speed
Enter, control air inlet amount and the ignition angle of electromotor after carrying out PID calculating, so that the actual speed of electromotor reaches
To rotating speed of target.
The control method of the dynamical system of stroke lengthening hybrid power automobile the most according to claim 3, is characterized in that,
Torque control method is with the target torque of electromotor for control target, and the moment of torsion input that target torque inputs electromotor is defeated
Go out model, by controlling the aperture of air throttle, make the output moment of torsion of electromotor reach target torque.
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