CN105480223B - 用于运行动力总成系统的方法和控制装置 - Google Patents

用于运行动力总成系统的方法和控制装置 Download PDF

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Publication number
CN105480223B
CN105480223B CN201510638920.0A CN201510638920A CN105480223B CN 105480223 B CN105480223 B CN 105480223B CN 201510638920 A CN201510638920 A CN 201510638920A CN 105480223 B CN105480223 B CN 105480223B
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torque
driving device
target
driver
speed changer
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CN105480223A (zh
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T·策尔纳
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ZF Friedrichshafen AG
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ZF Friedrichshafen AG
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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
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    • 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
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    • 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
    • B60K6/36—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 transmission gearings
    • B60K6/365—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 transmission gearings with the gears having orbital motion
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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
    • 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
    • B60K6/38—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
    • B60K6/48—Parallel type
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/54—Transmission for changing ratio
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
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    • B60W10/11—Stepped gearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
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    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
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    • B60W10/115—Stepped gearings with planetary gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/11—Controlling the power contribution of each of the prime movers to meet required power demand using model predictive control [MPC] strategies, i.e. control methods based on models predicting performance
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
    • F16H3/72—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion with a secondary drive, e.g. regulating motor, in order to vary speed continuously
    • F16H3/727—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion with a secondary drive, e.g. regulating motor, in order to vary speed continuously with at least two dynamo electric machines for creating an electric power path inside the gearing, e.g. using generator and motor for a variable power torque path
    • F16H3/728—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion with a secondary drive, e.g. regulating motor, in order to vary speed continuously with at least two dynamo electric machines for creating an electric power path inside the gearing, e.g. using generator and motor for a variable power torque path with means to change ratio in the mechanical gearing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
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Abstract

本发明涉及一种用于运行动力总成系统的方法，该动力总成系统包括多个驱动装置(1、2)、一个变速器(3)和一个输出端(4)，其中，第一驱动装置(1)作用于变速器(3)的第一变速器轴(6)上，第二驱动装置(2)作用于变速器(3)的第二变速器轴(7)上，其中，变速器(3)包括多个切换元件(9)，在输出端(4)上提供与驾驶员期望力矩相关的输出力矩，并且为了打开变速器(3)的切换元件(9)而将待打开的切换元件(9)置于空载。

Description

用于运行动力总成系统的方法和控制装置
技术领域
本发明涉及一种用于运行动力总成系统的方法和控制装置。
背景技术
混合动力汽车的动力总成系统包括多个驱动装置(即构造为内燃机的第一驱动装置和构造为电机的第二驱动装置)、一个变速器和一个输出端。在混合动力汽车的这种类型的动力总成系统中，第一驱动装置作用于变速器的第一变速器轴上，而第二驱动装置作用于变速器的另外的第二变速器轴上。动力总成系统的变速器包括多个切换元件，这些切换元件典型地构造为摩擦锁合的切换元件、例如构造为离合器或制动器。在动力总成系统的输出端上提供与驾驶员期望力矩相关的输出力矩。在这种动力总成系统的确定的运行情况下需要将变速器的一个先前闭合的切换元件打开。如果一个摩擦锁合的切换元件应被打开，则这可以以简单的方式通过如下方式发生：使所述摩擦锁合的切换元件打滑。由此产生摩擦力矩或倒拖力矩，这些力矩对消耗产生不利影响。因此，在动力总成系统的变速器中越来越多地由形锁合的切换元件、例如由爪式切换元件取代摩擦锁合的切换元件。但为了能够打开这种形锁合的切换元件，必须将它们转变为空载状态或者说置于空载。然而这在由实践已知的动力总成系统中仅具有不足的可行性。
DE 102012007622 A1公开了一种用于在动力总成系统的变速器中进行切换的方法，其中，构造为内燃机的第一驱动装置驱动发电机，该发电机经由功率电子元件耦联到马达-变速器单元上。马达-变速器单元包括构造为电机的第二驱动装置和变速器，其中，所述变速器被设计为行星齿轮变速器。
需要一种用于运行具有作用到不同的变速器轴上的至少两个驱动装置的动力总成系统的方法，即一种方法，借助于该方法可以将变速器的一个切换元件置于空载，并且更确切地说按照一种方式将变速器的一个切换元件置于空载，在该方式中在将待打开的切换元件置于空载时作用于输出端上的输出力矩与驾驶员期望力矩的偏差尽可能小。
发明内容
以此为出发点，本发明的任务在于，提供一种用于运行动力总成系统的新类型的方法和控制装置。
该任务通过根据根据本发明的用于运行动力总成系统的方法解决，该动力总成系统包括多个驱动装置、一个变速器和一个输出端，其中，第一驱动装置作用于变速器的第一变速器轴上，第二驱动装置作用于变速器的第二变速器轴上，其中，变速器包括多个切换元件，在输出端上提供与驾驶员期望力矩相关的输出力矩，并且为了打开变速器的切换元件而将待打开的切换元件置于空载。根据本发明，为了将待打开的切换元件置于空载而为第一驱动装置和为第二驱动装置计算目标力矩，借助于这些目标力矩在维持在输出端上的驾驶员期望力矩的情况下将所述待打开的切换元件置于空载，并且检测，这些目标力矩中的至少一个目标力矩是否违背相应的驱动装置的力矩极限，其中，如果确定所述目标力矩都未违背相应的驱动装置的力矩极限，则在维持在输出端上的驾驶员期望力矩的情况下力矩控制地将第一和第二驱动装置引导到相应的目标力矩上，反之，如果确定其中至少一个目标力矩违背了相应的驱动装置的力矩极限，则在提供与驾驶员期望力矩不同的输出力矩的情况下将所述待打开的切换元件置于空载。本发明建议了一种方法，借助于该方法能够将变速器的一个待打开的切换元件置于空载，并且更确切地说通过如下方式：在此在输出端上提供的输出力矩与所参与的驱动装置的力矩极限相关地或者不偏离或尽可能小地偏离驾驶员期望力矩。这允许特别有利地运行具有至少两个驱动装置和一个变速器的动力总成系统，即特别有利地打开变速器的一个待打开的切换元件，该切换元件是形锁合的切换元件、例如切换爪钩。
根据本发明的一种扩展方案，如果所述目标力矩都不违背相应的驱动装置的力矩极限，则在维持在输出端上的驾驶员期望力矩的情况下沿着转矩引导曲线力矩控制地将第一和第二驱动装置引导到相应的目标力矩上，其中，第一驱动装置和第二驱动装置的转矩斜坡的斜度与用于这两个驱动装置的变速器的传动比如此相关，使得在沿着转矩斜坡进行力矩控制时，输出力矩在驾驶员期望力矩恒定的情况下保持恒定。在该情况下，在将所述待打开的切换元件置于空载时在输出端上提供的输出力矩正好等于驾驶员期望力矩。
根据本发明的另一种扩展方案，如果其中至少一个目标力矩违背了相应的驱动装置的力矩极限，则首先在维持在输出端上的驾驶员期望力矩的情况下沿着转矩引导曲线、尤其是沿着线性的转矩斜坡力矩控制地将第一驱动装置和第二驱动装置朝向相应的目标力矩引导，直到其中一个驱动装置达到其力矩极限，紧接着在达到其力矩极限的驱动装置上的力矩保持恒定，而在提供与驾驶员期望力矩不同的输出力矩的情况下沿着平缓的转矩引导曲线、尤其是沿着具有平缓的斜度的线性的转矩斜坡力矩控制地将未达到其力矩极限的另一个驱动装置的力矩引到目标力矩上，在该目标力矩时所述待打开的切换元件置于空载。当所述另一个驱动装置也达到其力矩极限时，为这两个驱动装置确定新的目标力矩并且沿着转矩斜坡力矩控制地将这两个驱动装置引导到这些目标力矩上，在该目标力矩时所述待打开的切换元件在提供与驾驶员期望力矩不同的输出力矩的情况下置于空载。在这些情况下，在将所述待打开的切换元件置于空载时在输出端上提供的输出力矩发生变化，但该输出力矩尽可能等于驾驶员期望力矩。
根据本发明的另一种扩展方案，如果在力矩控制地朝向其目标力矩引导驱动装置期间驾驶员期望力矩发生变化，则如此重新确定驱动装置的目标力矩，使得在输出端上提供的输出力矩尽可能等于驾驶员期望力矩。该扩展方案允许考虑在将待打开的切换元件置于空载期间变化的驾驶员期望力矩。
按本发明的用于执行所述方法的控制装置包括用于执行按本发明所述的方法的器件，该动力总成系统包括多个驱动装置、一个变速器和一个输出端，其中，第一驱动装置作用于变速器的第一变速器轴上，第二驱动装置作用于变速器的第二变速器轴上，并且所述变速器包括多个切换元件。
附图说明
优选的扩展方案由从属权利要求和后续说明得出。根据附图详细地阐述本发明的实施例，但本发明并不限于此。在附图中：
图1是动力总成系统的示意图；
图2是用于解释按本发明的方法的第一时间图；
图3是用于解释按本发明的方法的第二时间图；并且
图4是用于解释按本发明的方法的第三时间图。
具体实施方式
本发明涉及一种用于运行动力总成系统的方法及控制装置。
图1示出了机动车的动力总成系统的示意图，在该动力总成系统中优选使用按本发明的方法和按本发明的控制装置。图1的动力总成系统包括两个驱动装置1、2、一个变速器3和一个输出端4。变速器3包括至少一个行星齿轮级5以及多个切换元件9。
第一驱动装置1优选是内燃机，该第一驱动装置作用于变速器3的第一变速器轴6上，其中，所述第一变速器轴6是变速器3的变速器输入轴。
第二驱动装置2优选是电机，该第二驱动装置作用于变速器3的第二变速器轴7上，其中，所述第二变速器轴是变速器内部的轴，沿着力矩流方向观察，该变速器内部的轴连接在变速器3的变速器输入轴和变速器输出轴8之间。在所示的实施例中，由第二驱动装置2作用的该第二变速器轴7由行星齿轮级5提供，即在所示的实施例中由该行星齿轮级的齿圈提供。
变速器输出轴8耦联到输出端4上。在所示的实施例中，在第一驱动装置1和变速器输入轴6之间连接有分离离合器10，经由该分离离合器可以使第一驱动装置1与变速器输入轴6解耦。
如已述那样，在所示的实施例中第一驱动装置1优选是内燃机，该内燃机提供了变速器外部的驱动装置。第二驱动装置2优选是电机，该电机提供了变速器内部的驱动装置。这种电机可以电动机式和发电机式运行。
如已述那样，变速器3包括切换元件9，其中，在图1中示例性地示出两个这种类型的切换元件9，即连接在变速器输入轴6和行星齿轮级5之间的一个切换元件9以及连接在行星齿轮级5和变速器输出轴8之间的另一个切换元件9。在变速器3每次换档时将第一数目的切换元件9闭合并且将第二数目的切换元件9打开。
为了进行换档，必须将至少一个先前闭合的切换元件9打开并且将至少一个先前打开的切换元件9闭合。特别地，当待打开的切换元件设计成形锁合的切换元件9时，为了能够将该切换元件打开，该切换元件必须被置于空载，。
在此本发明涉及一种方法，借助该方法可以以特别有利的方式将机动车的动力总成系统的变速器3的切换元件9置于空载，该动力总成系统包括两个作用在不同的变速器轴6、7上的驱动装置1、2。
如果在控制方面存在打开变速器3的先前闭合的切换元件9的要求，则为了将待打开的切换元件9置于空载而由根据图1的虚线箭头控制第一驱动装置1和包含第二驱动装置2在内的变速器3运行的控制装置17为两个驱动装置1、2计算目标力矩，借助于该目标力矩能够在原则上在维持在输出端4上的驾驶员期望力矩的情况下将待打开的切换元件9置于空载。
在计算出用于第一驱动装置1和第二驱动装置2的这些目标力矩之后(借助这些目标力矩能够在原则上在维持在输出端4上的驾驶员期望力矩的情况下将待打开的切换元件9置于空载)，在控制方面由控制装置17检测，这些目标力矩中的至少一个目标力矩是否违背了相应的驱动装置1、2的力矩极限。
随后，如果在此确定，先前计算出的目标力矩都没有违背相应的驱动装置1、2的力矩极限，则在维持在输出端4上的驾驶员期望力矩的情况下由控制装置17控制力矩地将第一驱动装置1和第二驱动装置2引导到相应的目标力矩上，由此在维持在输出端4上的驾驶员期望力矩的情况下将待打开的切换元件9置于空载。
反之，如果由控制装置17确定，先前计算出的用于两个驱动装置1、2的目标力矩中的至少一个目标力矩违背了相应的驱动装置1、2的力矩极限，则在输出端4上提供与驾驶员期望力矩不同但尽可能与之相同的输出力矩的情况下力矩控制地将待打开的切换元件9置于空载。
下面参照图2、3和4的时间图对按本发明的方法的其它细节进行说明，其中，在图2、3和4中示出多个力矩分别关于时间t的变化。因此，变化曲线11示出了作用在输出端4上的输出力矩在时间上的变化，其中，输出力矩与驾驶员期望相关。在图2至3中以此为出发点：驾驶员期望力矩保持恒定。变化曲线12示出了第一驱动装置1在时间上的力矩变化。变化曲线13示出了第二驱动装置2在时间上的力矩变化。变化曲线14示出了待打开的切换元件9在时间上的力矩变化。变化曲线15和16相应于驱动装置1、2的力矩极限，即变化曲线15相应于第一驱动装置1的上力矩极限而变化曲线16相应于第二驱动装置2的下力矩极限。
在图2中，在时刻t0之前变速器3的随后待打开的切换元件9是闭合的，例如在变速器3的一个确定的挡位中，两个驱动装置1、2根据变化曲线12和13分别提供一个恒定的力矩，以便根据变化曲线11在输出端4上提供与驾驶员期望相关的输出力矩。在此，所述随后待打开的切换元件9根据变化曲线14传递一个确定的力矩。
在时刻t0时，例如由于要进行换挡而需要将先前闭合的切换元件9打开，于是在时刻t0时在控制方面为两个驱动装置1和2计算目标力矩，借助于这些目标力矩能够在维持在输出端4上的驾驶员期望力矩的情况下将所述待打开的切换元件9置于空载。
随后检测，这些目标力矩中的至少一个目标力矩是否违背了相应的驱动装置1、2的力矩极限。
在图2的实施例中示例性地以此为出发点：为了将所述待打开的切换元件9置于空载，必须根据变化曲线12将在第一驱动装置1上的力矩提高到确定的目标力矩并且根据变化曲线13将在第二驱动装置2上的力矩降低到确定的目标力矩，其中，在图2中这些目标力矩都未违背相应的驱动装置1、2的力矩极限。因此，根据变化曲线12、15用于第一驱动装置1的目标力矩小于第一驱动装置1的上力矩极限15，而根据变化曲线13、16用于第二驱动装置2的目标力矩大于第二驱动装置2的下力矩极限16。因此，从时刻t0开始，两个驱动装置1、2从在时刻t0之前提供的相应的力矩出发力矩控制地被引导到相应的目标力矩上，根据图2的变化曲线12、13驱动装置1、2在时刻t1时已经达到该目标力矩。在时刻t1时，根据变化曲线14所述待打开的切换元件9是空载的，其中，根据变化曲线11在此输出力矩保持恒定，即维持在输出端4上的驾驶员期望力矩。
根据图2，驱动装置1、2到其目标力矩上的力矩控制在时刻t0和t1之间沿着的转矩引导曲线、尤其是沿着线性的转矩斜坡进行。这些转矩斜坡的斜率在此是不相同的，更确切地说这两个驱动装置1、2的转矩斜坡的斜率与用于这两个驱动装置1、2的变速器的传动比相关，即，使得在沿着转矩斜坡对驱动装置1、2进行力矩控制时，在输出端4上的输出力矩11在驾驶员期望力矩恒定的情况下保持恒定。
图3示出本发明的一种变型方案，在该变型方案中，其中一个目标力矩(即根据图3第一驱动装置1的目标力矩)违背了相应的驱动装置的力矩极限。
在其中至少一个目标力矩违背了相应的驱动装置1、2的力矩极限的情况下，首先在时刻t10和t11之间两个驱动装置1、2在维持在输出端4上的驾驶者期望力矩的情况下并且因而在输出力矩11保持恒定的情况下朝向其先前计算出的目标力矩被引导，即沿着转矩引导曲线例如沿着线性的转矩斜坡转矩控制地被引导，并且更确切地说一直被引导，直到在时刻t11时第一驱动装置1或者说由第一驱动装置1提供的力矩11达到力矩极限15。在此这些转矩斜坡的斜率也不相同，更确切地说这两个驱动装置1、2的转矩斜坡与用于这两个驱动装置1、2的变速器的传动比相关，即，使得在沿着转矩斜坡对驱动装置1、2进行力矩控制时，在输出端4上的输出力矩11在驾驶员期望力矩恒定的情况下在时刻t10和t11之间保持恒定。
从时刻t11起，由第一驱动装置1提供的力矩随后保持恒定，并且根据变化曲线13第二驱动装置2的力矩在时刻t11和t12之间进一步降低，并且更确切地说沿着平缓的转矩引导曲线、尤其是沿着相对于在时刻t10和t11之间有效的转矩斜坡具有平缓的斜度的线性的转矩斜坡降低，并且更确切地说降低到一个合适的目标力矩，借助于该目标力矩在第一驱动装置1的力矩恒定的情况下根据变化曲线14在时刻t12时待开打的切换元件9被置于空载。在此，根据变化曲线11在时刻t11和t12之间在输出端4上提供的输出转矩降低，因此所述待打开的切换元件9如此被置于空载，使得在输出端4上提供的输出转矩与驾驶员期望力矩不同但尽可能与之相等。为了使驾驶员尽可能少地感觉到在输出端4上的输出力矩11的变化，转矩斜坡在时刻t11和t12之间的斜度小于在时刻t10和t11之间的斜度，经由该转矩斜坡将由第二驱动装置2提供的力矩朝向目标力矩引导。
图4示出按本发明方法的一种方案，其中，不仅其中一个驱动装置1、2违背对应的力矩极限，而是更确切地说两个驱动装置1、2都违背了其对应的力矩极限。因此，在图4中，在时刻t20时存在打开变速器3的一个先前闭合的切换元件9的要求，在此也为两个驱动装置1、2计算在维持在输出端4上的驾驶员期望力矩11的情况下为将待打开的切换元件9置于空载所需的目标力矩。从时刻t20开始，在驱动装置1、2上提供的力矩12、13沿着转矩引导曲线、尤其是沿着线性的转矩斜坡力矩控制地朝向相应的目标力矩被引导，并且更确切地说一直被引导，直到在图4中第一驱动装置1首先达到对应的力矩极限。在此这些转矩斜坡的斜度也不相等，更确切地说这两个驱动装置1、2的转矩斜坡与用于这两个驱动装置1、2的变速器的传动比相关，即，使得在沿着转矩斜坡对驱动装置1、2进行力矩控制时，在输出端4上的输出力矩11在驾驶员期望力矩恒定的情况下在时刻t20和t21之间保持恒定。紧接着，与图3一致地在时刻t21和t22之间在第一驱动装置1上的力矩保持恒定并且在第二驱动装置2上的力矩13沿着平缓的转矩引导曲线、尤其是沿着具有平缓的斜度的线性的转矩斜坡进一步朝向合适的目标力矩被引导，其中，在时刻t21和t22之间输出力矩11发生变化。在图4中，在时刻t22时第二驱动装置2或者说由第二驱动装置2提供的力矩13也达到其对应的力矩极限16，从而在时刻t22时开始为两个驱动装置1、2确定新的目标力矩，借助于这些目标力矩能够将所述待打开的切换元件9置于空载，并且更确切地说，在输出端4上提供与驾驶员期望力矩不相等但尽可能与之接近的输出力矩11的情况下将待打开的切换元件置于空载。
图4示出，由驱动装置1、2提供的力矩12、13也在时刻t22和t23之间沿着转矩引导曲线、尤其是沿着线性的转矩斜坡力矩控制地被引导到新确定的目标力矩上，其中，在时刻t23时所述待打开的切换元件9是空载的。
因此存在于本发明的意义中的是，为了将变速器3的一个先前闭合的切换元件9置于空载(在该变速器中两个不同的变速器轴6、7由两个不同的驱动装置1、2施加转矩)，首先通过计算为驱动装置1、2确定目标力矩，这些目标力矩适用于在维持在输出端4上的驾驶员期望力矩的情况下将待打开的切换元件9置于空载。在此检测，所计算出的目标力矩是否违背在驱动装置1、2上的对应的极限力矩。如果不是这种情况，则由驱动装置1、2提供的力矩能够沿着转矩引导曲线例如线性转矩斜坡力矩控制地被引导到目标力矩上，在此，在维持在输出端4上的驾驶者期望力矩的情况将待打开的切换元件9置于空载。
在转矩斜坡、即这些转矩斜坡的斜度的情况下考虑对于各驱动装置1、2的不同的传动比。
如果至少一个驱动装置的目标力矩违背了对应的力矩极限，则同样将切换元件9置于空载，并且更确切地说在提供在输出端4上的与驾驶员期望力矩的偏差尽可能小的输出力矩情况下将切换元件置于空载。对此首先沿着转矩引导曲线例如线性的转矩斜坡将两个驱动装置1、2的两个力矩朝向其相应的目标力矩引导，之后如果第一驱动装置达到对应的转矩极限，则该第一驱动装置的力矩保持恒定，但在另一个驱动装置上的力矩进一步朝向对应的目标力矩变化，但在平缓的转矩引导曲线例如平缓的、线性的转矩斜坡的情况下朝向对应的目标力矩变化。
虽然采用线性的转矩斜坡作为转矩引导曲线是简单的并且因而是优选的，但也可以使用其它的转矩引导曲线、例如PT1过滤转矩引导曲线或具有S行程的转矩引导曲线。
随后，如果由所述另一个驱动装置提供的力矩也达到其对应的力矩极限，则为两个驱动装置计算新的力矩比或者说待由这些驱动装置提供的目标力矩的新的水平，这些目标力矩适用于将形锁合的、待打开的切换元件9置于空载，并且更确切地说在输出端4上提供与驾驶员期望力矩不同的输出力矩的情况下将形锁合的、待打开的切换元件置于空载。
在图2至4中分别示例性地示出，如果将驱动装置力矩控制地引导到其目标力矩上，则第一驱动装置1的力矩增大而第二驱动装置2的力矩减小。与之相反，也可能的是，在第一驱动装置1上的力矩减小而在第二驱动装置2上的力矩增大。
在图3和4中，当至少一个驱动装置在目标力矩方面达到或违背力矩极限时，在输出端4上的输出力矩减小。与此相反，但也可能的是，在将所述待打开的切换元件9置于空挡时，在输出端4上的输出力矩增大。
如已述那样，在图2至4的实施例中以此为出发点：驾驶员期望力矩是恒定的。但不同与此，在将所述待打开的切换元件9置于空载时或者说置于空载期间，驾驶员期望力矩可以发生变化。在该情况下，驱动装置1和2的目标力矩根据新的驾驶员期望力矩相应地进行调整，并且更确切地说也在考虑驱动装置1、2的力矩极限的情况下进行调整，并且更确切地说具有如下目的：所述待打开的切换元件9如此被置于空载，使得在输出端4上提供的输出力矩等于驾驶员期望力矩或者尽可能地与之接近。
本发明允许特别有利地打开变速器3的形锁合的切换元件9，但本发明也可用于控制摩擦锁合的切换元件。
本发明还涉及一种用于执行所述方法的控制装置17。所述控制装置17包括用于执行所述方法的器件，其中，这些器件是硬件方面的器件和软件方面的器件。所述硬件方面的器件是接口，以便对参与执行按本发明的方法的组件进行数据交换。此外，所述硬件方面的器件是用于数据处理的处理器和用于数据存储的存储器。
所述软件方面的器件是用于执行按本发明的方法的程序模块。
在所示的实施例中，控制装置17是混合控制装置，该混合控制装置不仅用于控制内燃机1而且也用于控制包括电机2在内的变速器3。与之相反，控制装置17也可以是变速器控制装置，该变速器控制装置经由接口与变速器3和电机2直接进行数据交换，并且该变速器控制装置与用于控制和/或调节内燃机1运行的内燃机控制装置进行数据交换，以便间接地影响内燃机1。
附图标记列表
1 第一驱动装置
2 第二驱动装置
3 变速器
4 输出端
5 行星齿轮级
6 第一变速器轴/变速器输入轴
7 第二变速器轴
8 变速器输出轴
9 切换元件
10 分离离合器
11 输出力矩变化曲线
12 第一驱动装置的力矩变化曲线
13 第二驱动装置的力矩变化曲线
14 待打开的切换元件的力矩变化曲线
15 第一驱动装置的上力矩极限
16 第二驱动装置的下力矩极限
17 控制装置

Claims (10)

1.用于运行动力总成系统的方法，该动力总成系统包括多个驱动装置(1、2)、一个变速器(3)和一个输出端(4)，其中，第一驱动装置(1)作用于变速器(3)的第一变速器轴(6)上，第二驱动装置(2)作用于变速器(3)的第二变速器轴(7)上，其中，变速器(3)包括多个切换元件(9)，在输出端(4)上提供与驾驶员期望力矩相关的输出力矩，并且为了打开变速器(3)的切换元件(9)而将待打开的切换元件(9)置于空载，其特征在于，为了将所述待打开的切换元件(9)置于空载而为第一驱动装置(1)和为第二驱动装置(2)计算目标力矩，借助于这些目标力矩能够在维持在输出端上的驾驶员期望力矩的情况下将所述待打开的切换元件(9)置于空载，并且检测，这些目标力矩中的至少一个目标力矩是否违背相应的驱动装置(1、2)的力矩极限，其中，如果确定这些目标力矩都未违背相应的驱动装置(1、2)的力矩极限，则在维持在输出端(4)上的驾驶员期望力矩的情况下力矩控制地将第一和第二驱动装置(1、2)引导到相应的目标力矩上，反之，如果确定其中至少一个目标力矩违背了相应的驱动装置(1、2)的力矩极限，则在提供与驾驶员期望力矩不同的输出力矩的情况下将所述待打开的切换元件(9)置于空载。
2.根据权利要求1所述的方法，其特征在于，如果所述目标力矩都不违背相应的驱动装置(1、2)的力矩极限，则在维持在输出端(4)上的驾驶员期望力矩的情况下沿着转矩引导曲线力矩控制地将第一和第二驱动装置(1、2)引导到相应的目标力矩上，其中，用于第一和第二驱动装置(1、2)的转矩斜坡的斜度与用于这两个驱动装置(1、2)的变速器(3)的传动比如此相关，使得在沿着转矩斜坡进行力矩控制时输出力矩在驾驶员期望力矩恒定的情况下保持恒定。
3.根据权利要求1所述的方法，其特征在于，如果其中至少一个目标力矩违背了相应的驱动装置(1、2)的力矩极限，则首先在维持在输出端(4)上的驾驶员期望力矩的情况下沿着转矩引导曲线力矩控制地将第一和第二驱动装置(1、2)朝向相应的目标力矩进行引导，直到其中一个驱动装置(1、2)达到其力矩极限，紧接着在达到其力矩极限的驱动装置上的力矩保持恒定，并且在提供与驾驶员期望力矩不同的输出力矩的情况下沿着平缓的转矩引导曲线力矩控制地将未达到其力矩极限的另一个驱动装置的力矩引到目标力矩上，在该目标力矩时所述待打开的切换元件(9)置于空载。
4.根据权利要求2所述的方法，其特征在于，如果其中至少一个目标力矩违背了相应的驱动装置(1、2)的力矩极限，则首先在维持在输出端(4)上的驾驶员期望力矩的情况下沿着转矩引导曲线力矩控制地将第一和第二驱动装置(1、2)朝向相应的目标力矩进行引导，直到其中一个驱动装置(1、2)达到其力矩极限，紧接着在达到其力矩极限的驱动装置上的力矩保持恒定，并且在提供与驾驶员期望力矩不同的输出力矩的情况下沿着平缓的转矩引导曲线力矩控制地将未达到其力矩极限的另一个驱动装置的力矩引到目标力矩上，在该目标力矩时所述待打开的切换元件(9)置于空载。
5.根据权利要求3所述的方法，其特征在于，如果所述另一个驱动装置也达到其力矩极限，则为两个驱动装置(1、2)确定目标力矩并且力矩控制地沿着转矩斜坡将这两个驱动装置引导到所述目标力矩上，在这些目标力矩时在提供与驾驶员期望力矩不同的输出力矩的情况下所述待打开的切换元件(9)置于空载。
6.根据权利要求4所述的方法，其特征在于，如果所述另一个驱动装置也达到其力矩极限，则为两个驱动装置(1、2)确定目标力矩并且力矩控制地沿着转矩斜坡将这两个驱动装置引导到所述目标力矩上，在这些目标力矩时在提供与驾驶员期望力矩不同的输出力矩的情况下所述待打开的切换元件(9)置于空载。
7.根据权利要求1至6之一所述的方法，其特征在于，如果在引导驱动装置(1、2)朝向其目标力矩期间驾驶员期望力矩发生变化，则如此重新确定驱动装置(1、2)的目标力矩，使得在输出端(4)上提供的输出力矩尽可能等于驾驶员期望力矩。
8.根据权利要求1至6之一所述的方法，其特征在于，由第一驱动装置(1)作用的第一变速器轴(6)是变速器(3)的变速器输入轴，由第二驱动装置(2)作用的第二变速器轴(7)是变速器(3)的由变速器(3)的行星齿轮级(5)提供的变速器轴，并且变速器(3)的变速器输出轴(8)作用于输出端(4)。
9.根据权利要求8所述的方法，其特征在于，所述第一驱动装置(1)是内燃机，而所述第二驱动装置(2)是电机。
10.用于运行动力总成系统的控制装置，该动力总成系统包括多个驱动装置(1、2)、一个变速器(3)和一个输出端(4)，其中，第一驱动装置(1)作用于变速器(3)的第一变速器轴(6)上，第二驱动装置(2)作用于变速器(3)的第二变速器轴(7)上，并且所述变速器(3)包括多个切换元件(9)，其特征在于，该控制装置包括用于执行按权利要求1至9之一所述的方法的器件。
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