CN104002814B - A kind of shifting method based on AMT parallel type hybrid vehicle system, device and vehicle - Google Patents
A kind of shifting method based on AMT parallel type hybrid vehicle system, device and vehicle Download PDFInfo
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- CN104002814B CN104002814B CN201410238790.7A CN201410238790A CN104002814B CN 104002814 B CN104002814 B CN 104002814B CN 201410238790 A CN201410238790 A CN 201410238790A CN 104002814 B CN104002814 B CN 104002814B
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- 230000035939 shock Effects 0.000 claims abstract description 78
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- 230000008859 change Effects 0.000 claims abstract description 12
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- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 10
- 230000033228 biological regulation Effects 0.000 description 8
- 238000011217 control strategy Methods 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 5
- 230000007423 decrease Effects 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/19—Improvement of gear change, e.g. by synchronisation or smoothing gear shift
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/48—Parallel type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/107—Longitudinal acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0638—Engine speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0657—Engine torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/083—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
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- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
The present invention is applicable to technical field of vehicle, it is provided that a kind of shifting method based on AMT parallel type hybrid vehicle system, device and vehicle, and the method includes: before plucking shelves, controls Motor torque by acceleration and shock extent and engine throttle unloads；Control this acceleration meet pluck a grade requirement, control this shock extent simultaneously and meet stationarity requirement；When described acceleration meet pluck shelves requirement and described shock extent meet stationarity require time, control change speed gear box and pluck shelves；Obtain engine crankshaft actual speed and engine crankshaft rotating speed of target, and generate speed discrepancy between the two；According to this speed discrepancy, it is judged that whether the difference between engine crankshaft actual speed and engine crankshaft rotating speed of target is in default extension shelves allowed band, if so, according to this speed discrepancy, file location is hung in output；Control this gearbox gear-shift according to this extension file location, after hanging shelves, control Motor torque and engine throttle climbing by acceleration and shock extent.The present invention improves the stationarity of vehicle.
Description
Technical field
The invention belongs to technical field of vehicle, particularly relate to a kind of based on AMT parallel type hybrid vehicle system
Shifting method, device and the vehicle of system.
Background technology
In recent years, domestic and international AMT parallel type hybrid vehicle system is in order to make the gear shift break period short, dynamic
Power devises by force two class control strategies: a class is motor response speed control strategy, and another kind of is without clutch
Device shift control strategy.Motor response speed control strategy mainly focuses on shortening the time of each link of gear shift, subtracts
Few gear shift total time is main purpose.Non-clutch shift control strategy is on the basis of shortening shift time, same
Shi great Liang reduces clutch work frequent degree.This control is with reliability, dynamic property and the economic performance of system
For main purpose.
But, non-clutch shift control strategy in existing AMT parallel type hybrid vehicle system, is changing
During Dang, vehicle cannot be held grade opportunity of plucking and hang shelves opportunitys so that shelves plucked by vehicle and hang can not between shelves
Enough smooth excessivenesses, cause stationarity low.Such as, when vehicle is when going up a slope, and the meeting in ramp changes adding of vehicle
Speed and shock extent, strengthen the complexity on grade opportunity of plucking, and pluck the unpowered output of grade rear vehicle, cause extension
The assurance difficulty on shelves opportunitys strengthens so that vehicle pluck shelves and hang between shelves can not smooth excessiveness, cause steadily
Property is low.
Summary of the invention
The purpose of the embodiment of the present invention is to provide a kind of and based on AMT parallel type hybrid vehicle system changes
Shelves method, it is intended to solve non-clutch shift in existing AMT parallel type hybrid vehicle system and control plan
Slightly, in gearshift procedure, vehicle cannot be held grade opportunity of plucking and hang shelves opportunitys so that vehicle is plucked shelves and hangs shelves
Between can not smooth excessiveness, cause the problem that stationarity is low.
The embodiment of the present invention is achieved in that a kind of based on AMT parallel type hybrid vehicle system change
Shelves method, including:
Step 1, before plucking shelves, unloading motor target torque and engine throttle；
Step 2, unloading motor target torque and engine throttle during, obtain vehicle acceleration and
Shock extent；
Step 3, control described acceleration meet pluck a grade requirement, control described shock extent simultaneously and meet stationarity
Requirement；
Step 4, when described acceleration meet pluck shelves requirement and described shock extent meet stationarity require time, control
Shelves plucked by change speed gear box processed；
Step 5, obtains engine crankshaft actual speed and engine crankshaft rotating speed of target, and generates both
Between speed discrepancy；
Step 6, according to described speed discrepancy, it is judged that engine crankshaft actual speed turns with engine crankshaft target
Whether the difference between speed is in default extension shelves allowed band, if so, according to described speed discrepancy, and output
Hang file location, if it is not, adjust described engine crankshaft actual speed and described engine crankshaft rotating speed of target it
Between difference whether be in default extension shelves allowed band；
Step 7, controls described gearbox gear-shift according to described extension file location；
Step 8, after described gearbox gear-shift, during oil return, after obtaining gear shift in real time, described vehicle rushes
Degree of hitting, in the range of the shock extent of the described vehicle that control gets in real time is in default shock extent.
The another object of the embodiment of the present invention is to provide a kind of based on AMT parallel type hybrid vehicle system
Gearshift, including:
Unloading unit, before being used for plucking shelves, unloading motor target torque and engine throttle；
First acquiring unit, in uninstall process, obtains acceleration and the shock extent of vehicle；
First control unit, is used for controlling described acceleration and meets and pluck a grade requirement, control described shock extent simultaneously
Meet stationarity requirement；
Second control unit, for plucking shelves requirement and described shock extent meets stationarity when described acceleration meets
During requirement, control change speed gear box and pluck shelves；
Signal generating unit, is used for obtaining engine crankshaft actual speed and engine crankshaft rotating speed of target, and raw
Become speed discrepancy between the two；
Output unit, for according to described speed discrepancy, it is judged that engine crankshaft actual speed and engine crankshaft
Whether the difference between rotating speed of target is in default extension shelves allowed band, if so, according to described speed discrepancy,
File location is hung in output, turns if it is not, adjust described engine crankshaft actual speed with described engine crankshaft target
Whether the difference between speed is in default extension shelves allowed band；
3rd control unit, for controlling described gearbox gear-shift according to described extension file location；
4th control unit, after described gearbox gear-shift, during oil return, obtains institute after gear shift in real time
Stating the shock extent of vehicle, the shock extent of the described vehicle that control gets in real time is in default shock extent scope
In.
In embodiments of the present invention, during plucking shelves, control described acceleration meet pluck a grade requirement, simultaneously
Control described shock extent and meet stationarity requirement, using the moment satisfied for both of which as plucking a grade opportunity, in gear shift
During, engine crankshaft actual speed and the difference of engine crankshaft rotating speed of target are in default extension shelves and permit
Permitted the moment of scope as hanging shelves opportunitys so that vehicle pluck shelves and hang between shelves can smooth excessiveness, improve
The stationarity of vehicle.
Accompanying drawing explanation
Fig. 1 is AMT parallel type hybrid vehicle system structure schematic diagram；
Fig. 2 is a kind of based on AMT parallel type hybrid vehicle system the gear shift that the embodiment of the present invention provides
The flowchart of method；
Fig. 3 is that to provide in the embodiment of the present invention pluck the schematic diagram that grade front motor target torque controls；
Fig. 4 be in the embodiment of the present invention provide pluck a grade schematic diagram for front engine target Throttle Opening Control；
Fig. 5 is the schematic diagram that the electric machine speed regulation moment of torsion provided in the embodiment of the present invention controls；
Fig. 6 is the schematic diagram that the motor target torque provided in the embodiment of the present invention controls；
Fig. 7 is the schematic diagram of the oil return engine target Throttle Opening Control provided in the embodiment of the present invention；
Fig. 8 is the present invention the most preferably implementing procedure figure；
Fig. 9 is the gearshift based on AMT parallel type hybrid vehicle system that the embodiment of the present invention provides
Structured flowchart.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and reality
Execute example, the present invention is further elaborated.Only should be appreciated that specific embodiment described herein
Only in order to explain the present invention, it is not intended to limit the present invention.
It is AMT parallel type hybrid vehicle system structure schematic diagram with reference to Fig. 1, Fig. 1.
As it is shown in figure 1, AMT parallel connection automatic shift system structure mainly by electromotor (including ECU),
Energy management system, clutch (clutch actuating mechanism), motor (electric machine controller), fluid drive
Case (selecting gear mechanism) and six parts of gear box control unit (TCU) are constituted.
Wherein, the present invention acts in parallel connection type hybrid power system, by electromotor, motor and
The collection of sensor signal, grasps the transport condition of vehicle in real time, it is achieved electromotor, motor are hung with TCU
The optimal coupling of shelves controller, to improve power performance, comfortableness, reaches expected result.
It is that the one that provides of the embodiment of the present invention is based on AMT parallel type hybrid vehicle system with reference to Fig. 2, Fig. 2
The flowchart of the shifting method of system, details are as follows:
In step s 201, before plucking shelves, unloading motor target torque and engine throttle；
In step S202, in uninstall process, obtain acceleration and the shock extent of vehicle；
The acceleration of acquisition vehicle and the process of shock extent are as follows:
Wherein, a is vehicle acceleration,For the derivation of speed, namely unit in the unit time
Percentage speed variation in time；J is vehicle impact degree,For the rate of change of acceleration in the unit time.
Wherein, acceleration and shock extent, during non-clutch shift, determine that grade process plucked by vehicle
The power performance of vehicle during ride comfort and oil return, follow-up is regulated by acceleration and shock extent
Power performance,
By above-mentioned formula, calculate.After hanging shelves, set up electromotor and motor actual torque
The three-dimensional lookup table function of climbing, by correction target engine throttle, the motor target torque of tabling look-up.
In step S203, control described acceleration meet pluck a grade requirement, control simultaneously described shock extent meet
Stationarity requirement；
Wherein, the described shock extent of described control meets stationarity requirement, particularly as follows:
According to described acceleration and described shock extent, adjust the rate of descent of motor actual torque, and by anti-
Feedback throttle, adjusts engine target throttle rate of descent, controls described shock extent and meet stationarity requirement.
Engine throttle feedback is to ensure that plucks one of grade factor smoothly, sets up an electromotor feedback throttle
As input, target throttle rate of descent as the two-dimensional interpolation table exported, by feedback oil before plucking shelves
Door searches engine throttle decrease speed, makes vehicle steady, fast transition during plucking shelves.
It is that grade front motor target torque controls is former for plucking of providing in the embodiment of the present invention with reference to Fig. 3, Fig. 3
Reason figure.
Before plucking shelves, set up and decline as input, motor target torque using motor actual torque, shock extent
Rate is the three-dimensional interpolation table of output, by the motor target torque in look-up-table function correction motor each cycle,
Motor target torque unloading speed determines the stationarity of vehicle.So protecting in real time according to shock extent size
Hold vehicle steady, rapidly enter and pluck a grade process.
With reference to Fig. 4, Fig. 4 be in the embodiment of the present invention provide pluck a grade front engine target Throttle Opening Control
Schematic diagram.
Two parameters of engine target Throttle Opening Control major control, are that engine target throttle rises respectively
Rate, engine target throttle rate of descent.
Engine target throttle climbing, engine target throttle rate of descent are in non-clutch shift process
Two processes of middle participation:
Before plucking shelves, in order to pluck a grade smooth transition, eliminate the interaction between gearbox transmission gear and turn round
Square, so, need engine throttle to unload before plucking shelves, throttle unloading rate of descent directly affects vehicle
Stationarity, set up electromotor feedback throttle, shock extent as input, engine target throttle decline
Rate is as the three-dimensional interpolation table of output, in tabling look-up at engine target throttle rate of descent, looks into value
Revise engine target throttle, make vehicle quickly, smooth transition is to plucking a grade process.
In step S204, pluck shelves requirement and described shock extent meets stationarity when described acceleration meets
During requirement, control change speed gear box and pluck shelves；
Plucking grade preacceleration and shock extent and meet when plucking grade demand, carry out plucking a grade control, target gear is
Neutral gear.
In step S205, obtain engine crankshaft actual speed and engine crankshaft rotating speed of target,
And generate speed discrepancy between the two；
Wherein, described acquisition engine crankshaft actual speed and engine crankshaft rotating speed of target, and raw
Become speed discrepancy between the two, particularly as follows:
Obtain the real-time rotating speed of engine crankshaft actual speed；
According to described real-time rotating speed and transmission ratio, generate engine crankshaft rotating speed of target；
According to the absolute value of described real-time rotating speed Yu the difference of described engine crankshaft rotating speed of target, generate
Speed discrepancy between the two.
Wherein, described engine crankshaft is engine crankshaft；
Wherein, described engine crankshaft actual speed is the actual speed of engine crankshaft；
Wherein, described engine crankshaft rotating speed of target is the rotating speed of target of engine crankshaft.
Wherein, non-clutch shift process, clutch remains off, and electromotor and motor are same
In one rotary shaft, so motor bent axle rotating speed of target and engine start machine crankshaft rotating speed of target
Unanimously, engine start machine crankshaft rotating speed of target changes in real time according to speed change.
neng=ntout*ig
nerr=| neng-ntout|
Wherein, nengFor engine start machine crankshaft rotating speed of target, ntoutFor output shaft rotating speed, igFor speed change
Case gear ratio,
nerrFor electromotor or motor bent axle rotating speed of target and actual speed Error Absolute Value.
By above-mentioned formula, calculate engine crankshaft actual speed and engine crankshaft rotating speed of target
Error amount, as controlling initial conditions, extension file location, as output, sets up two-dimensional interpolation table, revises
Motor target torque and determine target hang shelves perform.
In step S206, according to described speed discrepancy, it is judged that engine crankshaft actual speed and electromotor
Whether the difference between bent axle rotating speed of target is in default extension shelves allowed band, if so, according to institute
Stating speed discrepancy, file location is hung in output, if it is not, adjust described engine crankshaft actual speed with described
Whether the difference between motivation bent axle rotating speed of target is in default extension shelves allowed band；
Described according to described speed discrepancy, it is judged that engine crankshaft actual speed turns with engine crankshaft target
Whether the difference between speed is in default extension shelves allowed band, if so, according to described speed discrepancy,
File location is hung in output, if it is not, adjust described engine crankshaft actual speed and described engine crankshaft mesh
Whether the difference between mark rotating speed is in default extension shelves allowed band, also includes:
Obtain motor actual torque in real time；
According to described speed discrepancy and the motor actual torque that gets in real time, generate motor target torque
Climbing or motor target torque-down rate；
According to described motor target torque climbing or motor target torque-down rate, adjust described sending out
Whether the difference between motivation bent axle actual speed and engine crankshaft rotating speed of target is in default extension shelves
In allowed band.
It is the schematic diagram that the electric machine speed regulation moment of torsion provided in the embodiment of the present invention controls with reference to Fig. 5, Fig. 5.
Wherein, judging whether the engine crankshaft actual speed difference with engine crankshaft rotating speed of target is located
During default extension shelves allowed band, also engine crankshaft is carried out speed governing, in speed regulation process,
In motor target torque climbing, motor target torque-down rate are tabled look-up, by input speed difference with
Motor actual torque, output motor target torque climbing or motor target torque-down rate, to repair
Positive motor target torque, promotes in speed regulation process quickly and stably eliminates speed error.
In speed regulation process, come really with real engine speed of crankshaft difference by engine crankshaft rotating speed of target
Set the goal extension file location, by the extruding to lock unit, assisted engine, electric machine speed regulation.
In step S207, control described gearbox gear-shift according to described extension file location；
Vehicle controls described gearbox gear-shift according to described extension file location.
In step S208, after described gearbox gear-shift, the impact of described vehicle after acquisition gear shift in real time
Degree, in the range of the shock extent of the described vehicle that control gets in real time is in default shock extent；
Wherein, during plucking shelves, control described acceleration and meet and pluck a grade requirement, control described simultaneously
Shock extent meets stationarity requirement, using the moment satisfied for both of which as plucking a grade opportunity, at gearshift procedure
In, engine crankshaft actual speed and the difference of engine crankshaft rotating speed of target are in default extension shelves and permit
Permitted the moment of scope as hanging shelves opportunitys so that vehicle pluck shelves and hang between shelves can smooth excessiveness, carry
The high stationarity of vehicle is because can knowing grade opportunity of plucking accurately and hanging shelves opportunitys, the most permissible
Solving vehicle, to pluck grade time short, and comfortableness is poor, and it is long to pluck grade time, has a strong impact on the power performance of vehicle
Problem so that vehicle has comfortableness and dynamic property concurrently.
As a preferred embodiment of the present invention, shelves control the impact of the described vehicle got in real time
In the range of degree is in default shock extent, particularly as follows:
In the range of judging whether the shock extent obtained in real time is in default shock extent；
If so, output motor target torque climbing and engine target throttle climbing；
If it is not, adjust described motor target torque climbing and engine target throttle climbing, directly
In the range of being in default shock extent to the shock extent of the described vehicle got in real time.
Wherein, output motor target torque climbing and engine target throttle climbing, particularly as follows:
In motor target torque is tabled look-up, according to described shock extent and gas pedal percentage size,
Search motor target torque and export, and in engine target throttle is tabled look-up, according to described shock extent
And gas pedal percentage size, search engine target throttle climbing and export.
Wherein, adjust motor target torque, engine target throttle climbing, particularly as follows:
In motor target torque is tabled look-up, according to described shock extent and gas pedal percentage size,
Search motor target torque and adjust, and in engine target throttle is tabled look-up, according to described shock extent
And gas pedal percentage size, search engine target throttle climbing and adjust, until obtaining
Shock extent whether be in default shock extent scope.
It is the schematic diagram that the motor target torque provided in the embodiment of the present invention controls with reference to Fig. 6, Fig. 6.
Hang after shelves, using gas pedal percentage size and shock extent as input, motor target climbing
As output, keep vehicle impact degree in the range of limit value, revise motor target torque in real time, promote
Make the enough dynamic property of vehicle and comfortableness.
It is the former of the oil return engine target Throttle Opening Control of offer in the embodiment of the present invention with reference to Fig. 7, Fig. 7
Reason figure.
Further, after hanging shelves, electromotor is as power source, it is desirable to provide power drive vehicle,
Setting up using gas pedal percentage size, shock extent as input, electromotor climbing is as output
Three-dimensional interpolation table, control throttle climbing of tabling look-up, fast reaction driver driving is intended to.
Being the present invention the most preferably implementing procedure figure with reference to Fig. 8, Fig. 8, details are as follows:
In step S801, before plucking shelves, motor target torque, engine throttle unload；
In step S802, whether acceleration meets plucks a grade requirement, shock extent whether meet stationarity,
Rapidity requirement, if so, performs step S803, if it is not, perform step S808；
In step S803, pluck a grade control；
In step S804, engine crankshaft actual speed and engine crankshaft rotating speed of target
Difference whether in default extension shelves allowed band, if so, perform step S805, if it is not, hold
Row step S809；
In step S805, hang shelves and control；
In step S806, whether shock extent meets setting value, if so, performs step S807, if
No, perform step S810；
In step S807, motor target torque, engine target throttle export；
In step S808, adjust engine throttle, Motor torque rate of descent；
In step S809, revise motor target torque；
In step S810, limiting motor target torque, engine target throttle climbing.
Wherein, before Integral Control Technology of the present invention is to pluck shelves, motor actual torque, engine throttle
With vehicle acceleration, the mating of shock extent, in speed regulation process, engine crankshaft rotating speed of target and starting
The difference of machine crankshaft actual speed is mated with electric machine speed regulation moment of torsion, during oil return, and shock extent and motor
Target torque, the coupling of engine target throttle.
With reference to Fig. 9, Fig. 9 be the embodiment of the present invention provide based on AMT parallel type hybrid vehicle system
The structured flowchart of gearshift, this device can run on possesses AMT parallel type hybrid vehicle system
Vehicle, this vehicle can be the vehicle of no-clutch, it is also possible to for there being the vehicle of clutch.For the ease of
Illustrate, illustrate only part related to the present embodiment.
It is somebody's turn to do gearshift based on AMT parallel type hybrid vehicle system, including:
Unloading unit 91, before being used for plucking shelves, unloading motor target torque and engine throttle；
First acquiring unit 92, in uninstall process, obtains acceleration and the shock extent of vehicle；
First control unit 93, is used for controlling described acceleration and meets and pluck a grade requirement, control described impact simultaneously
Degree meets stationarity requirement；
Second control unit 94, for plucking shelves requirement and described shock extent meet steadily when described acceleration meet
Property require time, control change speed gear box pluck shelves；
Signal generating unit 95, is used for obtaining engine crankshaft actual speed and engine crankshaft rotating speed of target, and
Generate speed discrepancy between the two；
Output unit 96, for according to described speed discrepancy, it is judged that engine crankshaft actual speed is bent with electromotor
Whether the difference between axle rotating speed of target is in default extension shelves allowed band, if so, according to described rotating speed
Difference, file location is hung in output, if it is not, adjust described engine crankshaft actual speed and described engine crankshaft mesh
Whether the difference between mark rotating speed is in default extension shelves allowed band；
3rd control unit 97, for controlling described gearbox gear-shift according to described extension file location；
4th control unit 98, after described gearbox gear-shift, during oil return, after obtaining gear shift in real time
The shock extent of described vehicle, the shock extent of the described vehicle that control gets in real time is in default shock extent model
In enclosing.
Further, in gearshift based on AMT parallel type hybrid vehicle system, described first
Control unit, specifically for according to described acceleration and described shock extent, adjusts under motor actual torque
Fall rate, and by feedback throttle, adjust engine target throttle rate of descent, control described shock extent and meet flat
Stability requirement.
Further, in gearshift based on AMT parallel type hybrid vehicle system, described generation
Unit, including:
First obtains subelement, for obtaining the real-time rotating speed of engine crankshaft actual speed；
First generates subelement, for according to described real-time rotating speed and transmission ratio, generates electromotor
Bent axle rotating speed of target；
Second generates subelement, for the difference according to described real-time rotating speed Yu described engine crankshaft rotating speed of target
The absolute value of value, generates speed discrepancy between the two.
Further, in gearshift based on AMT parallel type hybrid vehicle system, described output
Unit, including:
Second obtains subelement, obtains motor actual torque in real time；
3rd generates subelement, for according to described speed discrepancy and the motor actual torque that gets in real time,
Generate motor target torque climbing or motor target torque-down rate；
Adjust subelement, for declining according to described motor target torque climbing or motor target torque
Rate, whether the difference adjusted between described engine crankshaft actual speed and engine crankshaft rotating speed of target is in
In the extension shelves allowed band preset.
The gearshift based on AMT parallel type hybrid vehicle system that the embodiment of the present invention provides can be answered
Being used in the embodiment of the method for aforementioned correspondence, details see the description of above-described embodiment, do not repeat them here.
Through the above description of the embodiments, those skilled in the art is it can be understood that arrive this
Bright can add the mode of required common hardware by software and realize.Based on such understanding, the skill of the present invention
The part that prior art is contributed by art scheme the most in other words can embody with the form of software product
Out, this computer software product is stored in the storage medium that can read, such as the floppy disk of computer, hard disk
Or CD etc., including some instructions with so that a computer equipment (can be personal computer, service
Device, or the network equipment etc.) perform the method described in each embodiment of the present invention.
The above, the only detailed description of the invention of the present invention, but protection scope of the present invention is not limited to
This, any those familiar with the art, in the technical scope that the invention discloses, can readily occur in
Change or replacement, all should contain within protection scope of the present invention.Therefore, protection scope of the present invention
Should be as the criterion with scope of the claims.
Claims (10)
1. a shifting method based on AMT parallel type hybrid vehicle system, it is characterised in that including:
Step 1, before plucking shelves, unloading motor target torque and engine throttle；
Step 2, unloading motor target torque and engine throttle during, obtain vehicle acceleration and
Shock extent；
Step 3, control described acceleration meet pluck a grade requirement, control simultaneously described shock extent meet stationarity want
Ask；
Step 4, when described acceleration meet pluck shelves requirement and described shock extent meet stationarity require time, control
Shelves plucked by change speed gear box processed；
Step 5, obtains engine crankshaft actual speed and engine crankshaft rotating speed of target, and generates both
Between speed discrepancy；
Step 6, according to described speed discrepancy, it is judged that engine crankshaft actual speed turns with engine crankshaft target
Whether the difference between speed is in default extension shelves allowed band, if so, according to described speed discrepancy, and output
Hang file location, if it is not, adjust described engine crankshaft actual speed and described engine crankshaft rotating speed of target it
Between difference whether be in default extension shelves allowed band；
Step 7, controls described gearbox gear-shift according to described extension file location；
Step 8, after described gearbox gear-shift, during oil return, after obtaining gear shift in real time, described vehicle rushes
Degree of hitting, in the range of the shock extent of the described vehicle that control gets in real time is in default shock extent.
Shifting method based on AMT parallel type hybrid vehicle system the most according to claim 1,
It is characterized in that, the described shock extent of described control meets stationarity requirement, particularly as follows:
According to described acceleration and described shock extent, adjust the rate of descent of motor actual torque, and by anti-
Feedback throttle, adjusts engine target throttle rate of descent, controls described shock extent and meet stationarity requirement.
Shifting method based on AMT parallel type hybrid vehicle system the most according to claim 1,
It is characterized in that, described acquisition engine crankshaft actual speed and engine crankshaft rotating speed of target, and generate
Speed discrepancy between the two, particularly as follows:
Obtain the real-time rotating speed of engine crankshaft actual speed；
According to described real-time rotating speed and transmission ratio, generate engine crankshaft rotating speed of target；
According to the absolute value of described real-time rotating speed Yu the difference of described engine crankshaft rotating speed of target, generate both
Between speed discrepancy.
Shifting method based on AMT parallel type hybrid vehicle system the most according to claim 1,
It is characterized in that, described adjustment described engine crankshaft actual speed and described engine crankshaft rotating speed of target it
Between difference whether be in default extension shelves allowed band, particularly as follows:
Obtain motor actual torque in real time；
According to described speed discrepancy and the motor actual torque that gets in real time, generate motor target torque and rise
Rate or motor target torque-down rate；
According to described motor target torque climbing or motor target torque-down rate, adjust described electromotor
Whether the difference between bent axle actual speed and engine crankshaft rotating speed of target is in default extension shelves allowed band
In.
5. according to described in Claims 1-4 any one based on AMT parallel type hybrid vehicle system
Shifting method, it is characterised in that the shock extent of described vehicle controlling to get in real time is in default rushing
In the range of degree of hitting, particularly as follows:
In the range of judging whether the shock extent obtained in real time is in default shock extent；
If so, output motor target torque climbing and engine target throttle climbing；If it is not, adjust
Described motor target torque climbing and engine target throttle climbing, until get in real time is described
In the range of the shock extent of vehicle is in default shock extent.
6. a gearshift based on AMT parallel type hybrid vehicle system, it is characterised in that including:
Unloading unit, before being used for plucking shelves, unloading motor target torque and engine throttle；
First acquiring unit, in uninstall process, obtains acceleration and the shock extent of vehicle；
First control unit, is used for controlling described acceleration and meets and pluck a grade requirement, control described shock extent simultaneously
Meet stationarity requirement；
Second control unit, for plucking shelves requirement and described shock extent meets stationarity when described acceleration meets
During requirement, control change speed gear box and pluck shelves；
Signal generating unit, is used for obtaining engine crankshaft actual speed and engine crankshaft rotating speed of target, and raw
Become speed discrepancy between the two；
Output unit, for according to described speed discrepancy, it is judged that engine crankshaft actual speed and engine crankshaft
Whether the difference between rotating speed of target is in default extension shelves allowed band, if so, according to described speed discrepancy,
File location is hung in output, turns if it is not, adjust described engine crankshaft actual speed with described engine crankshaft target
Whether the difference between speed is in default extension shelves allowed band；
3rd control unit, for controlling described gearbox gear-shift according to described extension file location；
4th control unit, after described gearbox gear-shift, during oil return, obtains institute after gear shift in real time
Stating the shock extent of vehicle, the shock extent of the described vehicle that control gets in real time is in default shock extent scope
In.
Gearshift based on AMT parallel type hybrid vehicle system the most according to claim 6,
It is characterized in that, described first control unit, specifically for according to described acceleration and described shock extent,
Adjust the rate of descent of motor actual torque, and by feedback throttle, adjust engine target throttle rate of descent,
Control described shock extent and meet stationarity requirement.
Gearshift based on AMT parallel type hybrid vehicle system the most according to claim 6,
It is characterized in that, described signal generating unit, including:
First obtains subelement, for obtaining the real-time rotating speed of engine crankshaft actual speed；
First generates subelement, for according to described real-time rotating speed and transmission ratio, generates electromotor
Bent axle rotating speed of target；
Second generates subelement, for the difference according to described real-time rotating speed Yu described engine crankshaft rotating speed of target
The absolute value of value, generates speed discrepancy between the two.
Gearshift based on AMT parallel type hybrid vehicle system the most according to claim 8,
It is characterized in that, described output unit, including:
Second obtains subelement, obtains motor actual torque in real time；
3rd generates subelement, for according to described speed discrepancy and the motor actual torque that gets in real time,
Generate motor target torque climbing or motor target torque-down rate；
Adjust subelement, be used for according to described motor target torque climbing or motor target torque-down rate,
Whether the difference adjusted between described engine crankshaft actual speed and engine crankshaft rotating speed of target is in default
Extension shelves allowed band in.
10. a vehicle, it is characterised in that described vehicle includes described in claim 6 to 9 any one
Gearshift based on AMT parallel type hybrid vehicle system.
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| CN104514878B (en) * | 2014-12-24 | 2017-03-15 | 潍柴动力股份有限公司 | A kind of vehicle shift control method and TCU |
| CN106567893B (en) * | 2015-10-13 | 2019-03-15 | 上海汽车集团股份有限公司 | The control method and device of clutch |
| CN105584484B (en) * | 2016-01-16 | 2017-11-03 | 吉林大学 | The rotating speed energy-saving control method of engine in a kind of loading machine AMT gearshift procedures |
| CN105922987B (en) * | 2016-06-03 | 2018-02-09 | 清华大学 | Downshift strategy and Mechatronic Systems in HEV/EV process of regenerative braking |
| CN106411207B (en) * | 2016-11-25 | 2018-09-11 | 安徽江淮汽车集团股份有限公司 | A kind of motor speed control method and system |
| CN106938648B (en) * | 2017-04-07 | 2019-06-04 | 安徽江淮汽车集团股份有限公司 | The power downshift scaling method and system of double clutch gearbox |
| CN107487227B (en) * | 2017-05-17 | 2020-02-14 | 宝沃汽车（中国）有限公司 | Vehicle motor control method and device and vehicle |
| CN107253476B (en) * | 2017-06-23 | 2019-12-27 | 北京新能源汽车股份有限公司 | Vehicle gear shifting torque control method and device, vehicle control unit and vehicle |
| CN109505969B (en) * | 2017-09-14 | 2021-09-03 | 比亚迪股份有限公司 | Shift control system of vehicle and method thereof |
| CN107985319B (en) * | 2017-11-29 | 2020-01-03 | 潍柴动力股份有限公司 | Method and device for adjusting rotating speed of automobile power assembly |
| CN108583577A (en) * | 2018-04-25 | 2018-09-28 | 吉利汽车研究院（宁波）有限公司 | A kind of hybrid vehicle static state shifting control system and method |
| CN108819934B (en) * | 2018-06-20 | 2021-12-07 | 北京理工大学 | Power distribution control method of hybrid vehicle |
| CN109291911B (en) * | 2018-09-30 | 2021-08-20 | 潍柴动力股份有限公司 | Speed regulation control method and device for engine |
| CN109733407A (en) * | 2018-12-29 | 2019-05-10 | 汉腾汽车有限公司 | A kind of control method of mixed motor-car type AMT smooth gear shifting |
| CN112096855B (en) * | 2019-06-18 | 2022-06-07 | 宇通客车股份有限公司 | Motor speed regulation method and gear shifting method for gearbox, medium and vehicle |
| CN111059278B (en) * | 2019-12-30 | 2021-08-20 | 潍柴动力股份有限公司 | Gearbox gear shifting control method, device, equipment and storage medium |
| CN111649126B (en) * | 2020-05-01 | 2022-03-01 | 东风越野车有限公司 | Automatic gear shifting control method for heavy reduction gearbox of hybrid off-road vehicle |
| CN113135176B (en) * | 2020-07-06 | 2022-05-31 | 长城汽车股份有限公司 | Mode switching control method and device of hybrid vehicle and vehicle |
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| CN113883265A (en) * | 2021-10-18 | 2022-01-04 | 东风德纳车桥有限公司 | Gear shifting control method, electric drive assembly and vehicle |
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