CN105392682A - 用于混合动力车辆的控制系统 - Google Patents

用于混合动力车辆的控制系统 Download PDF

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Publication number
CN105392682A
CN105392682A CN201480040968.5A CN201480040968A CN105392682A CN 105392682 A CN105392682 A CN 105392682A CN 201480040968 A CN201480040968 A CN 201480040968A CN 105392682 A CN105392682 A CN 105392682A
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China
Prior art keywords
motor
power
transfer clutch
moment
driving engine
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Pending
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CN201480040968.5A
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English (en)
Inventor
畑建正
舟桥真
岩濑雄二
铃木阳介
北畠弘达
信安清太郎
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Toyota Motor Corp
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Toyota Motor Corp
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Publication of CN105392682A publication Critical patent/CN105392682A/zh
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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
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/40—Controlling the engagement or disengagement of prime movers, e.g. for transition between prime movers
    • 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
    • B60K6/22—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 apparatus, components or means specially adapted for HEVs
    • B60K6/26—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 apparatus, components or means specially adapted for HEVs characterised by the motors or the generators
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    • 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
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    • B60K6/22—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 apparatus, components or means specially adapted for HEVs
    • B60K6/38—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 apparatus, components or means specially adapted for HEVs characterised by the driveline clutches
    • B60K6/387—Actuated clutches, i.e. clutches engaged or disengaged by electric, hydraulic or mechanical actuating means
    • 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
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    • B60K6/442—Series-parallel switching type
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
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    • 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
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Abstract

一种混合动力车辆的控制系统，在所述混合动力车辆中，用于行驶的驱动动力源包括通过曲柄转动被启动的发动机、能够控制扭矩的电机以及与所述电机耦合并且变速器扭矩容量根据控制量的变化连续地改变的离合器，所述控制系统被配置为在所述电机输出的所述扭矩由处于滑动状态的所述离合器通过改变所述控制量来传送时，基于所述电机输出的所述扭矩以及通过改变所述控制量而引起的所述电机和所述离合器的旋转速度的变化率来估计(步骤S2和S3)所述离合器的扭矩。

Description

用于混合动力车辆的控制系统
技术领域
本发明涉及用于包括发动机和电机或电动发电机作为驱动动力源的混合动力车辆的控制设备，具体地，涉及一种用于被配置为使得发动机能够与驱动力的变速器系统断开的混合动力车辆的控制系统。
背景技术
包括电机或电动发电机(在下文中，这些在一些情况下被用块描述为电机)和发动机两者作为动力源的混合动力车辆具有各种优点，使得发动机能够在停止期间停止(空转停止)，能够在减速期间通过电机来再生能量，进一步地能够在能量效率方面极好的操作点处操作发动机。具体地，当电机行驶时间延长时，能够增加作为整个车辆的燃料消耗的改进效果。这是因为，在电机行驶的情况下，发动机停止而不消耗燃料。在这种情况下，为了减小由于发动机的共转而导致的动力损失，优先使发动机与输出驱动力以便行驶的电机或将驱动力传送到车轮的动力变速器系统断开。当设置了用于使发动机分离的这种离合器时，在电机行驶的情况下，能够选择使得发动机停止或留给行驶的操作模式。在日本专利申请公开No.08-295140(JP08-295140A)中公开了设置有用于使发动机分离的离合器的这种混合动力车辆。
根据对其构造的简单描述，在设置有如行星齿轮系统一样的三个旋转元件的差速机构中，电机器与第一旋转元件耦合，第二旋转元件被设定为输出元件，进一步地第三旋转元件与制动设备耦合。发动机经由离合器与第三旋转元件耦合。另外，电机与第二旋转元件耦合。因此，根据JP08-295140A中所描述的构造，通过发动机或制动装置使第三旋转元件固定，差速机构用作减速器或加速器。因此，通过将与第一旋转元件耦合的电机器作为电机进行操作，能够将其扭矩传送到输出元件。也就是说，通过从电机器和电机输出的动力行驶成为可能。另外，当与第三旋转元件啮合的单向离合器在扭矩在使第三旋转元件的旋转倒转并使第三旋转元件固定的方向上工作时被用作制动设备时，在电机行驶期间不依赖发动机的情况下，能够通过单向离合器来使第三旋转元件固定，并且进一步地，能够使离合器与第三旋转元件断开，因此，发动机能够被保持驱动或停止。
另外，日本专利申请公开No.2010-215097(JP2010-215097A)公开了一种包括产生驱动力的电机以及经由离合器与该电机耦合的发动机的混合动力车辆。根据JP2010-215097A中所描述的车辆，电机旋转速度和目标离合器扭矩被设定为使得离合器在达到目标滑动状态之后成为预定滑动状态，目标离合器扭矩基于目标离合器扭矩与电机扭矩之间的差被校正。更具体地，电机的旋转速度被设定为用于启动发动机的旋转速度，并且离合器的目标扭矩被设定为要成为预定滑动状态的扭矩。在这种状态下，目标离合器扭矩被校正，使得电机旋转速度与发动机速度之间的偏差成为预定值或更小值。然后，在这种控制的过程中记忆的电机扭矩与在控制开始之前被设定的扭矩之间的差被记忆，并且，在下一次及其后的控制中，所述差被添加到设定值并且设定值被校正。
另外，日本专利申请公开No.2005-273761(JP2005-273761A)公开了一种混合动力驱动设备的控制设备，所述混合动力驱动设备被配置为使得发动机速度和第一电动发电机经由差速机构耦合、输出轴与差速机构的输出元件耦合并且第二电动发电机经由能够执行两级速度变化的变速器机构耦合，所述第一电动发电机被用作电机并且发动机速度被控制到在燃料消耗方面极好的速度，以及伴随此产生的电力被供应给第二电动发电机，并且这个被用作电机。然后，JP2005-273761A中所描述的控制设备被配置为基于离合器的用于使第二电动发电机的旋转速度维持在预定值下的扭矩和油压来学习被提供给变速器机构的扭矩容量与摩擦啮合设备的啮合控制量之间的关系。
接下来，日本专利申请公开No.2001-112118(JP2001-112118A)公开了一种包括经由由差速机构组成的动力分配机构来耦合发动机和电机并且使动力分配机构的输出元件固定的制动器、使电机与变速器的输入轴耦合的第一离合器、以及使输出元件与变速器的输入轴耦合的第二离合器的混合动力驱动车辆。根据这个JP2001-112118A中所描述的设备，变速器在逐渐增加第二离合器的油压的过程中的输入扭矩是基于电机扭矩和第二离合器的变速器扭矩容量来估计的。
发明内容
当离合器如JP08-295140A中所描述的那样被设置在发动机与电机之间时，能够设定各种操作状态。然而，如果扭矩或旋转速度在夹住离合器的两侧之间不同，则当离合器被啮合或释放时，离合器的扭矩未必成为预定扭矩，因此，可能产生由此引起的扭矩波动或震动，或者NV特性(噪声或振动的特性)可能降级。
另一方面，在JP2010-215097A中所描述的设备中，因为目标离合器扭矩被校正，所以能够抑制当使离合器啮合或释放时的扭矩波动。然而，JP2010-215097A中所描述的构造是这样的构造，即，在该构造中，目标离合器扭矩通过使电机旋转速度维持在设定预定滑动状态的旋转速度下被校正，另一方面，当离合器被啮合或释放时，例如，在车辆正在行驶的状态下，因为电机的旋转速度波动，所以不考虑与这种旋转速度波动相关联的扭矩。因此，在离合器扭矩的控制中产生误差，这引起震动或使人不愉快的感觉，或者NV特性可能降级。因为JP2005-273761A中所描述的设备以与JP2010-215097A中所描述的设备相同的方式学习在旋转速度被维持的状态下电机扭矩与离合器控制的量之间的关系，所以存在与JP2010-215097A中所描述的设备中的问题相同的问题。
接下来，JP2001-112118A中所描述的设备是一种被配置为估计从具有摩擦啮合设备的动力分配机构输入到变速器的扭矩、并且基于电机扭矩和离合器的扭矩容量估计该扭矩的设备。然而，当不能够检测或估计离合器的扭矩容量时，结果，不能够准确地估计输入扭矩。
本发明提供了能够通过准确地估计离合器在被包含在混合动力车辆的驱动动力源中的电机和发动机被耦合或者其耦合由离合器释放时的扭矩来在发动机被启动时避开或者抑制震动或使人不愉快的感觉的控制系统。
本发明的第一方面涉及用于混合动力车辆的控制系统。所述控制系统包括驱动动力源和电子控制单元。驱动动力源驱动混合动力车辆。驱动动力源包括电机、发动机和离合器。电机被配置为输出扭矩。发动机被配置为通过被所述电机进行曲柄转动来启动。离合器与电机耦合。离合器被配置为使得离合器的扭矩容量根据控制量的变化连续地改变。电子控制单元被配置为当通过改变所述控制量来将所述电机输出的所述扭矩经由处于滑动状态下的所述离合器传送到所述发动机时，基于所述电机输出的所述扭矩来估计所述离合器的扭矩，基于所述控制量的变化来估计所述电机的旋转速度的变化率，并且基于所述控制量的所述变化来估计在所述离合器的电机侧上的构件的旋转速度的变化率。
本发明的第二方面涉及用于混合动力车辆的控制系统。所述控制系统包括驱动动力源和电子控制单元。驱动动力源驱动混合动力车辆。驱动动力源包括电机、发动机和离合器。电机被配置为输出扭矩。发动机被配置为通过被所述电机进行曲柄转动来启动。发动机和电机经由离合器耦合，并且离合器被配置为使得离合器的扭矩容量根据控制量的变化连续地改变。电子控制单元被配置为当将所述扭矩从所述电机经由处于滑动状态下的所述离合器传送到所述发动机从而对所述发动机进行曲柄转动以使得发动机速度增加时，基于所述电机输出的所述扭矩来估计所述离合器的扭矩，基于所述发动机速度的增加来估计所述电机的旋转速度的变化率，并且基于所述发动机速度的所述增加来估计在所述离合器的电机侧上的构件的旋转速度的变化率。
根据上面所描述的控制系统，电机可以包括具有发电功能的第一电机。上面所描述的控制系统还可以包括差速机构和第二电机。差速机构可以被配置为至少通过第一旋转元件、第二旋转元件和第三旋转元件来执行差速操作。第一电机可以与第一旋转元件耦合。发动机可以与第二旋转元件耦合。第三旋转元件可以被配置为向车轮传送驱动力。第二电机可以与第三旋转元件耦合。
根据上面所描述的控制系统，电动控制单元可以被配置为当通过所述第一电机来对所述发动机进行曲柄转动以使得所述发动机在所述车轮被制动并且所述第三旋转元件的旋转停止的状态下被启动时，估计所述离合器的所述扭矩。
根据上面所描述的控制系统，电子控制单元可以被配置为使得当对所述离合器的所述扭矩进行估计时的所述第二电机的输出成为满足对于所述混合动力车辆的请求输出的输出。
根据本发明，在使离合器滑动的过程中估计离合器扭矩以改变其啮合状态，具体地，基于该过程中的电机扭矩以及电机和离合器的旋转速度的变化率来估计离合器扭矩。因此，因为估计值是考虑了由于旋转速度的波动而导致的惯性扭矩的扭矩，所以离合器扭矩的估计准确性变高。结果，例如，在通过利用电机曲柄转动来启动发动机的过程中，能够避开或者抑制使得离合器扭矩波动、伴随波动驱动扭矩波动并且产生震动或者NV特性降级的情形。具体地，在发动机在曲柄转动由电机引起时启动时，在输出相对较小并且诸如发动机扭矩的脉动的干扰的影响小的状态下估计离合器扭矩，因此，能够改进离合器扭矩的估计准确性。另外，在利用电机的驱动力进行驱动时，当电机与发动机之间的离合器被释放时，能够按照期望释放离合器，因此，能够避开或者抑制驱动扭矩波动超过预期，伴随其的震动或NV特性降级，以及进一步地电力被不必要地消耗。
具体地，当被配置为在车轮被制动并且混合动力车辆停止的状态下估计上面所描述的离合器扭矩时，尽管用于估计的反作用力扭矩被施加在输出元件上，但是能够抑制或者避开使得驱动扭矩通过执行制动而波动并且伴随这个产生震动的情形。
附图说明
将在下面参考附图描述本发明的示例性实施例的特征、优点以及技术和工业重要性，附图中相同的标记表示相同的元件，并且其中：
图1是描述在根据本发明的控制设备中执行的控制的示例的流程图；
图2是示出发动机由第一电动发电机曲柄转动的状态的列线图；
图3是示出定义了离合器的操作量与扭矩之间的关系的图的示例的示意图；
图4是示出本发明能够应用于的混合动力车辆的齿轮系的示例的概略图；
图5是用块记录每个行驶模式以及离合器的啮合和释放的状态的图表；
图6是描述在每个行驶模式下的操作状态的列线图；
图7是示出本发明能够应用于的混合动力车辆的动力系的另一示例的框图；以及
图8是示出本发明能够应用于的混合动力车辆的动力系的又一个示例的框图。
具体实施方式
本发明是涉及包括发动机和电机或电动发电机(在下文中，这些在一些情况下被用块描述为电机)作为驱动动力源的混合动力车辆的控制的系统。在这种车辆中，除通过发动机行驶以及通过发动机和电机行驶之外，能够执行仅使用电机的这种行驶或能量由电机再生期间的行驶，另外，在通过电机行驶期间，能够采用使得发动机停止并且发动机被重新启动的驱动形式。在电机被用作驱动动力源期间的所谓的EV行驶中，优先抑制由于发动机的共转而导致的动力损失，另外，在设置有多个电机并且其任何电机被用来行驶的EV行驶的情况下，优先减小由于不仅发动机而且未输出动力的电机的共转而导致的动力损失。根据这种要求，在一些情况下，设置了使发动机与向驱动车轮传送动力的动力变速器系统断开的离合器，本发明被应用于以设置有这种离合器的混合动力车辆作为目标的控制系统。
在图4中，示意性地示出了包括上面描述的离合器的混合动力车辆中的齿轮系的示例。这里所示的示例是被配置为使得在由发动机(ENG)1输出的动力的一部分通过机械装置被传送到驱动车轮2的同时由发动机1输出的动力的另一部分在一旦被转换成电动力之后被相反地转换为机械动力并传送到驱动车轮2的示例。设置了分配发动机1如此输出的动力的动力分配机构3。动力分配机构3具有与常规的两电机型混合动力驱动设备中的动力分配机构的构造相同的构造，并且，图4所示的示例被构造有通过，例如，单小齿轮型行星齿轮机构的三个旋转元件来产生差速操作的差速机构。单小齿轮型行星齿轮机构被构造有太阳齿轮4、相对于太阳齿轮4设置在同心圆上的环形齿轮5、以及保持使得与这些太阳齿轮4和环形齿轮5啮合的小齿轮能够旋转并回转的载架6。
载架6是输入元件并且输入轴7与载架6耦合。另外，在输入轴7与发动机1的输出轴(曲柄轴)8之间，设置了离合器K0。离合器K0使发动机1与诸如动力分配机构3的动力变速器系统9耦合，或者与动力变速器系统9断开，并且由在变速器扭矩容量被完全释放的状态“0”与无滑动的完全啮合状态之间连续地变化的摩擦离合器来构造。摩擦离合器可以是常规的干式离合器和湿式离合器中的任一个，并且可以是单板型和多板型中的任一种。另外，切换到啮合状态和释放状态的致动器可以是油压型致动器和电磁致动器。在例如已在常规车辆中采用的干式单板离合器的情况下，当致动器被置于不操作状态中时，通过诸如膜片弹簧的所谓的返回机构来维持啮合状态。因此，离合器K0的变速器扭矩容量根据用于使离合器K0啮合或释放的致动器的操作的量而变化并在两者之间保持相关关系。更具体地，在致动器的油压或电流值或冲程量与变速器扭矩容量之间存在几乎成比例的关系，因此，变速器扭矩容量被提前确定为诸如致动器的冲程量或油压的操作量的值，并且能够被以图的形式加以准备。当摩擦系数随着时间而变化时，变速器扭矩容量与操作量之间的关系变化。
另外，太阳齿轮4是反作用力元件并且第一电动发电机(MG1)10与太阳齿轮4耦合。第一电动发电机10实质上是具有发电功能的电机，并且由永磁同步电机器等构造。另外，环形齿轮5是输出元件，作为输出构件的输出齿轮11与环形齿轮5集成，并且从输出齿轮11向驱动车轮2输出驱动力。用于将驱动力从输出齿轮11传送到驱动车轮2的机构包括差速齿轮或驱动轴。因为这些与常规车辆相同，所以省略其详细描述。
上面所描述的发动机1、动力分配机构3和第一电动发电机10被设置在同一轴线上，并且在所述轴线的延伸上，设置了第二电动发电机12。第二电动发电机12产生用于行驶的驱动力并再生能量，并且由永磁同步电机器以与第一电动发电机10相同的方式构造。第二电动发电机12和输出齿轮11经由减速机构13耦合。在图4所示的示例中，减速机构13由单小齿轮型行星齿轮机构来构造，第二电动发电机12与太阳齿轮14耦合，载架15与诸如外壳的固定构件16耦合并固定，并且环形齿轮17与输出齿轮11集成。
上面所描述的电动发电机10和电动发电机12中的每一个电连接到包括电存储设备和逆变器的控制器18。设置了用于电动发电机以便控制控制器18的电子控制单元(MG-ECU)19。电子控制单元19被配置为主要由微处理器形成，基于输入的数据和记忆的数据或命令信号等来执行计算，并且将计算的结果输出给控制器18作为控制命令信号。电动发电机10和电动发电机12中的每一个被配置为通过来自控制器18的控制信号来被用作电机或电机，并且扭矩在每种情况下被控制。
上面所描述的发动机1被配置为电控制输出并启动和停止。在汽油发动机的情况下，例如，风门开度、燃料供应量、燃料供应的停止、点火的执行和停止以及点火定时被配置为被电控制。设置了用于发动机以便执行控制的电子控制单元(E/G-ECU)20。电子控制单元20被配置为主要由微处理器组成，基于输入的数据或命令信号来执行计算，将计算的结果输出给发动机1作为控制信号，并且执行上面所描述的各种控制。
上面所描述的发动机1、相应的电动发电机10和电动发电机12、离合器K0以及动力分配机构3构成驱动动力源21，并且设置了控制驱动动力源21的针对混合动力的电子控制单元(HV-ECU)22。电子控制单元22被配置为主要由微处理器组成，向上面所描述的用于电动发电机的电子控制单元19或用于发动机的电子控制单元20输出命令信号，并且执行在下面所描述的各种控制。
在图4所示的混合动力驱动系统中，能够设定车辆通过发动机1的动力行驶的混合动力(HV)模式以及车辆通过电力行驶的电动车辆(EV)模式，进一步地，作为EV模式，能够设定发动机1与动力变速器系统9断开的断开EV模式以及发动机1和动力变速器系统9被耦合的正常EV模式。上面所描述的离合器K0在这些相应的模式被设定时的啮合和释放被用块示出在图5中。也就是说，在断开EV模式下，离合器K0被释放，相反，在正常EV模式和HV模式下，离合器K0被啮合。这些行驶模式是根据车辆的行驶状态(诸如例如加速器开度、车辆速度以及电存储设备的充电量(SOC：充电状态)的驱动请求量)而选择的。例如，当车辆在某种程度上高速行驶并且加速器位置在某种程度上大到维持车辆速度时，HV模式被设定。另一方面，在SOC足够大并且加速器位置相对较小的情况下，或者在自动地停止的发动机1被重新启动是高度可能的行驶状态的情况下，正常EV模式被设定。另外，在例如通过驾驶员的手动操作选择了EV模式或者行驶仅通过电力是可能的、并且有必要通过第一电动发电机10的共转来抑制动力损失的情况下，断开EV模式被选择。
这里，将简要地描述混合动力驱动系统在这些行驶模式中的每一个模式下的操作状态。图6是上面所描述的动力分配机构3的列线图，该列线图利用垂直线示出太阳齿轮4、载架6和环形齿轮5中的每一个，其分离被设定为与形成动力分配机构3的行星齿轮机构的齿轮比对应的分离，另外，垂直线中的每一条的垂直方向被设定为旋转方向并且在垂直方向上的位置被设定为旋转速度。在图6中被描述为“断开”的线示出在断开EV模式下的操作状态，在这个行驶模式下，第二电动发电机12被用作电机并且车辆通过其动力行驶，发动机1通过释放离合器K0与动力变速器系统9断开而停止，另外，第一发动机10也停止。因此，太阳齿轮4的旋转停止，环形齿轮5必定相对于其与输出齿轮11一起旋转，并且载架6必定以根据行星齿轮机构相对于环形齿轮5的旋转速度的齿轮比而减速的旋转速度旋转。
另外，在图6中被描述为“正常”的线示出在正常EV模式下的操作状态，在这个行驶模式下，因为车辆通过第二电动发电机12的动力行驶并且发动机1停止，所以在载架6被固定的状态下，环形齿轮5必定旋转并且太阳齿轮4向后旋转。在这种情况下，还能够使第一电动发电机10用作电机器。另外，在图6中被描述为“HV”的线示出在HV模式下的行驶状态，因为在离合器K0被啮合的状态下，发动机1输出驱动力，扭矩在必定使载架6旋转的方向上起作用。在这种状态下，当第一电动发电机10被用作电机器时，扭矩在使旋转倒转的方向上作用于太阳齿轮4上。结果，在必定使环形齿轮5旋转的方向上的扭矩出现。另外，在这种情况下，由第一电动发电机10产生的电力被供应给第二电动发电机12并且第二电动发电机12用作电机，以及该驱动力被传送到输出齿轮11。因此，在HV模式下，从发动机1输出的动力的一部分经由动力分配机构3被传送到输出齿轮11，并且，剩余动力在由第一电动发电机10转换成电力并传送到第二电动发电机12之后被再转换成机械动力并且从第二电动发电机12传送到输出齿轮11。在所有行驶模式中，当例如在减速期间无需主动地输出驱动力时，电动发电机10和电动发电机12中的任一个被用作电机器并且能量被再生。
如上所述，作为本发明的目标的混合动力车辆能够通过释放离合器K0通过电力行驶，另外，在电存储设备的SOC减少的情况下或者在所请求的驱动力增加的情况下，发动机1被启动并且其动力经由离合器K0被传送到动力变速器系统9。伴随行驶模式如此地切换，离合器K0被释放或啮合，并且扭矩在离合器被啮合和释放时改变。扭矩的变化大大地受离合器K0的变速器扭矩容量的变化影响。因此，根据本发明的控制系统被配置为估计离合器K0的变速器扭矩容量(在一些情况下被称为“离合器扭矩”)并且通过利用估计结果来执行离合器K0的啮合控制或释放控制。这是因为经由离合器K0传送的扭矩被控制以便平滑地改变并且由此避开或者抑制震动或不舒适的感觉。
图1是用于描述在根据本发明的控制系统中执行的离合器扭矩的估计控制的示例的流程图。这个例行程序在混合动力车辆的主开关被接通时被重复地执行，或者每当满足预定条件时被执行。可以按需适当地确定预定条件，该条件可以是例如主开关被接通，达到了预定行驶距离，预定定义时间已经过去，或者驱动车轮2的旋转通过制动操作而停止并且车辆停止。
在图1中，首先，确定离合器K0的啮合操作或其释放操作是否被执行(步骤S1)。在因为不满足使离合器K0从释放状态切换到啮合状态的确定或者相反从啮合状态切换到释放状态的确定的情况下，不执行离合器K0的切换操作，在步骤S1中执行否定确定，在这种情况下，在无需特别控制的情况下，图1的例行程序就停止。也就是说，例行程序进行到返回。相反，当满足是啮合或释放离合器K0的确定并且其切换操作被启动时，在步骤S1中执行肯定确定。能够基于上面所描述的针对混合动力的电子控制单元22向离合器K0输出的控制命令信号来执行步骤S1的确定。
当在步骤S1中肯定地确定时，基于第一电动发电机10的扭矩和旋转速度等的变化来计算(估计)离合器扭矩(步骤S2)。离合器K0在混合动力车辆的主开关被接通的状态下被啮合或释放主要在于启动发动机1或停止发动机1，即，第一电动发电机10被控制为使得发动机1的速度可以是目标速度。当发动机1被启动的情况作为其示例被描述时，图2是与上面所描述的图6中的列线图相同的列线图，示出了通过停止发动机1并通过释放离合器K0发动机1与动力变速器系统9断开、在这种状态下当车辆通过第二电动发电机12的动力行驶时、发动机1由第一电动发电机10曲柄转动的示例。
在离合器K0被释放的状态下，因为扭矩未被特别施加到第一电动发电机10，所以第一电动发电机10被例如齿槽(cogging)扭矩停止。然而，当离合器K0开始具有变速器扭矩容量时，在使旋转倒转的方向上的扭矩被施加在第一电动发电机10上。当第一电动发电机10在这种状态下在正常旋转的方向上输出扭矩时，伴随离合器K0的滑动，第一电动发电机10的旋转速度改变了预定量ΔNmgl。另外，与离合器K0的变速器扭矩容量对应的扭矩被施加在发动机1上，并且通过扭矩曲柄转动，其旋转速度增加。与离合器K0这时的操作量对应的扭矩(离合器扭矩)Tclutch由以下公式表示。
Tclutch＝Tmgl×Gmgl-Imgl×ΔMmgl×Gmgl-Iclutch×ΔNcluttch
在此，Tmgl表示第一电动发电机10的扭矩并且能够从电流值获得。Imgl表示第一电动发电机10的惯性矩并且能够被提前获得。ΔNmgl表示第一电动发电机10的旋转速度变化率(角加速度)并且能够基于例如由并入第一电动发电机10的分解器(附图中未示出)所检测到的旋转速度来获得。Gmgl表示第一电动发电机10与离合器K0之间的齿轮比。Iclutch表示离合器K0的惯性矩，其是包括离合器K0中在第一电动发电机10侧上的构件、输入轴7以及随其在一个主体中旋转的载架6的惯性矩，并且ΔNclutch表示离合器K0的旋转速度变化率(角加速度)，其是包括离合器K0中在第一电动发电机10侧上的构件、输入轴7以及随其在一个主体中旋转的载架6的旋转速度变化率。
当以提前确定的预定操作量啮合或释放离合器K0时，第一电动发电机10以及离合器K0中在第一电动发电机10侧上的构件的旋转速度改变，并且与相应的惯性矩和旋转速度变化率对应的扭矩被消耗。通过将第一电动发电机10的输出扭矩减去在上面所描述的旋转速度变化中消耗的扭矩而获得的扭矩利用以预定操作量啮合或释放的离合器K0的变速器扭矩容量而平衡。
利用如此获得的离合器扭矩Tclutch，其中对应于操作量的扭矩被确定的图得以校正(步骤S3)，其后，例行程序进行到返回。所述图能够如例如图3所示的那样被表示为具有诸如致动器在水平轴上的操作冲程量或油压以及在垂直轴上的离合器扭矩的控制量(操作量)的线图。图3所示的示例是具有与在上面安装有手动变速器的车辆中使用的干式离合器相同的结构的离合器的图。在操作量为“0”或者等于或小于预定量的状态下，离合器在所谓的完全啮合中，并且与摩擦系数、摩擦材料的直径以及通过回位弹簧的压紧力对应的离合器扭矩被维持。当操作量增加至某种程度时，因为通过回位弹簧的压紧力减小，所以离合器扭矩逐渐降低至为扭矩伴随滑动被传送的半离合器状态。并且，最后，达到了所谓的完全释放状态，即，扭矩未被传送。因为摩擦离合器的变速器扭矩容量由摩擦系数和摩擦材料的半径、摩擦表面的数量以及压紧力(摩擦表面的接触压力)等来确定，所以能够提前确定摩擦离合器的图。在上面所描述的步骤S3中，提前准备的图如上面所描述的那样被校正。在图3中，当图伴随例如摩擦系数的降低而被校正时的情况的示例用虚线示出。
在如这样校正的图中，通过按由摩擦系数引起的误差的时间变化取得回位弹簧的弹力以及执行啮合操作和释放操作的机构的磨损，离合器扭矩相对于操作量的变化被校正。具体地，因为对诸如确定离合器K0的操作量与变速器扭矩容量之间的关系的图的数据进行校正的离合器扭矩Tclutch包括在按预定操作量操作期间在上面所描述的旋转速度变化中消耗的扭矩，所以尽管这个不是被直接检测到的离合器K0的变速器扭矩容量，但是它是接近实际的变速器扭矩容量并具有高准确性的扭矩。也就是说，根据本发明的上面所描述的控制，能够高度准确地估计离合器K0的变速器扭矩容量。因此，在离合器K0被啮合以在具有上面所描述的图4所示的齿轮系的混合动力车辆中启动发动机1的情况下，或者在离合器K0被释放以使发动机1与动力变速器系统9断开的情况下，当基于如上面所描述的那样校正的图来控制离合器K0时，通过抑制扭矩的迅速变化，能够防止或者抑制震动或不舒适的感觉。另外，另一方面，能够抑制扭矩不足以及由此引起的离合器K0的过度滑动。
当在上面所描述的步骤S1中确定是否定的时，即，离合器K0的啮合或释放的操作尚未被执行或未被执行，在无需特别执行控制的情况下，图1的例行程序就停止。也就是说，例行程序进行到返回。
现在，如从图2所示的列线图知道的，当发动机1在通过第二电动发电机12行驶的状态下由第一电动发电机10曲柄转动时，在减小驱动力的方向上的扭矩对作为输出元件的环形齿轮5或与其集成的输出齿轮11起作用。通过增加第二电动发电机12的输出扭矩以便克服所述扭矩，能够抑制混合动力车辆的驱动扭矩改变。另一方面，在混合动力车辆中，当电存储设备的充电容量(SOC)成为预定参考容量或更少容量时，发动机1例如驱动第一电动发电机10以发电并对电存储设备充电。这种发电和充电被优选地执行，以便不对用于使混合动力车辆行驶的驱动力造成影响。为此，在驱动车轮2被制动并且混合动力车辆停止的状态下，发动机1在一些情况下被启动以用于发电。这种操作在一些情况下被称作“P充电”，在那种情况下，尽管伴随发动机1的启动的反作用力扭矩被施加在输出齿轮11上，但是因为车辆被制动，所以几乎不产生震动或振动。根据本发明的离合器扭矩的估计或诸如图的数据基于该估计的结果的校正在发动机1通过这种所谓的P充电来启动时被优选地执行。这是因为能够使伴随离合器扭矩的估计的其它控制变得更少。
本发明能够被应用于在混合动力车辆中估计传送电机的扭矩的离合器的变速器扭矩容量并且基于估计结果来校正离合器的操作量与扭矩之间的关系的设备，而不限于上面所描述的特定示例。利用如例如图7所示的那样包括发动机(ENG)100和电动发电机101由离合器K10耦合并且变速器(T/M)102被耦合在电动发电机(MG)101的输出侧的动力系的混合动力车辆作为目标，可以基于电动发电机101的扭矩或其旋转速度在离合器K10被啮合或释放时的变化率来估计离合器扭矩。替换地，利用如图8所示的那样第一电动发电机(MG)111被耦合在发动机(ENG)110的输出侧并且第二电动发电机(MG)112经由离合器K20与第一电动发电机(MG)111耦合以及变速器(TM)113被耦合在第二电动发电机112的输出侧的混合动力车辆作为目标，可以基于电动发电机111(或112)的扭矩或其旋转速度在离合器K20被啮合或释放时的变化率来估计离合器扭矩。

Claims (5)

1.一种用于混合动力车辆的控制系统，所述控制系统包括：
驱动动力源，所述驱动动力源被配置为使所述混合动力车辆行驶，所述驱动动力源包括电机、发动机和离合器，所述电机被配置为输出扭矩，所述发动机被配置为通过被所述电机进行曲柄转动来启动，所述离合器与所述电机耦合，并且所述离合器被配置为使得所述离合器的扭矩容量基于控制量的变化而连续地改变；以及
电子控制单元，所述电子控制单元被配置为：当通过改变所述控制量来将所述电机输出的所述扭矩经由处于滑动状态下的所述离合器传送到所述发动机时，基于所述电机输出的所述扭矩来估计所述离合器的扭矩，基于所述控制量的变化来估计所述电机的旋转速度的变化率，并且基于所述控制量的所述变化来估计在所述离合器的电机侧上的构件的旋转速度的变化率。
2.一种用于混合动力车辆的控制系统，所述控制系统包括：
驱动动力源，所述驱动动力源被配置为使所述混合动力车辆行驶，所述驱动动力源包括电机、发动机和离合器，所述电机被配置为输出扭矩，所述发动机被配置为通过被所述电机进行曲柄转动来启动，所述发动机经由所述离合器与所述电机耦合，并且所述离合器被配置为使得所述离合器的扭矩容量基于控制量的变化而连续地改变；以及
电子控制单元，所述电子控制单元被配置为：当将所述扭矩从所述电机经由处于滑动状态下的所述离合器传送到所述发动机从而对所述发动机进行曲柄转动以使得发动机速度增加时，基于所述电机输出的所述扭矩来估计所述离合器的扭矩，基于所述发动机速度的增加来估计所述电机的旋转速度的变化率，并且基于所述发动机速度的所述增加来估计在所述离合器的电机侧上的构件的旋转速度的变化率。
3.根据权利要求1或2所述的控制系统，其中，所述电机包括具有发电功能的第一电机，
所述控制系统还包括：
差速机构，所述差速机构被配置为至少通过第一旋转元件、第二旋转元件和第三旋转元件来执行差速操作；以及
第二电机，
其中，所述第一电机与所述第一旋转元件耦合；
所述发动机与所述第二旋转元件耦合；
所述第三旋转元件被配置为向车轮传送驱动力；并且
所述第三旋转元件与所述第二电机耦合。
4.根据权利要求3所述的控制系统，其中，
所述电子控制单元被配置为：当通过所述第一电机来对所述发动机进行曲柄转动以使得所述发动机在所述车轮被制动并且所述第三旋转元件的旋转停止的状态下被启动时，估计所述离合器的所述扭矩。
5.根据权利要求3或4所述的控制系统，其中，
所述电子控制单元被配置为：使得当对所述离合器的所述扭矩进行估计时的所述第二电机的输出成为满足对于所述混合动力车辆的请求输出的输出。
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CN107539305B (zh) * 2017-08-25 2019-06-14 吉林大学 一种行星式混联混合动力系统的动态扭矩协调控制方法
CN111692239A (zh) * 2019-03-12 2020-09-22 现代自动车株式会社 具有无级变速器的车辆控制系统和控制方法
CN110126606A (zh) * 2019-05-20 2019-08-16 湘潭大学 一种高效的混合动力汽车动力总成装置

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