CN105774799A - Torque compensation method and system of hybrid vehicle - Google Patents

Torque compensation method and system of hybrid vehicle Download PDF

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Publication number
CN105774799A
CN105774799A CN201610258455.2A CN201610258455A CN105774799A CN 105774799 A CN105774799 A CN 105774799A CN 201610258455 A CN201610258455 A CN 201610258455A CN 105774799 A CN105774799 A CN 105774799A
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CN
China
Prior art keywords
torque
motor
torsion
demand
moment
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CN201610258455.2A
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Chinese (zh)
Inventor
张龙聪
秦兴权
张兆龙
李宁
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Beijing Electric Vehicle Co Ltd
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Beijing Electric Vehicle Co Ltd
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Priority to CN201610258455.2A priority Critical patent/CN105774799A/en
Publication of CN105774799A publication Critical patent/CN105774799A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08Conjoint 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W20/00Control systems specially adapted for hybrid vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18Propelling the vehicle

Abstract

The invention provides a torque compensation method and system of a hybrid vehicle. The method comprises the following steps: obtaining an engine demand torque and a motor demand torque according to accelerator pedal opening and current vehicle speed of a vehicle at current; detecting an actual output torque of an engine at current; calculating a difference value between the engine demand torque and the actual output torque of the engine, and adjusting the motor demand torque according to the difference value to compensate the engine demand torque. The method provided by the invention uses the characteristics of quick motor response and high torque feedback accuracy to perform real-time compensation to the engine torque, such that the demand torque and the actual torque of the entire vehicle are consistent and the power performance of the entire vehicle is improved.

Description

The torque compensation method and system of hybrid vehicle
Technical field
The present invention relates to field of automobile, particularly to the torque compensation method and system of a kind of hybrid vehicle.
Background technology
Currently, day by day serious due to environmental problem, petroleum resources in short supply, a series of reasons such as the bottleneck of battery technology, motor vehicle driven by mixed power has been obtained for approval and the support of countries in the world.
Mate in the hybrid vehicle of natural gas engine at present, owing to not utilizing Motor torque to provide torque compensation, driver generally reflects that engine response is slow, and output is short of power, and allows driver feel " unable to do what one wishes " particularly in when crossing crossroad traffic lights.Reason of searching to the bottom is in that the characteristic of natural gas engine: spark ignition type ignition point is few, it is smaller to compress, detonation pressure is less, turbocharger response lag;And the measurement of electromotor actual torque value is all by (ControllerAreaNetwork at present, controller local area network) form of message carries out feeding back, and the moment of torsion of electromotor is demarcated according to distributive value and moment of torsion conversion MAP all under steady state conditions when bench test, under current intelligence with under stable situation, the oil spout of electromotor is different, and then reflection is different to electromotor actual output torque value under static state and current intelligence, additionally add air-conditioning, the electromotor that electromotor self drives, the friction torques of electromotor etc. make the torque feedback value of electromotor differ bigger with actual value, thus affecting the power performance of car load.
Summary of the invention
It is contemplated that at least solve one of above-mentioned technical problem.
For this, one object of the present invention proposes a kind of torque compensation method based on hybrid vehicle, the method utilizes motor response characteristic fast, that torque feedback value accuracy is high that engine torque is carried out real-Time Compensation, the demand torque making car load is consistent with actual torque, thus improving the power performance of car load.
Further object is that the torque compensation system proposing a kind of hybrid vehicle.
To achieve these goals, the embodiment of first aspect present invention discloses a kind of torque compensation method of hybrid vehicle, comprises the following steps: S1: obtain engine demand moment of torsion and motor demand torque according to the gas pedal aperture of current time vehicle and current vehicle speed;S2: the actual output moment of torsion of detection current time electromotor;S3: calculate described engine demand moment of torsion and the difference of described electromotor actual output moment of torsion, and adjust described motor demand torque to compensate described engine demand moment of torsion according to described difference.
The torque compensation method of hybrid vehicle according to embodiments of the present invention, monitor and report the actual output torque value of electromotor in real time, utilize motor response characteristic fast, that torque feedback value accuracy is high that engine torque is carried out real-Time Compensation, the demand torque making car load is consistent with actual torque, thus improving the power performance of car load.
It addition, the torque compensation method of hybrid vehicle according to the above embodiment of the present invention can also have following additional technical characteristic:
In some instances, described according to the described difference described motor demand torque of adjustment, farther include: the motor demand torque after adjusting is compared with the torque limit of current time motor and the torque limit of battery respectively;If the motor demand torque after described adjustment is respectively less than or equal to the torque limit of current time motor and the torque limit of battery, then the motor demand torque after described adjustment is finally exported moment of torsion as described motor;If the torque limit of the torque limit more than current time motor of the motor demand torque after described adjustment or battery, then the torque limit of current time motor is finally exported moment of torsion as described motor.
In some instances, the described gas pedal aperture according to current time vehicle and current vehicle speed obtain engine demand moment of torsion and motor demand torque includes: gather gas pedal aperture and the current vehicle speed of current time vehicle;Gas pedal aperture according to described vehicle and current vehicle speed, obtain corresponding car load demand torque by searching operator demand's moment of torsion synopsis;Described car load demand torque is compared with gearbox torque limit value, engine torque limit value, Motor torque limit value and battery torque limit respectively, to obtain final car load demand torque;Described final car load demand torque is carried out moment of torsion distribution, to obtain described engine demand moment of torsion and motor demand torque.
In some instances, the difference according to described engine demand moment of torsion and described electromotor actual output moment of torsion obtains the motor demand torque after described adjustment with described motor demand torque sum.
In some instances, the actual output moment of torsion of current time electromotor is detected by torque sensor.
The embodiment of second aspect present invention discloses the torque compensation system of a kind of hybrid vehicle, including: acquisition module, described acquisition module obtains engine demand moment of torsion and motor demand torque for gas pedal aperture and the current vehicle speed according to current time vehicle;Detection module, described detection module is for detecting the actual output moment of torsion of current time electromotor;Compensating module, described compensating module is for calculating described engine demand moment of torsion and the difference of described electromotor actual output moment of torsion, and adjusts described motor demand torque to compensate described engine demand moment of torsion according to described difference.
The torque compensation system of hybrid vehicle according to embodiments of the present invention, monitor and report the actual output torque value of electromotor in real time, utilize motor response characteristic fast, that torque feedback value accuracy is high that engine torque is carried out real-Time Compensation, the demand torque making car load is consistent with actual torque, thus improving the power performance of car load.
It addition, the torque compensation system of hybrid vehicle according to the above embodiment of the present invention can also have following additional technical characteristic:
In some instances, described compensating module is used for: compared with the torque limit of current time motor and the torque limit of battery respectively by the motor demand torque after adjusting;When the motor demand torque after described adjustment is respectively less than or equal to the torque limit of the torque limit of current time motor and battery, the motor demand torque after described adjustment is finally exported moment of torsion as described motor;When the motor demand torque after described adjustment is more than the torque limit of the torque limit of current time motor or battery, the torque limit of current time motor is finally exported moment of torsion as described motor.
In some instances, described acquisition module is used for: gather gas pedal aperture and the current vehicle speed of current time vehicle;Gas pedal aperture according to described vehicle and current vehicle speed, obtain corresponding car load demand torque by searching operator demand's moment of torsion synopsis;Described car load demand torque is compared with gearbox torque limit value, engine torque limit value, Motor torque limit value and battery torque limit respectively, to obtain final car load demand torque;Described final car load demand torque is carried out moment of torsion distribution, to obtain described engine demand moment of torsion and motor demand torque.
In some instances, the difference according to described engine demand moment of torsion and described electromotor actual output moment of torsion obtains the motor demand torque after described adjustment with described motor demand torque sum.
In some instances, described detection module is torque sensor.
The additional aspect of the present invention and advantage will part provide in the following description, and part will become apparent from the description below, or is recognized by the practice of the present invention.
Accompanying drawing explanation
Above-mentioned and/or the additional aspect of the present invention and advantage are from conjunction with will be apparent from easy to understand the accompanying drawings below description to embodiment, wherein:
Fig. 1 is the flow chart of the torque compensation method of hybrid vehicle according to embodiments of the present invention;
Fig. 2 is the hybrid power assembly schematic diagram of hybrid vehicle according to an embodiment of the invention;
Fig. 3 is the operating diagram of torque sensor according to an embodiment of the invention;
Fig. 4 is the overview flow chart of the torque compensation method of hybrid vehicle according to an embodiment of the invention;And
Fig. 5 is the structured flowchart of the torque compensation system of hybrid vehicle according to embodiments of the present invention.
Detailed description of the invention
Being described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of same or like function from start to finish.The embodiment described below with reference to accompanying drawing is illustrative of, and is only used for explaining the present invention, and is not considered as limiting the invention.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end ", " interior ", orientation or the position relationship of the instruction such as " outward " are based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than the device of instruction or hint indication or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not considered as limiting the invention.Additionally, term " first ", " second " are only for descriptive purposes, and it is not intended that indicate or hint relative importance.
In describing the invention, it is necessary to explanation, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, for instance, it is possible to it is fixing connection, it is also possible to be removably connect, or connect integratedly;Can be mechanically connected, it is also possible to be electrical connection;Can be joined directly together, it is also possible to be indirectly connected to by intermediary, it is possible to be the connection of two element internals.For the ordinary skill in the art, it is possible to concrete condition understands above-mentioned term concrete meaning in the present invention.
The torque compensation method and system of hybrid vehicle according to embodiments of the present invention are described below in conjunction with accompanying drawing.
Before describing the torque compensation method and system of hybrid vehicle of the embodiment of the present invention, first in conjunction with accompanying drawing, the hybrid vehicle in the embodiment of the present invention is carried out associated description.
Fig. 2 is the hybrid power assembly basic structure schematic diagram of hybrid vehicle.As shown in Figure 2, hybrid vehicle such as includes: electromotor and control system ECU (EngineControlUnit thereof, control unit of engine), dynamoelectric machine and control system MCU (MotorControlUnit thereof, motor control unit), self-action clutch, AMT (AutomatedMechanicalTransmission, electrical control automatic manual transmission case) and control system TCU (TransmissionControlUnit, automatic gear-box control unit), electrokinetic cell and control system BMS (BatteryManagementSystem thereof, battery management system) etc.;Wherein HCU (HybridControlUnit, full-vehicle control unit) as entire car controller, the signal sent from other each controllers can be received by CAN1 and CAN2 connection, thus making logical judgment to send corresponding command signal to each controller, then each controller sends driving signal instruction again and performs corresponding action command to each actuator, completes the control to vehicle.
The basic functional principle of this hybrid vehicle is summarized as: generally, only power is provided by motor during vehicle start, electromotor is in flame-out or idling mode, when after speed or accelerator open degree to certain value, engine start is got involved and is driven work, now driving vehicle combined by electromotor and motor, meets the power demand of vehicle;When brake deceleration or when sliding, motor is utilized to reclaim a part of braking energy, thus reaching the purpose of fuel-economizing and environmental protection.
Based on this, Fig. 1 is the flow chart of the torque compensation method of hybrid vehicle according to embodiments of the present invention.As it is shown in figure 1, the torque compensation method of hybrid vehicle according to embodiments of the present invention, comprise the steps:
Step S1: obtain engine demand moment of torsion and motor demand torque according to the gas pedal aperture of current time vehicle and current vehicle speed.
In one embodiment of the invention, step S1 farther includes: gather gas pedal aperture and the current vehicle speed of current time vehicle;Gas pedal aperture according to vehicle and current vehicle speed, obtain corresponding car load demand torque by searching operator demand's moment of torsion synopsis;Car load demand torque is compared with gearbox torque limit value, engine torque limit value, Motor torque limit value and battery torque limit respectively, to obtain final car load demand torque;Final car load demand torque carries out moment of torsion distribution, to obtain engine demand moment of torsion and the motor demand torque of current time.
Step S2: the actual output moment of torsion of detection current time electromotor.
In some instances, for instance detected the actual output moment of torsion of current time electromotor by torque sensor.Parts S shown in Fig. 2 is torque sensor.Below in conjunction with Fig. 3, torque sensor is carried out associated description.In conjunction with shown in Fig. 2 and Fig. 3, torque sensor is integrated on engine flywheel, mainly comprises the following steps: flexible board torque sensor, radio transmission apparatus, induction power supply.The moment of torsion voltage physical value signal data of flexible board torque sensor detection pass through wireless signal transfer to the reception antenna of radio transmission apparatus after signal amplification, signal condition, and radio transmission apparatus finally exports the analogue signal of-10~10V.Analogue signal is converted into CAN signal by last Analog Data Acquistion Module, is sent in car load CAN, and then is transferred to HCU, so that HCU can the actual torque value of real-time reception electromotor.
Step S3: calculate engine demand moment of torsion and the difference of electromotor actual output moment of torsion, and adjust motor demand torque to compensate engine demand moment of torsion according to this difference.Specifically, the motor demand torque after being adjusted with motor demand torque sum according to the difference of engine demand moment of torsion and electromotor actual output moment of torsion, take full advantage of the feature that motor dynamics response is fast, can line torque feedback value accuracy is high.Wherein, this torque difference (difference of engine demand moment of torsion and electromotor actual output moment of torsion) causes due to reasons such as engine response are slow, especially natural gas engine, this difference is clearly, the dynamic property of car load will being affected very big, driver is clearly felt that vehicle " strength " is inadequate.
In one embodiment of the invention, in step s3, adjust motor demand torque according to difference, farther include: the motor demand torque after adjusting is compared with the torque limit of current time motor and the torque limit of battery respectively;If the motor demand torque after adjusting is respectively less than or equal to the torque limit of current time motor and the torque limit of battery, then the motor demand torque after adjusting finally is exported moment of torsion as motor;If the torque limit of the motor demand torque torque limit more than current time motor after adjusting or battery, then the torque limit of current time motor is finally exported moment of torsion as motor.
To sum up, the method of the embodiment of the present invention utilizes sensor to measure the actual torque value of electromotor in real time, rather than the verity of engine torque value is improve with the torque value (message value of feedback differs relatively big with actual value, particularly under the dynamic working order of electromotor) of electromotor message feedback;Make full use of the feature that motor response characteristic is fast, Motor torque value of feedback accuracy is high, within Motor Capability scope, motor is utilized to provide torque compensation for electromotor, ensure that car load is consistent to the demand torque of power assembly and the true output torque value of power assembly, and then improve the power performance of car load.
For the ease of being more fully understood that the present invention, below in conjunction with the example shown in accompanying drawing 4, the method for the embodiment of the present invention is carried out further detailed description.
Fig. 4 illustrates the overview flow chart of the torque compensation method of the hybrid vehicle of one embodiment of the invention.As shown in Figure 4, in this example, it is assumed that vehicle is in hybrid mode at present, driving vehicle combined by electromotor with motor, and vehicle power sexual demand is higher, and based on this, the method comprises the following steps:
Step 1: entire car controller HCU by, after gathering gas pedal aperture and current vehicle speed signal, obtaining the demand torque value (i.e. car load demand torque) of current time gross vehicle in the controller by the mode of table look-up (operator demand's moment of torsion synopsis).
Step 2: under current state, after the torque limit of change speed gear box, electromotor, motor and battery confirms, is controlled, by moment of torsion arbitration decisions, the car load torque demand value (namely final car load demand torque) that module determines that output is currently total.
Step 3: enter moment of torsion distribution MAP module and final car load demand torque is carried out moment of torsion distribution, thus output engine demand torque T1 and motor demand torque T2.Further, engine demand torque T 1 and motor demand torque T2 it is sent respectively to engine controller ECU and motor controls MCU through CAN line, rear engine regulate distributive value, controlling electromotor output required torque value engine demand torque T 1, motor controls motor output motor demand torque T2.
Step 4: be arranged on the torque sensor on engine flywheel and measure the actual output torque value of electromotor in real time, and real-time it is sent on CAN line, the feedback obtaining electromotor actual torque value that entire car controller HCU can be real-time.
Step 5: engine demand torque T 1 and electromotor actual torque value are done difference, obtain △ T, owing to engine response is slow etc., reason causes this torque difference △ T, especially natural gas engine, this difference is clearly, the dynamic property of car load will being affected very big, driver is clearly felt that vehicle " strength " is inadequate.
Step 6: be added with motor demand torque T2 by torque difference △ T and obtain T3, this torque value, as the final demand moment of torsion of motor, takes full advantage of the feature that motor dynamics response is fast, CAN line torque feedback value accuracy is high.
Step 7: by the final demand torque T 3 of motor respectively compared with the torque limit Tmotorlim of motor under current state and the torque limit Tbattlim of battery, if the torque limit Tbattlim of the T3 torque limit Tmotorlim less than or equal to current motor and battery, then this torque demand value T3 is finally exported moment of torsion as motor, and it is sent to motor control MCU, MCU control motor output demand torque value T3;If the torque limit Tbattlim of the T3 torque limit Tmotorlim more than current motor or battery, then motor is by the output of current maximum capacity, the torque limit Tmotorlim of current time motor is finally exported moment of torsion as motor, and then, by the adjustment of motor demand torque T2 is compensated engine demand torque T 1.
To sum up, the torque compensation method of hybrid vehicle according to embodiments of the present invention, monitor and report the actual output torque value of electromotor in real time, utilize motor response characteristic fast, that torque feedback value accuracy is high that engine torque is carried out real-Time Compensation, the demand torque making car load is consistent with actual torque, thus improving the power performance of car load.
Further embodiment of the present invention provides the torque compensation system of a kind of hybrid vehicle.
Fig. 5 is the structured flowchart of the torque compensation system of hybrid vehicle according to embodiments of the present invention.As it is shown in figure 5, the torque compensation system 100 of hybrid vehicle according to embodiments of the present invention, including: acquisition module 110, detection module 120 and compensating module 130.
Wherein, acquisition module 110 obtains engine demand moment of torsion and motor demand torque for gas pedal aperture and the current vehicle speed according to current time vehicle.Specifically, in one embodiment of the invention, acquisition module 110 is used for: gather gas pedal aperture and the current vehicle speed of current time vehicle;Gas pedal aperture according to vehicle and current vehicle speed, obtain corresponding car load demand torque by searching operator demand's moment of torsion synopsis;Car load demand torque is compared with gearbox torque limit value, engine torque limit value, Motor torque limit value and battery torque limit respectively, to obtain final car load demand torque;Final car load demand torque is carried out moment of torsion distribution, to obtain engine demand moment of torsion and the motor demand torque of current time.
Detection module 120 is for detecting the actual output moment of torsion of current time electromotor.In some instances, detection module 120 is such as torque sensor.Torque sensor is integrated on engine flywheel, mainly comprises the following steps: flexible board torque sensor, radio transmission apparatus, induction power supply.The moment of torsion voltage physical value signal data of flexible board torque sensor detection pass through wireless signal transfer to the reception antenna of radio transmission apparatus after signal amplification, signal condition, and radio transmission apparatus finally exports the analogue signal of-10~10V.Analogue signal is converted into CAN signal by last Analog Data Acquistion Module, is sent in car load CAN, and then is transferred to HCU, so that HCU can the actual torque value of real-time reception electromotor.
Compensating module 130 is for calculating engine demand moment of torsion and the difference of electromotor actual output moment of torsion, and adjusts motor demand torque to compensate engine demand moment of torsion according to difference.Specifically, compensating module 130 be adjusted according to difference and the motor demand torque sum of engine demand moment of torsion and electromotor actual output moment of torsion after motor demand torque, take full advantage of the feature that motor dynamics response is fast, can line torque feedback value accuracy is high.Wherein, this torque difference (difference of engine demand moment of torsion and electromotor actual output moment of torsion) causes due to reasons such as engine response are slow, especially natural gas engine, this difference is clearly, the dynamic property of car load will being affected very big, driver is clearly felt that vehicle " strength " is inadequate.
In one embodiment of the invention, compensating module 130 adjusts motor demand torque according to difference, farther include: the motor demand torque after adjusting is compared with the torque limit of current time motor and the torque limit of battery respectively, when the motor demand torque after adjusting is respectively less than or equal to the torque limit of the torque limit of current time motor and battery, the motor demand torque after adjusting finally is exported moment of torsion as motor;When the motor demand torque after adjusting is more than the torque limit of the torque limit of current time motor or battery, the torque limit of current time motor is finally exported moment of torsion as motor.
That is, the method of the embodiment of the present invention utilizes sensor to measure the actual torque value of electromotor in real time, rather than the verity of engine torque value is improve with the torque value (message value of feedback differs relatively big with actual value, particularly under the dynamic working order of electromotor) of electromotor message feedback;Make full use of the feature that motor response characteristic is fast, Motor torque value of feedback accuracy is high, within Motor Capability scope, motor is utilized to provide torque compensation for electromotor, ensure that car load is consistent to the demand torque of power assembly and the true output torque value of power assembly, and then improve the power performance of car load.
It should be noted that, the specific implementation of the torque compensation system of the hybrid vehicle of the embodiment of the present invention is similar with the specific implementation of the torque compensation method of the hybrid vehicle of the embodiment of the present invention, specifically refer to the description of method part, in order to reduce redundancy, do not repeat.
To sum up, the torque compensation system of hybrid vehicle according to embodiments of the present invention, monitor and report the actual output torque value of electromotor in real time, utilize motor response characteristic fast, that torque feedback value accuracy is high that engine torque is carried out real-Time Compensation, the demand torque making car load is consistent with actual torque, thus improving the power performance of car load.
In the description of this specification, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means in conjunction with this embodiment or example describe are contained at least one embodiment or the example of the present invention.In this manual, the schematic representation of above-mentioned term is not necessarily referring to identical embodiment or example.And, the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiments or example.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: these embodiments can being carried out multiple change, amendment, replacement and modification when without departing from principles of the invention and objective, the scope of the present invention is by claim and equivalency thereof.

Claims (10)

1. the torque compensation method of a hybrid vehicle, it is characterised in that comprise the following steps:
S1: obtain engine demand moment of torsion and motor demand torque according to the gas pedal aperture of current time vehicle and current vehicle speed;
S2: the actual output moment of torsion of detection current time electromotor;
S3: calculate described engine demand moment of torsion and the difference of described electromotor actual output moment of torsion, and adjust described motor demand torque to compensate described engine demand moment of torsion according to described difference.
2. the torque compensation method of hybrid vehicle according to claim 1, it is characterised in that described according to the described difference described motor demand torque of adjustment, farther includes:
Motor demand torque after adjusting is compared with the torque limit of current time motor and the torque limit of battery respectively;
If the motor demand torque after described adjustment is respectively less than or equal to the torque limit of current time motor and the torque limit of battery, then the motor demand torque after described adjustment is finally exported moment of torsion as described motor;
If the torque limit of the torque limit more than current time motor of the motor demand torque after described adjustment or battery, then the torque limit of current time motor is finally exported moment of torsion as described motor.
3. the torque compensation method of hybrid vehicle according to claim 1, it is characterised in that the described gas pedal aperture according to current time vehicle and current vehicle speed obtain engine demand moment of torsion and motor demand torque includes:
Gather gas pedal aperture and the current vehicle speed of current time vehicle;
Gas pedal aperture according to described vehicle and current vehicle speed, obtain corresponding car load demand torque by searching operator demand's moment of torsion synopsis;
Described car load demand torque is compared with gearbox torque limit value, engine torque limit value, Motor torque limit value and battery torque limit respectively, to obtain final car load demand torque;
Described final car load demand torque is carried out moment of torsion distribution, to obtain described engine demand moment of torsion and motor demand torque.
4. the torque compensation method of hybrid vehicle according to claim 2, it is characterized in that, obtain the motor demand torque after described adjustment according to the difference of described engine demand moment of torsion and described electromotor actual output moment of torsion with described motor demand torque sum.
5. the torque compensation method of hybrid vehicle according to claim 1, it is characterised in that detected the actual output moment of torsion of current time electromotor by torque sensor.
6. the torque compensation system of a hybrid vehicle, it is characterised in that including:
Acquisition module, described acquisition module obtains engine demand moment of torsion and motor demand torque for gas pedal aperture and the current vehicle speed according to current time vehicle;
Detection module, described detection module is for detecting the actual output moment of torsion of current time electromotor;
Compensating module, described compensating module is for calculating described engine demand moment of torsion and the difference of described electromotor actual output moment of torsion, and adjusts described motor demand torque to compensate described engine demand moment of torsion according to described difference.
7. the torque compensation system of hybrid vehicle according to claim 6, it is characterised in that described compensating module is used for:
Motor demand torque after adjusting is compared with the torque limit of current time motor and the torque limit of battery respectively;
When the motor demand torque after described adjustment is respectively less than or equal to the torque limit of the torque limit of current time motor and battery, the motor demand torque after described adjustment is finally exported moment of torsion as described motor;
When the motor demand torque after described adjustment is more than the torque limit of the torque limit of current time motor or battery, the torque limit of current time motor is finally exported moment of torsion as described motor.
8. the torque compensation system of hybrid vehicle according to claim 6, it is characterised in that described acquisition module is used for:
Gather gas pedal aperture and the current vehicle speed of current time vehicle;
Gas pedal aperture according to described vehicle and current vehicle speed, obtain corresponding car load demand torque by searching operator demand's moment of torsion synopsis;
Described car load demand torque is compared with gearbox torque limit value, engine torque limit value, Motor torque limit value and battery torque limit respectively, to obtain final car load demand torque;
Described final car load demand torque is carried out moment of torsion distribution, to obtain described engine demand moment of torsion and motor demand torque.
9. the torque compensation system of hybrid vehicle according to claim 6, it is characterized in that, obtain the motor demand torque after described adjustment according to the difference of described engine demand moment of torsion and described electromotor actual output moment of torsion with described motor demand torque sum.
10. the torque compensation system of hybrid vehicle according to claim 6, it is characterised in that described detection module is torque sensor.
CN201610258455.2A 2016-04-22 2016-04-22 Torque compensation method and system of hybrid vehicle Pending CN105774799A (en)

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CN106799975A (en) * 2017-01-22 2017-06-06 北京新能源汽车股份有限公司 A kind of control method of operator demand's moment of torsion, device and electric automobile
CN106828483A (en) * 2017-03-01 2017-06-13 吉林大学 A kind of planet Series-Parallel HEV operator demand torque calculation method
CN107253475A (en) * 2017-06-08 2017-10-17 重庆长安汽车股份有限公司 A kind of moment of torsion distribution method, moment of torsion dispensing controller for hybrid vehicle
CN107685732A (en) * 2016-08-03 2018-02-13 神华集团有限责任公司 Automotive power output power control method and control system
CN108657160A (en) * 2017-03-31 2018-10-16 长城汽车股份有限公司 A kind of hybrid power dynamic control method and device
CN108819724A (en) * 2018-06-11 2018-11-16 浙江吉利汽车研究院有限公司 Regenerating brake control method, entire car controller and automobile
CN109278739A (en) * 2017-07-19 2019-01-29 舍弗勒技术股份两合公司 The control method and hybrid vehicle of the creeping torque of hybrid vehicle
CN109677396A (en) * 2018-12-25 2019-04-26 清华大学 A kind of active damping method for engine-electric machine coupled system twisting vibration
WO2019085909A1 (en) * 2017-10-31 2019-05-09 长城汽车股份有限公司 Hybrid vehicle torque adjusting method and device
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
CN109795471A (en) * 2018-12-25 2019-05-24 清华大学 A kind of torque sensor assembly applied to hybrid power engine
CN110542562A (en) * 2019-09-26 2019-12-06 潍柴动力股份有限公司 Engine torque measuring method, engine torque measuring device, engine torque control device, and storage medium
CN110606072A (en) * 2018-05-29 2019-12-24 上海汽车集团股份有限公司 Anti-flameout control method and device for vehicle engine of automatic gearbox
CN111016679A (en) * 2019-11-28 2020-04-17 珠海格力电器股份有限公司 Automobile control method and device, storage medium and automobile
CN111071237A (en) * 2019-12-29 2020-04-28 吉泰车辆技术(苏州)有限公司 Seamless downshift control method for hybrid system
CN111169457A (en) * 2019-12-29 2020-05-19 吉泰车辆技术(苏州)有限公司 Hybrid power gear shifting control method
CN111497823A (en) * 2019-01-30 2020-08-07 郑州宇通客车股份有限公司 Hybrid vehicle control mode switching coordination control method and vehicle
CN111572531A (en) * 2020-05-01 2020-08-25 东风汽车集团有限公司 Self-learning method for torque deviation of full transmission part of hybrid vehicle
CN111645667A (en) * 2020-04-23 2020-09-11 吉泰车辆技术(苏州)有限公司 Torque control method, device and equipment for parallel mode of hybrid vehicle and vehicle
CN111734541A (en) * 2020-07-02 2020-10-02 安徽江淮汽车集团股份有限公司 Engine torque compensation method, engine torque compensation equipment, storage medium and device
CN112477863A (en) * 2019-09-12 2021-03-12 郑州宇通客车股份有限公司 Vehicle, torque output method and device
CN112594370A (en) * 2020-12-07 2021-04-02 浙江吉利控股集团有限公司 Vehicle gear shifting power-assisted control method and system and vehicle
CN112829738A (en) * 2020-05-22 2021-05-25 博雷顿科技有限公司 Power control equipment of plug-in hybrid electric vehicle
CN113022328A (en) * 2021-02-24 2021-06-25 北京汽车股份有限公司 Vehicle torque control method and device and vehicle
CN113619406A (en) * 2021-09-02 2021-11-09 北京汽车集团越野车有限公司 Control method and device for automobile power-assisted function

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CN107685732A (en) * 2016-08-03 2018-02-13 神华集团有限责任公司 Automotive power output power control method and control system
CN107685732B (en) * 2016-08-03 2019-12-06 神华集团有限责任公司 vehicle power system output power control method and control system
CN106799975A (en) * 2017-01-22 2017-06-06 北京新能源汽车股份有限公司 A kind of control method of operator demand's moment of torsion, device and electric automobile
CN106828483B (en) * 2017-03-01 2018-04-06 吉林大学 A kind of planet Series-Parallel HEV operator demand torque calculation method
CN106828483A (en) * 2017-03-01 2017-06-13 吉林大学 A kind of planet Series-Parallel HEV operator demand torque calculation method
CN108657160A (en) * 2017-03-31 2018-10-16 长城汽车股份有限公司 A kind of hybrid power dynamic control method and device
CN108657160B (en) * 2017-03-31 2020-10-27 蜂巢能源科技有限公司 Hybrid dynamic control method and device
CN107253475A (en) * 2017-06-08 2017-10-17 重庆长安汽车股份有限公司 A kind of moment of torsion distribution method, moment of torsion dispensing controller for hybrid vehicle
CN109278739B (en) * 2017-07-19 2024-02-27 舍弗勒技术股份两合公司 Control method of creep torque of hybrid vehicle and hybrid vehicle
CN109278739A (en) * 2017-07-19 2019-01-29 舍弗勒技术股份两合公司 The control method and hybrid vehicle of the creeping torque of hybrid vehicle
WO2019085909A1 (en) * 2017-10-31 2019-05-09 长城汽车股份有限公司 Hybrid vehicle torque adjusting method and device
US11603089B2 (en) 2017-10-31 2023-03-14 Great Wall Motor Company Limited Hybrid vehicle torque adjusting method and device
CN110606072A (en) * 2018-05-29 2019-12-24 上海汽车集团股份有限公司 Anti-flameout control method and device for vehicle engine of automatic gearbox
CN110606072B (en) * 2018-05-29 2021-06-29 上海汽车集团股份有限公司 Anti-flameout control method and device for vehicle engine of automatic gearbox
CN108819724A (en) * 2018-06-11 2018-11-16 浙江吉利汽车研究院有限公司 Regenerating brake control method, entire car controller and automobile
CN109795471A (en) * 2018-12-25 2019-05-24 清华大学 A kind of torque sensor assembly applied to hybrid power engine
CN109677396A (en) * 2018-12-25 2019-04-26 清华大学 A kind of active damping method for engine-electric machine coupled system twisting vibration
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
CN111497823A (en) * 2019-01-30 2020-08-07 郑州宇通客车股份有限公司 Hybrid vehicle control mode switching coordination control method and vehicle
CN112477863A (en) * 2019-09-12 2021-03-12 郑州宇通客车股份有限公司 Vehicle, torque output method and device
CN112477863B (en) * 2019-09-12 2022-05-20 宇通客车股份有限公司 Vehicle, torque output method and device
CN110542562A (en) * 2019-09-26 2019-12-06 潍柴动力股份有限公司 Engine torque measuring method, engine torque measuring device, engine torque control device, and storage medium
CN110542562B (en) * 2019-09-26 2022-04-05 潍柴动力股份有限公司 Engine torque measuring method, engine torque measuring device, engine torque control device, and storage medium
CN111016679B (en) * 2019-11-28 2021-03-26 珠海格力电器股份有限公司 Automobile control method and device, storage medium and automobile
CN111016679A (en) * 2019-11-28 2020-04-17 珠海格力电器股份有限公司 Automobile control method and device, storage medium and automobile
CN111169457B (en) * 2019-12-29 2021-10-12 吉泰车辆技术(苏州)有限公司 Hybrid power gear shifting control method
CN111169457A (en) * 2019-12-29 2020-05-19 吉泰车辆技术(苏州)有限公司 Hybrid power gear shifting control method
CN111071237B (en) * 2019-12-29 2021-10-12 吉泰车辆技术(苏州)有限公司 Seamless downshift control method for hybrid system
CN111071237A (en) * 2019-12-29 2020-04-28 吉泰车辆技术(苏州)有限公司 Seamless downshift control method for hybrid system
CN111645667A (en) * 2020-04-23 2020-09-11 吉泰车辆技术(苏州)有限公司 Torque control method, device and equipment for parallel mode of hybrid vehicle and vehicle
CN111572531B (en) * 2020-05-01 2021-09-14 东风汽车集团有限公司 Self-learning method for torque deviation of full transmission part of hybrid vehicle
CN111572531A (en) * 2020-05-01 2020-08-25 东风汽车集团有限公司 Self-learning method for torque deviation of full transmission part of hybrid vehicle
CN112829738A (en) * 2020-05-22 2021-05-25 博雷顿科技有限公司 Power control equipment of plug-in hybrid electric vehicle
CN112829738B (en) * 2020-05-22 2022-05-17 博雷顿科技有限公司 Power control equipment of plug-in hybrid electric vehicle
CN111734541B (en) * 2020-07-02 2021-10-22 安徽江淮汽车集团股份有限公司 Engine torque compensation method, engine torque compensation equipment, storage medium and device
CN111734541A (en) * 2020-07-02 2020-10-02 安徽江淮汽车集团股份有限公司 Engine torque compensation method, engine torque compensation equipment, storage medium and device
CN112594370A (en) * 2020-12-07 2021-04-02 浙江吉利控股集团有限公司 Vehicle gear shifting power-assisted control method and system and vehicle
CN113022328A (en) * 2021-02-24 2021-06-25 北京汽车股份有限公司 Vehicle torque control method and device and vehicle
CN113619406A (en) * 2021-09-02 2021-11-09 北京汽车集团越野车有限公司 Control method and device for automobile power-assisted function

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