CN104139778B - A kind of hybrid vehicle operating mode control method - Google Patents
A kind of hybrid vehicle operating mode control method Download PDFInfo
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- CN104139778B CN104139778B CN201410292522.3A CN201410292522A CN104139778B CN 104139778 B CN104139778 B CN 104139778B CN 201410292522 A CN201410292522 A CN 201410292522A CN 104139778 B CN104139778 B CN 104139778B
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000001276 controlling effect Effects 0.000 claims description 29
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 230000035939 shock Effects 0.000 abstract description 2
- 238000004378 air conditioning Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000033001 locomotion Effects 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
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
- 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
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/20—Control strategies involving selection of hybrid configuration, e.g. selection between series or parallel configuration
-
- 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
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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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
- B60W2510/10—Change speed gearings
- B60W2510/1005—Transmission ratio engaged
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
- B60W2540/106—Rate of change
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0605—Throttle position
- B60W2710/0611—Throttle change rate
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/081—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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/081—Speed
- B60W2710/082—Speed change rate
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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)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Hybrid Electric Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention relates to a kind of hybrid vehicle operating mode control method, the method includes the position of accelerator pedal corresponding with certain speed, obtains the corresponding relation of pedal position and speed；Calculate the current vehicle speed speed rate of change to target vehicle speed, calculate speed controlling increment according to described speed rate of change；In hybrid vehicle work-mode switching process, engine throttle is according to the rate of change change set, and the speed governing order of motor is determined according to motor speed controlling increment.The inventive method is without accurately estimating the output torque of electromotor, what can keep that vehicle runs all the time is steady, particularly in the running stability in mode handover procedure and minimizing mechanical shock, improve the robustness of pattern switching control process and the comfortableness of driving.
Description
Technical field
The present invention relates to the control of hybrid vehicle, in particular to a kind of hybrid vehicle operating mode control method.
Background technology
Parallel hybrid electric has pure motorized motions, pure electromotor to drive, the mode of operation such as driving, electromotor drive motor generating combined by motor with electromotor, in the process that system switches between these mode of operations, there is engine output torque and the situation of motor output torque sudden change, speed stability can be produced impact.At present, stability for regulation speed, usually by maintaining steadily realizing of hybrid power system output torque, namely the output torque of electromotor is estimated, then the torque regulating motor goes to compensate the fluctuation of motor torque, with the output torque smooth change that both realizations are total, thus meeting the stable demand to torque of speed, the drawback of this method is in that the influence factor of motor torque is extremely complex, it is difficulty with accurate estimation, the torque feedback of motor is also difficult to ensure that precisely consistent in actual applications, so, estimate by motor torque and the control method adaptability of motor torque feedback is poor, the needs of actual driving can not be met.
Summary of the invention
Present invention aim to overcome that above-mentioned the deficiencies in the prior art provide a kind of hybrid vehicle operating mode control method, this control method is by the order of accelerator pedal directly corresponding one-tenth driver's demand to speed, using the speed demand that meets representated by driver's accelerator pedal position as the target controlled, realize hybrid power system to export smoothly, maintain the stablizing of speed, it is to avoid the problem being difficult to accurate estimating engine output torque in prior art.
Realizing the object of the invention and employed technical scheme comprise that a kind of hybrid vehicle operating mode control method, the method includes:
The position of accelerator pedal is corresponding with certain speed, obtain the corresponding relation of pedal position and speed；
Calculate the current vehicle speed speed rate of change to target vehicle speed, calculate speed controlling increment according to described speed rate of change；
In hybrid vehicle work-mode switching process, engine throttle is according to the rate of change change set, and the speed governing order of motor is determined according to motor speed controlling increment.
In technique scheme, according to the pedal position variable quantity in the control cycle and pedal position rate, current vehicle speed and the pedal position preset and speed corresponding relation, calculate target vehicle speed through fuzzy reasoning and arrive the speed rate of change of target vehicle speed, and carrying out the speed controlling increment in each control cycle according to this vehicle speed variation rate.If the vehicle speed variation rate calculated is less than the threshold value set, then adopted vehicle speed variation rate that a upper control cycle obtains in this control cycle according to speed rate of change calculating speed controlling increment；If vehicle speed variation rate is more than the threshold value set, just carry out the speed controlling increment in each control cycle by this photograph speed rate of change calculated.
Further, according to the described speed controlling increment obtained, and the gear ratio of current shift and power train, calculate the rotating speed of target of motor and by the rate of change of current rotating speed to rotating speed of target；Or the rotating speed of target of electromotor and the rate of change by current rotating speed to rotating speed of target.
Further, according to battery status, accelerator pedal position, speed, operating mode information, calculate the target throttle value of electromotor, set engine throttle rate of change.Under the independent drive pattern of electromotor, aforesaid speed controlling increment determine control of engine speed increment in conjunction with gear ratio, determine the size of engine throttle controlled quentity controlled variable according to control of engine speed increment；
Further, in mode handover procedure, engine throttle changes according to the throttle rate of change of described setting when changing, the motor speed controlling increment that the speed governing order of motor is calculated by the relative speed variation of current rotating speed to rotating speed of target according to the described motor obtained is determined, target is that regulation speed follows the tracks of the target vehicle speed corresponding by accelerator pedal position.
Further, if under mode handover procedure or electromotor and motor cooperation pattern, controlling motor is carried out speed regulating control according to the throttle rate of change of described setting to engine throttle；If electromotor individually drives, the speed controlling increment that engine throttle variable quantity and rate of change obtain is determined.Due in normal driving and hybrid power system drives at pure electromotor electronic, pure, motor combines driving with electromotor, electromotor drive motor generates electricity in the process switched between isotype, the target that motor and engine power change control is to meet the speed demand representated by driver's accelerator pedal position, maintains stablizing of speed.The inventive method is without the output torque of estimating engine, the unification of the dynamic process control of system is arrived the stability to speed control, utilize the feature that rotating speed amount easily detects and feeds back, accelerator pedal order is directly construed to driver's demand to speed, the target controlled is to meet the speed demand representated by driver's accelerator pedal position, maintain stablizing of speed, solve parallel connection type hybrid power system to switch in mode of operation, smooth-going in shift of transmission process, without impulsive control problem, reduce the transient condition fluctuation of electromotor simultaneously, reduce instantaneous emission and oil consumption.
Hybrid vehicle is by the progressive formation that the process of current vehicle speed arrival target vehicle speed is a speed, target vehicle speed is obtained according to accelerator pedal position, target vehicle speed and current vehicle speed are subtracted each other and are obtained speed difference, this speed difference is not directly used for the size calculating motor speed control signal or electromotor execution signal, but according to accelerator pedal position rate of change, speed, battery and motor status, after fuzzy reasoning, obtain by the speed rate of change of current vehicle speed to target vehicle speed, speed controlling increment is calculated according to this speed rate of change in each control cycle, determine that motor speed control signal or electromotor perform the size of semaphore according to the speed controlling increment calculated.
The accelerator pedal position of driver is construed to the demand to dynamical system torque by traditional control method, what actual driver experienced at stepping on accelerator pedal is a kind of demand to speed, directly it is not concerned about the change of torque, the accelerator pedal order of driver is directly construed to the demand to speed be controlled, do not affect parallel hybrid electric speed under a certain regular worker's operation mode to control, and can greatly facilitate and ride comfort in mode handover procedure is controlled.
The inventive method is without accurately estimating the output torque of electromotor, what can keep that vehicle runs all the time is steady, particularly in the running stability in mode handover procedure and minimizing mechanical shock, improve the robustness of pattern switching control process and the comfortableness of driving.
Accompanying drawing explanation
Fig. 1 is the flow chart of hybrid vehicle operating mode control method of the present invention.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Step S1, parallel hybrid electric multi-energy controller read the attachment status such as accelerator pedal signal, current vehicle speed signal, shift signal, battery status information, motor status information, engine condition information, drive mode switching signal, brake pedal signal, air-conditioning switch.
Step S2, calculating current time relatively previous moment accelerator pedal position variable quantity and pedal position rate of change.
Step S3, according to the pedal position variable quantity in the control cycle and pedal position rate, current vehicle speed and the pedal position preset and speed corresponding relation, calculate target vehicle speed through fuzzy reasoning and arrive the speed rate of change of target vehicle speed, and carrying out the speed controlling increment in each control cycle according to this vehicle speed variation rate.If the vehicle speed variation rate calculated is less than the threshold value set, then adopted vehicle speed variation rate that a upper control cycle obtains in this control cycle according to speed rate of change calculating speed controlling increment；If vehicle speed variation rate is more than the threshold value set, just carry out the speed controlling increment in each control cycle by this photograph speed rate of change calculated.
Step S4, according to the speed controlling increment obtained in S3, and the gear ratio of current shift and power train, calculate the rotating speed of target of motor and by the rate of change of current rotating speed to rotating speed of target；Or the rotating speed of target of electromotor and by the rate of change (only needing under the independent drive pattern of electromotor) of current rotating speed to rotating speed of target.
Step S5, according to battery status, accelerator pedal position, speed, operating mode information, calculates the target throttle value of electromotor, sets engine throttle rate of change.Under the independent drive pattern of electromotor, aforesaid speed controlling increment determine control of engine speed increment in conjunction with gear ratio, determine the size of engine throttle controlled quentity controlled variable according to control of engine speed increment.
In mode handover procedure, according to the throttle rate of change change set in step S5 when engine throttle changes, the motor speed controlling increment that the speed governing order of motor is calculated by the relative speed variation of current rotating speed to rotating speed of target according to the motor obtained by S4 is determined, target is that regulation speed follows the tracks of the target vehicle speed corresponding by accelerator pedal position.
Step S6, if under mode handover procedure or electromotor and motor cooperation (comprise electromotor and motor combines driving and electromotor drive motor two kinds of situations of generating) pattern, controlling motor is carried out speed regulating control according to the throttle rate of change set in step S5 to engine throttle；If electromotor individually drives, the speed controlling increment that engine throttle variable quantity and rate of change are obtained by step S3 is determined.
The requirement of the speed demand of driver and the switching of hybrid power system mode of operation is disclosure satisfy that by above-mentioned steps.
Claims (3)
1. a hybrid vehicle operating mode control method, it is characterised in that including:
The position of accelerator pedal is corresponding with certain speed, obtain the corresponding relation of pedal position and speed；
Calculate the current vehicle speed speed rate of change to target vehicle speed, calculate speed controlling increment according to described speed rate of change；
According to the described speed controlling increment obtained, and the gear ratio of current shift and power train, calculate the rotating speed of target of motor and by the rate of change of current rotating speed to rotating speed of target；Or the rotating speed of target of electromotor and the rate of change by current rotating speed to rotating speed of target；
According to battery status, accelerator pedal position, speed, operating mode information, calculate the target throttle value of electromotor, set engine throttle rate of change；Under the independent drive pattern of electromotor, aforesaid speed controlling increment determine control of engine speed increment in conjunction with gear ratio, determine the size of engine throttle controlled quentity controlled variable according to control of engine speed increment；
In mode handover procedure, engine throttle changes according to the throttle rate of change of described setting when changing, the motor speed controlling increment that the speed governing order of motor is calculated by the relative speed variation of current rotating speed to rotating speed of target according to the described motor obtained is determined, target is that regulation speed follows the tracks of the target vehicle speed corresponding by accelerator pedal position；
In hybrid vehicle work-mode switching process, engine throttle is according to the throttle rate of change change set, and the speed governing order of motor is determined according to motor speed controlling increment.
2. hybrid vehicle operating mode control method according to claim 1, it is characterized in that: according to the pedal position variable quantity in the control cycle and pedal position rate, current vehicle speed and the pedal position preset and speed corresponding relation, calculate target vehicle speed through fuzzy reasoning and arrive the speed rate of change of target vehicle speed, and carrying out the calculating of the speed controlling increment in each control cycle according to this speed rate of change；If the vehicle speed variation rate calculated is less than the threshold value set, then adopted vehicle speed variation rate that a upper control cycle obtains in this control cycle according to speed rate of change calculating speed controlling increment；If vehicle speed variation rate is more than the threshold value set, just carry out the calculating of the speed controlling increment in each control cycle according to this speed rate of change calculated.
3. hybrid vehicle operating mode control method according to claim 1, it is characterized in that: if under mode handover procedure or electromotor and motor cooperation pattern, engine throttle is controlled according to the throttle rate of change of described setting, motor is carried out speed regulating control；If electromotor individually drives, engine throttle variable quantity and rate of change are determined by the speed controlling increment obtained.
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| CN201410292522.3A CN104139778B (en) | 2014-06-26 | 2014-06-26 | A kind of hybrid vehicle operating mode control method |
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| CN201410292522.3A CN104139778B (en) | 2014-06-26 | 2014-06-26 | A kind of hybrid vehicle operating mode control method |
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| CN104139778B true CN104139778B (en) | 2016-07-06 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104533634B (en) * | 2014-12-16 | 2017-06-13 | 中国南方航空工业(集团)有限公司 | Engine fuel controls speed change system |
| CN105774808B (en) * | 2014-12-19 | 2018-08-28 | 北京宝沃汽车有限公司 | A kind of control method and device of hybrid vehicle |
| CN104554239B (en) * | 2014-12-31 | 2017-09-19 | 郑州宇通客车股份有限公司 | A kind of APU control methods of gas-electricity power combined system |
| CN106143496B (en) * | 2015-04-09 | 2018-11-30 | 大陆汽车电子(长春)有限公司 | ECO driving condition identifying system and method |
| GB2546767B (en) * | 2016-01-28 | 2018-11-07 | Jaguar Land Rover Ltd | Vehicle speed control system and method |
| CN106828502B (en) * | 2016-12-30 | 2020-06-26 | 中国第一汽车股份有限公司 | Method for identifying bad driving behavior of automobile driver when stepping on accelerator |
| CN109677410B (en) * | 2017-10-18 | 2022-11-25 | 宇通客车股份有限公司 | Vehicle self-adaptive control method and system |
| CN111016907B (en) * | 2019-09-30 | 2024-04-09 | 苏州益高电动车辆制造有限公司 | Hybrid electric vehicle, control method, computer device, and readable storage medium |
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| CN103171548A (en) * | 2011-12-26 | 2013-06-26 | 现代自动车株式会社 | Technique for controlling transition between ev mode and hev mode in hybrid vehicle |
| CN103183024A (en) * | 2011-12-31 | 2013-07-03 | 上海汽车集团股份有限公司 | Mode switching torque control method of hybrid power vehicle |
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| US8290681B2 (en) * | 2007-10-29 | 2012-10-16 | GM Global Technology Operations LLC | Method and apparatus to produce a smooth input speed profile in mode for a hybrid powertrain system |
| JP6115022B2 (en) * | 2012-04-19 | 2017-04-19 | 日産自動車株式会社 | Vehicle control device |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103171548A (en) * | 2011-12-26 | 2013-06-26 | 现代自动车株式会社 | Technique for controlling transition between ev mode and hev mode in hybrid vehicle |
| CN103183024A (en) * | 2011-12-31 | 2013-07-03 | 上海汽车集团股份有限公司 | Mode switching torque control method of hybrid power vehicle |
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