CN105774808A - Control framework and device for hybrid electric vehicle - Google Patents
Control framework and device for hybrid electric vehicle Download PDFInfo
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- CN105774808A CN105774808A CN201410805349.2A CN201410805349A CN105774808A CN 105774808 A CN105774808 A CN 105774808A CN 201410805349 A CN201410805349 A CN 201410805349A CN 105774808 A CN105774808 A CN 105774808A
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Abstract
The invention provides a control framework and device for a hybrid electric vehicle. Through control over universal gears, an engine and the torque, in various possible gear and torque distribution combinations, the engine is made to work at the working condition point of the lowest fuel consumption rate in real time as much as possible. Through reasonable design of module functions, the calling relationship among modules and the data flow direction among the modules, the control reliability is guaranteed.
Description
Technical field
The present invention relates to the control technical field of a kind of electric automobile, particularly relate to control framework and the device of a kind of hybrid vehicle.
Background technology
Along with the high speed development of human society, environmental pollution and energy crisis have become as two hang-ups day by day perplexing human survival.In recent years, what new-energy automobile industry became world car industry gives priority to field, can reduce oil consumption with the new-energy automobile that electric automobile, hybrid vehicle are representative, reduce toxic emission, and the sustainable development for human environment is significant.
It is the core that hybrid electric vehicle complete vehicle controls that hybrid vehicle controls framework, including the data flow etc. of module concrete in control process and function, the mutual call relation of intermodule and intermodule.It is determine one of principal element controlling reliability and integrity that hybrid vehicle controls framework.Existing hybrid vehicle control cage configuration formula have tandem, parallel and hybrid three kinds, wherein the control target currently for parallel hybrid electric vehicle control framework is only the operating point that part optimizes electromotor, electromotor can not be made to work in minimum specific fuel consumption operating point, this makes the hybrid vehicle fuel consumption adopting this control framework relatively big, and use cost is higher.
Summary of the invention
The technical problem to be solved is that existing parallel hybrid electric vehicle controls framework electromotor can not be made to work in minimum specific fuel consumption operating point, and provides a kind of and electromotor real time operation as much as possible can be made in the control framework of the hybrid vehicle of minimum specific fuel consumption operating point and device.
For solving above-mentioned technical problem, technical scheme is as follows:
A kind of control framework of hybrid vehicle, including:
S1. obtaining real-time parameter, described real-time parameter includes current shift and current operation mode；
S2. run under fault-free premise at vehicle, obtain vehicle demand torque according to described real-time parameter, it is judged that Current vehicle should locate mode of operation；
S3. according to described real-time parameter, calculate under each gear at the motor peak value driving torque at wheel place and motor peak value charge torque；
S4. according to current operation mode with described should locate mode of operation, it may be judged whether switching working mode, if switching, perform step S5, otherwise perform step S6；
S5. current operation mode is switched to described mode of operation of should locating, performs step S6；
S6. judge whether current operation mode is generating in parallel, parallel drive or pure engine mode, if it is perform step S7, otherwise perform step S11；
S7. according to described real-time parameter, calculate currently available gear, and according under each gear at the described motor peak value driving torque at wheel place and described motor peak value charge torque, calculate each corresponding gear and meet the electromotor under vehicle demand torque premise and motor at wheel place output moment of torsion, contrast the fuel consumption that each gear engine working point is corresponding, gear minimum for fuel consumption is set to first object gear；
S8. according to described first object gear, current shift and the gear shift interval time of the two, it may be judged whether need gearshift, if it is perform step S9, otherwise perform step S10；
S9. shift gears, and output engine and motor target torque instruction, perform step S1；
S10. according to described vehicle demand torque moment of torsion corresponding to electromotor optimal economic line, output engine and motor target torque, step S1 is performed；
S11. according to described real-time parameter, calculate currently available gear, and according under each gear at the described motor peak value driving torque at wheel place and described motor peak value charge torque, calculate the motor that corresponding gear meets under described vehicle demand torque premise and export moment of torsion at wheel place, contrast the work efficiency that each gear motor operating point is corresponding, gear high for work efficiency is set to the second target gear；
S12. according to described second target gear, current shift and the gear shift interval time of the two, it may be judged whether need gearshift, if it is perform step S13, otherwise perform step S14；
S13. shift gears, and output motor target torque instruction, perform step S1；
S14. output engine and motor target torque, performs step S1.
In above-mentioned control framework, farther including between described step S1 and S2: S15. is according to described real-time parameter, it is judged that vehicle runs whether there is fault, if there is fault, performs step S16, otherwise performing step S2；
Described step S16, for carrying out troubleshooting, performs step S2 after having processed.
In above-mentioned control framework, farther included before performing described step S16: S17. is filtered smoothing processing, after having processed, perform step S6.
In above-mentioned control framework, described step S16 farther includes:
S161. carry out warning and limitting power operation；
S162. it is filtered smoothing processing, performs step S2, after having processed, perform step S2.
In above-mentioned control framework, the described current operation mode in described step S1 be a upper cycle should locate mode of operation.
In above-mentioned control framework, the described real-time parameter in described step S1 farther includes that diagnostic signal, speed, SOC, pedal aperture, the maximum charge-discharge electric power of battery, high-low pressure accessory power, cell potential, electromotor be minimum and maximum speed restrictive condition and motor is minimum and maximum speed restrictive condition.
In above-mentioned control framework, described step S2 includes:
S21. according to speed and pedal aperture, it is thus achieved that vehicle demand torque；
S22. according to vehicle demand torque and SOC, it is judged that vehicle should locate mode of operation.
In above-mentioned control framework, described mode of operation of should locating includes parallel drive, generating in parallel, the driving of pure electromotor, pure electronic and braking mode.
In above-mentioned control framework, described step S3 includes:
S31. calculate according to speed, SOC, the maximum charge-discharge electric power of battery, high-low pressure accessory power and cell potential and obtain motor peak value driving torque and motor peak value charge torque；
S32. described motor peak value driving torque and motor peak value charge torque are multiplied by each gear speed ratio and transmission efficiency respectively, obtain under each gear at the motor peak value driving torque at wheel place and motor peak value charge torque.
In above-mentioned control framework, described step S7 includes:
S71. minimum according to speed, electromotor and maximum speed restrictive condition, calculate currently available gear, and according under each gear at the described motor peak value driving torque at wheel place and described motor peak value charge torque, calculate each corresponding gear meet the electromotor under vehicle demand torque premise and motor wheel place export moment of torsion；
S72. meet the electromotor under vehicle demand torque premise and motor according to each corresponding gear and export moment of torsion at wheel place, it is thus achieved that the fuel consumption that each gear engine working point is corresponding；
S73. contrast the fuel consumption that each gear engine working point is corresponding, gear minimum for fuel consumption is set to first object gear.
In above-mentioned control framework, described step S8 includes:
S81. according to described first object gear and current shift, the gear shift interval time of the two is calculated；
S82. according to described first object gear, current shift and the gear shift interval time of the two, it may be judged whether need gearshift.
In above-mentioned control framework, described step S11 includes:
S111. minimum according to speed, motor and maximum speed restrictive condition, calculate currently available gear, and according under each gear at the described motor peak value driving torque at wheel place and described motor peak value charge torque, calculate the motor that each corresponding gear meets under vehicle demand torque premise and export moment of torsion at wheel place；
S112. meet the motor under vehicle demand torque premise according to each corresponding gear and export moment of torsion at wheel place, it is thus achieved that the work efficiency that each gear motor operating point is corresponding；
S113. contrast the work efficiency that each gear motor operating point is corresponding, gear high for work efficiency is set to the second target gear.
In above-mentioned control framework, described step S12 includes:
S121. according to described second target gear and current shift, the gear shift interval time of the two is calculated；
S122. according to described second target gear, current shift and the gear shift interval time of the two, it may be judged whether need gearshift.
In above-mentioned control framework, described step S9 and described step S13 all includes by dropping torsion, plucks gear, block selecting, speed governing, put into gear and moment of torsion recovers to shift gears.
A kind of control device of hybrid vehicle, including:
Acquisition module, is used for obtaining real-time parameter, and described real-time parameter includes current shift and current operation mode；
Mode of operation judge module should be located, for running under fault-free premise at vehicle, obtain vehicle demand torque according to described real-time parameter, it is judged that Current vehicle should locate mode of operation；
First computing module, for according to described real-time parameter, calculating under each gear at the motor peak value driving torque at wheel place and motor peak value charge torque；
Mode of operation switching judging module, for according to current operation mode with described should locate mode of operation, it may be judged whether switching working mode, if switching, perform handover module, otherwise perform mode of operation type judging module；
Handover module, for current operation mode switches to described mode of operation of should locating, performs mode of operation type judging module；For
Mode of operation type judging module, it is judged that whether current operation mode is generating in parallel, parallel drive or pure engine mode, if it is performs first object gear acquisition module, otherwise performs the second target gear acquisition module；
First object gear acquisition module, for according to described real-time parameter, calculate currently available gear, and according under each gear at the described motor peak value driving torque at wheel place and described motor peak value charge torque, calculate each corresponding gear and meet the electromotor under vehicle demand torque premise and motor at wheel place output moment of torsion, contrast the fuel consumption that each gear engine working point is corresponding, gear minimum for fuel consumption is set to first object gear；
First gearshift judge module, for according to described first object gear, current shift and the gear shift interval time of the two, it may be judged whether need gearshift, if it is perform the first shift module, otherwise perform the first steady-state module；
First shift module, is used for shifting gears, and output engine and motor target torque instruction, performs acquisition module；
First steady-state module, for according to described vehicle demand torque moment of torsion corresponding to electromotor optimal economic line, output engine and motor target torque, performing acquisition module；
Second target gear acquisition module, for according to described real-time parameter, calculate currently available gear, and according under each gear at the described motor peak value driving torque at wheel place and described motor peak value charge torque, calculate the motor that corresponding gear meets under described vehicle demand torque premise and export moment of torsion at wheel place, contrast the work efficiency that each gear motor operating point is corresponding, gear high for work efficiency is set to the second target gear；
Second gearshift judge module, for according to described second target gear, current shift and the gear shift interval time of the two, it may be judged whether need gearshift, if it is perform the second shift module, otherwise perform the second steady-state module；
Second shift module, is used for shifting gears, and output motor target torque instruction, performs acquisition module；
Second steady-state module, for output engine and motor target torque, performs acquisition module.
In above-mentioned control device, farther including breakdown judge module, for according to described real-time parameter, it is judged that vehicle runs whether there is fault, if there is fault, performs fault processing module, otherwise performing to locate mode of operation judge module；
Described fault processing module is used for carrying out troubleshooting, performs to locate mode of operation judge module after having processed.
In above-mentioned control device, farther include filtering processing module, be used for being filtered smoothing processing, after having processed, perform fault processing module.
In above-mentioned control device, described fault processing module includes:
Warning and limit power modules, be used for carrying out warning and limitting power operation；
Filtering processes submodule, is used for being filtered smoothing processing, performs to locate mode of operation judge module after having processed.
In above-mentioned control device, the described current operation mode in described acquisition module be a upper cycle should locate mode of operation.
In above-mentioned control device, the described real-time parameter in described acquisition module farther includes that diagnostic signal, speed, SOC, pedal aperture, the maximum charge-discharge electric power of battery, high-low pressure accessory power, cell potential, electromotor be minimum and maximum speed restrictive condition and motor is minimum and maximum speed restrictive condition.
In above-mentioned control device, described mode of operation judge module of should locating includes:
Vehicle demand torque obtains submodule, for according to speed and pedal aperture, it is thus achieved that vehicle demand torque；
Mode of operation should be located and judge submodule, for according to vehicle demand torque and SOC, it is judged that vehicle should locate mode of operation.
In above-mentioned control device, described mode of operation of should locating includes parallel drive, generating in parallel, the driving of pure electromotor, pure electronic and braking mode.
In above-mentioned control device, described first computing module includes:
Motor peak value driving/charge torque obtains submodule, obtains motor peak value driving torque and motor peak value charge torque for calculating according to speed, SOC, the maximum charge-discharge electric power of battery, high-low pressure accessory power and cell potential；
Submodule is obtained at wheel place motor peak value driving/charge torque under each gear, for described motor peak value driving torque and motor peak value charge torque are multiplied by each gear speed ratio and transmission efficiency respectively, obtain under each gear at the motor peak value driving torque at wheel place and motor peak value charge torque.
In above-mentioned control device, described first object gear acquisition module includes:
Electromotor and motor export moment of torsion and obtain submodule at wheel place, for the minimum and maximum speed restrictive condition according to speed, electromotor, calculate currently available gear, and according under each gear at the described motor peak value driving torque at wheel place and described motor peak value charge torque, calculate each corresponding gear meet the electromotor under vehicle demand torque premise and motor wheel place export moment of torsion；
Each gear engine working point fuel consumption obtains submodule, exports moment of torsion at wheel place for meeting the electromotor under vehicle demand torque premise and motor according to each corresponding gear, it is thus achieved that the fuel consumption that each gear engine working point is corresponding；
First object gear obtains submodule, for contrasting the fuel consumption that each gear engine working point is corresponding, gear minimum for fuel consumption is set to first object gear.
In above-mentioned control device, described first gearshift judge module includes:
First gear shift interval time obtained submodule, for according to described first object gear and current shift, calculating the gear shift interval time of the two；
First gearshift judges submodule, for according to described first object gear, current shift and the gear shift interval time of the two, it may be judged whether need gearshift.
In above-mentioned control device, described second target gear acquisition module includes:
Motor exports moment of torsion and obtains submodule at wheel place, for the minimum and maximum speed restrictive condition according to speed, motor, calculate currently available gear, and according under each gear at the described motor peak value driving torque at wheel place and described motor peak value charge torque, calculate the motor that each corresponding gear meets under vehicle demand torque premise and export moment of torsion at wheel place；
Each gear motor operating point work efficiency obtains submodule, exports moment of torsion at wheel place for meeting motor under vehicle demand torque premise according to each corresponding gear, it is thus achieved that the work efficiency that each gear motor operating point is corresponding；
Second target gear obtains submodule, for contrasting the work efficiency that each gear motor operating point is corresponding, gear high for work efficiency is set to the second target gear.
In above-mentioned control device, described second gearshift judge module includes:
Second gear shift interval time obtained submodule, for according to described second target gear and current shift, calculating the gear shift interval time of the two；
Second gearshift judges submodule, for according to described second target gear, current shift and the gear shift interval time of the two, it may be judged whether need gearshift.
In above-mentioned control device, described first shift module and described second shift module all include by dropping torsion, pluck gear, block selecting, speed governing, put into gear and moment of torsion recovers to shift gears.
The technique scheme of the present invention has the advantage that control framework and the device of the hybrid vehicle of the present invention compared to existing technology, by gearshift, electromotor and direct torque, distribute in combination at multiple possible gear and torque, make electromotor work in minimum specific fuel consumption operating point in real time as far as possible；And by appropriate design functions of modules, the mutual call relation of intermodule, and the data flow of intermodule, it is ensured that control reliability.
Accompanying drawing explanation
In order to make present disclosure be more likely to be clearly understood, below according to specific embodiments of the invention and in conjunction with accompanying drawing, the present invention is further detailed explanation, wherein
Fig. 1 is the structure diagram of the parallel hybrid electric vehicle dynamical system that the present invention relates to；
Fig. 2 is the flow chart controlling framework of one embodiment of the invention hybrid vehicle；
Fig. 3 is the flow chart controlling framework of one embodiment of the invention hybrid vehicle；
Fig. 4 is the flow chart controlling framework step S2 of one embodiment of the invention hybrid vehicle；
Fig. 5 is the flow chart controlling framework step S3 of one embodiment of the invention hybrid vehicle；
Fig. 6 is the flow chart controlling framework step S7 of one embodiment of the invention hybrid vehicle；
Fig. 7 is the flow chart controlling framework step S8 of one embodiment of the invention hybrid vehicle；
Fig. 8 is the flow chart controlling framework step S11 of one embodiment of the invention hybrid vehicle；
Fig. 9 is the flow chart controlling framework step S12 of one embodiment of the invention hybrid vehicle；
Figure 10 is the flow chart controlling framework step S16 of one embodiment of the invention hybrid vehicle；
Figure 11 is the schematic diagram controlling device of one embodiment of the invention hybrid vehicle.
nullIn figure, accompanying drawing is labeled as: 1-acquisition module，2-should locate mode of operation judge module，21-vehicle demand torque obtains submodule，22-should locate mode of operation and judge submodule，3-the first computing module，31-motor peak value driving/charge torque obtains submodule，Submodule is obtained at wheel place motor peak value driving/charge torque under each gear of 32-，4-mode of operation switching judging module，5-handover module，6-mode of operation type judging module，7-first object gear acquisition module，71-electromotor and motor export moment of torsion and obtain submodule at wheel place，The each gear engine working point fuel consumption of 72-obtains submodule，73-first object gear obtains submodule，8-first shifts gears judge module，81-the first gear shift interval time obtains submodule，82-the first gearshift judges submodule，9-the first shift module，10-the first steady-state module，11-the second target gear acquisition module，111-motor exports moment of torsion and obtains submodule at wheel place，112-each gear motor operating point work efficiency obtains submodule，113-the second target gear obtains submodule，12-second shifts gears judge module，121-the second gear shift interval time obtains submodule，122-the second gearshift judges submodule，13-the second shift module，14-the second steady-state module，15-breakdown judge module，16-fault processing module，161-warning and limit power modules，162-filtering processes submodule，17-filtering processing module；100-electromotor, 200-TM motor, 300-electric control mechanical type automatic speed variator (AMT), 400-clutch.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.
The control framework of the hybrid vehicle of the present invention is for parallel hybrid electric vehicle, the control target proposed is by gearshift, electromotor and direct torque, distribute in combination at multiple possible gear and torque, make electromotor work in minimum specific fuel consumption operating point in real time as far as possible, reduce the fuel consumption that vehicle runs.
If Fig. 1 is the structure diagram of parallel hybrid electric vehicle dynamical system, this dynamical system includes electromotor 100, automatic clutch 400, TM motor (direct current torque motor) 200, electric control mechanical type automatic speed variator (AMT) 200 and main reducing gear etc..
As in figure 2 it is shown, the control framework of the hybrid vehicle of the present embodiment, including:
S1. obtaining real-time parameter, described real-time parameter includes current shift and current operation mode；
S2. run under fault-free premise at vehicle, obtain vehicle demand torque according to described real-time parameter, it is judged that Current vehicle should locate mode of operation；
S3. according to described real-time parameter, calculate under each gear at the motor peak value driving torque at wheel place and motor peak value charge torque；
S4. according to current operation mode with described should locate mode of operation, it may be judged whether switching working mode, if switching, perform step S5, otherwise perform step S6；
S5. current operation mode is switched to described mode of operation of should locating, performs step S6；
S6. judge whether current operation mode is generating in parallel, parallel drive or pure engine mode, if it is perform step S7, otherwise perform step S11；
S7. according to described real-time parameter, calculate currently available gear, and according under each gear at the described motor peak value driving torque at wheel place and described motor peak value charge torque, calculate each corresponding gear and meet the electromotor under vehicle demand torque premise and motor at wheel place output moment of torsion, contrast the fuel consumption that each gear engine working point is corresponding, gear minimum for fuel consumption is set to first object gear；
S8. according to described first object gear, current shift and the gear shift interval time of the two, it may be judged whether need gearshift, if it is perform step S9, otherwise perform step S10；
S9. shift gears, and output engine and motor target torque instruction, perform step S1；
S10. according to described vehicle demand torque moment of torsion corresponding to electromotor optimal economic line, output engine and motor target torque, step S1 is performed；
S11. according to described real-time parameter, calculate currently available gear, and according under each gear at the described motor peak value driving torque at wheel place and described motor peak value charge torque, calculate the motor that corresponding gear meets under described vehicle demand torque premise and export moment of torsion at wheel place, contrast the work efficiency that each gear motor operating point is corresponding, gear high for work efficiency is set to the second target gear；
S12. according to described second target gear, current shift and the gear shift interval time of the two, it may be judged whether need gearshift, if it is perform step S13, otherwise perform step S14；
S13. shift gears, and output motor target torque instruction, perform step S1；
S14. output engine and motor target torque, performs step S1.
In the present embodiment, the described current operation mode in described step S1 be a upper cycle should locate mode of operation.Real-time parameter in described step S1 specifically includes numeral, simulation and CAN signal and processes the data obtained, farther include that diagnostic signal, speed, SOC (storage battery charge state value, Stateofcharge), pedal aperture, the maximum charge-discharge electric power of battery, high-low pressure accessory power, cell potential, electromotor be minimum and maximum speed restrictive condition and motor is minimum and maximum speed restrictive condition.Wherein, the difference according to vehicle running state, pedal aperture includes driving pedal aperture and brake pedal aperture.
In the present embodiment, in described step S4, switching working mode includes carrying out in the pattern change process of front and back electromotor start and stop, clutch separation and in conjunction with action.In described step S5, switching working mode is a kind of dynamic process, and this dynamic process can carry out dropping the actions such as torsion, speed governing and moment of torsion recovery.
In the present embodiment, in order to carry out subsequent control, it is necessary to first ensure that vehicle runs and be under non-failure conditions, prior art means can be adopted to guarantee or get rid of vehicle and run fault that may be present, then implement the subsequent step of this control framework again.
As it is shown on figure 3, in one embodiment of the invention, farther including between described step S1 and S2: S15. is according to described real-time parameter, it is judged that vehicle runs whether there is fault, if there is fault, performs step S16, otherwise performing step S2.Described step S16, for carrying out troubleshooting, performs step S2 after having processed.Namely the control framework of the present embodiment includes breakdown judge and processing procedure.
In order to prevent signal disturbing, farther included before performing described step S16: S17. is filtered smoothing processing, after having processed, perform step S6.When determine there is vehicle trouble, then carry out troubleshooting.
As shown in Figure 10, described step S16 farther includes:
S161. carry out warning and limitting power operation；
S162. it is filtered smoothing processing, performs step S2.
Arranging above-mentioned steps S162 is to prevent signal disturbing, exits step S16 determining again after fault is excluded.
Concrete, as shown in Figure 4, described step S2 includes:
S21. according to speed and pedal aperture, it is thus achieved that vehicle demand torque；
S22. according to vehicle demand torque and SOC, it is judged that vehicle should locate mode of operation.
Difference according to vehicle running state, pedal aperture includes driving pedal aperture and brake pedal aperture, and corresponding vehicle demand torque also includes driving and two kinds of situations of braking.Described mode of operation of should locating includes parallel drive, generating in parallel, the driving of pure electromotor, pure electronic and braking mode.
Concrete, as it is shown in figure 5, described step S3 includes:
S31. calculate according to speed, SOC, the maximum charge-discharge electric power of battery, high-low pressure accessory power and cell potential and obtain motor peak value driving torque and motor peak value charge torque；
S32. described motor peak value driving torque and motor peak value charge torque are multiplied by each gear speed ratio and transmission efficiency respectively, obtain under each gear at the motor peak value driving torque at wheel place and motor peak value charge torque.
If current operation mode is generating in parallel, parallel drive and pure engine mode, then clutch is closure state.Concrete, as shown in Figure 6, described step S7 includes:
S71. minimum according to speed, electromotor and maximum speed restrictive condition, calculate currently available gear, and according under each gear at the described motor peak value driving torque at wheel place and described motor peak value charge torque, calculate each corresponding gear meet the electromotor under vehicle demand torque premise and motor wheel place export moment of torsion；
S72. meet the electromotor under vehicle demand torque premise and motor according to each corresponding gear and export moment of torsion at wheel place, it is thus achieved that the fuel consumption that each gear engine working point is corresponding；
S73. contrast the fuel consumption that each gear engine working point is corresponding, gear minimum for fuel consumption is set to first object gear.
Concrete, as it is shown in fig. 7, described step S8 includes:
S81. according to described first object gear and current shift, the gear shift interval time of the two is calculated；
S82. according to described first object gear, current shift and the gear shift interval time of the two, it may be judged whether need gearshift.
Concrete, as shown in Figure 8, described step S11 includes:
S111. minimum according to speed, motor and maximum speed restrictive condition, calculate currently available gear, and according under each gear at the described motor peak value driving torque at wheel place and described motor peak value charge torque, calculate the motor that each corresponding gear meets under vehicle demand torque premise and export moment of torsion at wheel place；
S112. meet the motor under vehicle demand torque premise according to each corresponding gear and export moment of torsion at wheel place, it is thus achieved that the work efficiency that each gear motor operating point is corresponding；
S113. contrast the work efficiency that each gear motor operating point is corresponding, gear high for work efficiency is set to the second target gear.
Concrete, as it is shown in figure 9, described step S12 includes:
S121. according to described second target gear and current shift, the gear shift interval time of the two is calculated；
S122. according to described second target gear, current shift and the gear shift interval time of the two, it may be judged whether need gearshift.
In the present embodiment, described step S9 and described step 13 are a dynamic shifting process, described step 9 and described step 13 and all include by dropping torsion, pluck gear, block selecting, speed governing, put into gear and the process such as moment of torsion recovery is shifted gears.
The control framework of the present invention, by gearshift, electromotor and direct torque, distributes in combination at multiple possible gear and torque, it is possible to make electromotor work in minimum specific fuel consumption operating point in real time as far as possible.And, the framework that controls of the present invention contains the input signal processing started from the execution cycle, to the execution cycle complete time the overall process determined of gear instruction, electromotor and motor target torque；Consider the dynamic process that pattern changes and shifts gears and the processing links of fault mode simultaneously；All have in each moment and determine mode of operation and perform action accordingly, it is ensured that control the reliability of process.
The present invention also provides for the control device of a kind of hybrid vehicle, as shown in figure 11, and including:
Acquisition module 1, is used for obtaining real-time parameter, and described real-time parameter includes current shift and current operation mode；
Mode of operation judge module 2 should be located, for running under fault-free premise at vehicle, obtain vehicle demand torque according to described real-time parameter, it is judged that Current vehicle should locate mode of operation；
First computing module 3, for according to described real-time parameter, calculating under each gear at the motor peak value driving torque at wheel place and motor peak value charge torque；
Mode of operation switching judging module 4, for according to current operation mode with described should locate mode of operation, it may be judged whether switching working mode, if switching, perform handover module 5, otherwise perform mode of operation type judging module 6；
Handover module 5, for current operation mode switches to described mode of operation of should locating, performs mode of operation type judging module 6；For
Mode of operation type judging module 6, it is judged that whether current operation mode is generating in parallel, parallel drive or pure engine mode, if it is performs first object gear acquisition module 7, otherwise performs the second target gear acquisition module 11；
First object gear acquisition module 7, for according to described real-time parameter, calculate currently available gear, and according under each gear at the described motor peak value driving torque at wheel place and described motor peak value charge torque, calculate each corresponding gear and meet the electromotor under vehicle demand torque premise and motor at wheel place output moment of torsion, contrast the fuel consumption that each gear engine working point is corresponding, gear minimum for fuel consumption is set to first object gear；
First gearshift judge module 8, for according to described first object gear, current shift and the gear shift interval time of the two, it may be judged whether need gearshift, if it is perform the first shift module 9, otherwise perform the first steady-state module 10；
First shift module 9, is used for shifting gears, and output engine and motor target torque instruction, performs acquisition module 1；
First steady-state module 10, for according to described vehicle demand torque moment of torsion corresponding to electromotor optimal economic line, output engine and motor target torque, performing acquisition module 1；
Second target gear acquisition module 11, for according to described real-time parameter, calculate currently available gear, and according under each gear at the described motor peak value driving torque at wheel place and described motor peak value charge torque, calculate the motor that corresponding gear meets under described vehicle demand torque premise and export moment of torsion at wheel place, contrast the work efficiency that each gear motor operating point is corresponding, gear high for work efficiency is set to the second target gear；
Second gearshift judge module 12, for according to described second target gear, current shift and the gear shift interval time of the two, it may be judged whether need gearshift, if it is perform the second shift module 13, otherwise perform the second steady-state module 14；
Second shift module 13, is used for shifting gears, and output motor target torque instruction, performs acquisition module 1；
Second steady-state module 14, for output engine and motor target torque, performs acquisition module 1.
The control device of described hybrid vehicle farther includes breakdown judge module 15, for according to described real-time parameter, it is judged that vehicle runs whether there is fault, if there is fault, performs fault processing module 16, otherwise performs to locate mode of operation judge module 2；Described fault processing module 16 is used for carrying out troubleshooting, performs to locate mode of operation judge module 2 after having processed.
The control device of described hybrid vehicle farther includes filtering processing module 17, is used for being filtered smoothing processing, performs fault processing module 16 after having processed.
Concrete, described fault processing module 16 includes:
Warning and limit power modules 161, be used for carrying out warning and limitting power operation；
Filtering processes submodule 162, is used for being filtered smoothing processing, performs to locate mode of operation judge module 2 after having processed.
In the present embodiment, the described current operation mode in described acquisition module 1 be a upper cycle should locate mode of operation.Described real-time parameter in described acquisition module 1 farther includes that diagnostic signal, speed, SOC, pedal aperture, the maximum charge-discharge electric power of battery, high-low pressure accessory power, cell potential, electromotor be minimum and maximum speed restrictive condition and motor is minimum and maximum speed restrictive condition.
Concrete, described mode of operation judge module 2 of should locating includes:
Vehicle demand torque obtains submodule 21, for according to speed and pedal aperture, it is thus achieved that vehicle demand torque；
Mode of operation should be located and judge submodule 22, for according to vehicle demand torque and SOC, it is judged that vehicle should locate mode of operation.
Wherein, the mode of operation of should locating should located in mode of operation judge module 2 includes parallel drive, generating in parallel, the driving of pure electromotor, pure electronic and braking mode.
Concrete, described first computing module 3 includes:
Motor peak value driving/charge torque obtains submodule 31, obtains motor peak value driving torque and motor peak value charge torque for calculating according to speed, SOC, the maximum charge-discharge electric power of battery, high-low pressure accessory power and cell potential；
Submodule 32 is obtained at wheel place motor peak value driving/charge torque under each gear, for described motor peak value driving torque and motor peak value charge torque are multiplied by each gear speed ratio and transmission efficiency respectively, obtain under each gear at the motor peak value driving torque at wheel place and motor peak value charge torque.
Concrete, described first object gear acquisition module 7 includes:
Electromotor and motor export moment of torsion and obtain submodule 71 at wheel place, for the minimum and maximum speed restrictive condition according to speed, electromotor, calculate currently available gear, and according under each gear at the described motor peak value driving torque at wheel place and described motor peak value charge torque, calculate each corresponding gear meet the electromotor under vehicle demand torque premise and motor wheel place export moment of torsion；
Each gear engine working point fuel consumption obtains submodule 72, exports moment of torsion at wheel place for meeting the electromotor under vehicle demand torque premise and motor according to each corresponding gear, it is thus achieved that the fuel consumption that each gear engine working point is corresponding；
First object gear obtains submodule 73, for contrasting the fuel consumption that each gear engine working point is corresponding, gear minimum for fuel consumption is set to first object gear.
Concrete, described first gearshift judge module 8 includes:
First gear shift interval time obtained submodule 81, for according to described first object gear and current shift, calculating the gear shift interval time of the two；
First gearshift judges submodule 82, for according to described first object gear, current shift and the gear shift interval time of the two, it may be judged whether need gearshift.
Concrete, described second target gear acquisition module 11 includes:
Motor exports moment of torsion and obtains submodule 111 at wheel place, for the minimum and maximum speed restrictive condition according to speed, motor, calculate currently available gear, and according under each gear at the described motor peak value driving torque at wheel place and described motor peak value charge torque, calculate the motor that each corresponding gear meets under vehicle demand torque premise and export moment of torsion at wheel place；
Each gear motor operating point work efficiency obtains submodule 112, exports moment of torsion at wheel place for meeting motor under vehicle demand torque premise according to each corresponding gear, it is thus achieved that the work efficiency that each gear motor operating point is corresponding；
Second target gear obtains submodule 113, for contrasting the work efficiency that each gear motor operating point is corresponding, gear high for work efficiency is set to the second target gear.
Concrete, described second gearshift judge module 12 includes:
Second gear shift interval time obtained submodule 121, for according to described second target gear and current shift, calculating the gear shift interval time of the two；
Second gearshift judges submodule 122, for according to described second target gear, current shift and the gear shift interval time of the two, it may be judged whether need gearshift.
In the present embodiment, described first shift module 9 and described second shift module 13 all include by dropping torsion, pluck gear, block selecting, speed governing, put into gear and the process such as moment of torsion recovery is shifted gears.
Obviously, above-described embodiment is only for clearly demonstrating example, and is not the restriction to embodiment.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here without also cannot all of embodiment be given exhaustive.And the apparent change thus extended out or variation are still among the protection domain of the invention.
Claims (28)
1. the control framework of a hybrid vehicle, it is characterised in that including:
S1. obtaining real-time parameter, described real-time parameter includes current shift and current operation mode；
S2. run under fault-free premise at vehicle, obtain vehicle demand torque according to described real-time parameter, it is judged that Current vehicle should locate mode of operation；
S3. according to described real-time parameter, calculate under each gear at the motor peak value driving torque at wheel place and motor peak value charge torque；
S4. according to current operation mode with described should locate mode of operation, it may be judged whether switching working mode, if switching, perform step S5, otherwise perform step S6；
S5. current operation mode is switched to described mode of operation of should locating, performs step S6；
S6. judge whether current operation mode is generating in parallel, parallel drive or pure engine mode, if it is perform step S7, otherwise perform step S11；
S7. according to described real-time parameter, calculate currently available gear, and according under each gear at the described motor peak value driving torque at wheel place and described motor peak value charge torque, calculate each corresponding gear and meet the electromotor under vehicle demand torque premise and motor at wheel place output moment of torsion, contrast the fuel consumption that each gear engine working point is corresponding, gear minimum for fuel consumption is set to first object gear；
S8. according to described first object gear, current shift and the gear shift interval time of the two, it may be judged whether need gearshift, if it is perform step S9, otherwise perform step S10；
S9. shift gears, and output engine and motor target torque instruction, perform step S1；
S10. according to described vehicle demand torque moment of torsion corresponding to electromotor optimal economic line, output engine and motor target torque, step S1 is performed；
S11. according to described real-time parameter, calculate currently available gear, and according under each gear at the described motor peak value driving torque at wheel place and described motor peak value charge torque, calculate the motor that corresponding gear meets under described vehicle demand torque premise and export moment of torsion at wheel place, contrast the work efficiency that each gear motor operating point is corresponding, gear high for work efficiency is set to the second target gear；
S12. according to described second target gear, current shift and the gear shift interval time of the two, it may be judged whether need gearshift, if it is perform step S13, otherwise perform step S14；
S13. shift gears, and output motor target torque instruction, perform step S1；
S14. output engine and motor target torque, performs step S1.
2. control framework according to claim 1, it is characterised in that farther include between described step S1 and S2: S15. is according to described real-time parameter, it is judged that vehicle runs whether there is fault, if there is fault, performs step S16, otherwise performs step S2；
Described step S16, for carrying out troubleshooting, performs step S2 after having processed.
3. control framework according to claim 2, it is characterised in that farther included before performing described step S16: S17. is filtered smoothing processing, performs step S6 after having processed.
4. the control framework according to Claims 2 or 3, it is characterised in that described step S16 farther includes:
S161. carry out warning and limitting power operation；
S162. it is filtered smoothing processing, performs step S2, after having processed, perform step S2.
5. according to the arbitrary described control framework of claim 1-4, it is characterised in that the described current operation mode in described step S1 be a upper cycle should locate mode of operation.
6. according to the arbitrary described control framework of claim 1-5, it is characterized in that, the described real-time parameter in described step S1 farther includes that diagnostic signal, speed, SOC, pedal aperture, the maximum charge-discharge electric power of battery, high-low pressure accessory power, cell potential, electromotor be minimum and maximum speed restrictive condition and motor is minimum and maximum speed restrictive condition.
7. control framework according to claim 6, it is characterised in that described step S2 includes:
S21. according to speed and pedal aperture, it is thus achieved that vehicle demand torque；
S22. according to vehicle demand torque and SOC, it is judged that vehicle should locate mode of operation.
8. control framework according to claim 7, it is characterised in that described mode of operation of should locating includes parallel drive, generating in parallel, the driving of pure electromotor, pure electronic and braking mode.
9. according to the arbitrary described control framework of claim 6-8, it is characterised in that described step S3 includes:
S31. calculate according to speed, SOC, the maximum charge-discharge electric power of battery, high-low pressure accessory power and cell potential and obtain motor peak value driving torque and motor peak value charge torque；
S32. described motor peak value driving torque and motor peak value charge torque are multiplied by each gear speed ratio and transmission efficiency respectively, obtain under each gear at the motor peak value driving torque at wheel place and motor peak value charge torque.
10. according to the arbitrary described control framework of claim 6-9, it is characterised in that described step S7 includes:
S71. minimum according to speed, electromotor and maximum speed restrictive condition, calculate currently available gear, and according under each gear at the described motor peak value driving torque at wheel place and described motor peak value charge torque, calculate each corresponding gear meet the electromotor under vehicle demand torque premise and motor wheel place export moment of torsion；
S72. meet the electromotor under vehicle demand torque premise and motor according to each corresponding gear and export moment of torsion at wheel place, it is thus achieved that the fuel consumption that each gear engine working point is corresponding；
S73. contrast the fuel consumption that each gear engine working point is corresponding, gear minimum for fuel consumption is set to first object gear.
11. according to the arbitrary described control framework of claim 1-10, it is characterised in that described step S8 includes:
S81. according to described first object gear and current shift, the gear shift interval time of the two is calculated；
S82. according to described first object gear, current shift and the gear shift interval time of the two, it may be judged whether need gearshift.
12. according to the arbitrary described control framework of claim 6-11, it is characterised in that described step S11 includes:
S111. minimum according to speed, motor and maximum speed restrictive condition, calculate currently available gear, and according under each gear at the described motor peak value driving torque at wheel place and described motor peak value charge torque, calculate the motor that each corresponding gear meets under vehicle demand torque premise and export moment of torsion at wheel place；
S112. meet the motor under vehicle demand torque premise according to each corresponding gear and export moment of torsion at wheel place, it is thus achieved that the work efficiency that each gear motor operating point is corresponding；
S113. contrast the work efficiency that each gear motor operating point is corresponding, gear high for work efficiency is set to the second target gear.
13. according to the arbitrary described control framework of claim 6-12, it is characterised in that described step S12 includes:
S121. according to described second target gear and current shift, the gear shift interval time of the two is calculated；
S122. according to described second target gear, current shift and the gear shift interval time of the two, it may be judged whether need gearshift.
14. according to the arbitrary described control framework of claim 1-13, it is characterised in that described step S9 and described step S13 all includes by dropping torsions, plucks gear, block selecting, speed governing, put into gear and moment of torsion recovery is shifted gears.
15. the control device of a hybrid vehicle, it is characterised in that including:
Acquisition module (1), is used for obtaining real-time parameter, and described real-time parameter includes current shift and current operation mode；
Mode of operation judge module (2) should be located, for running under fault-free premise at vehicle, obtain vehicle demand torque according to described real-time parameter, it is judged that Current vehicle should locate mode of operation；
First computing module (3), for according to described real-time parameter, calculating under each gear at the motor peak value driving torque at wheel place and motor peak value charge torque；
Mode of operation switching judging module (4), for according to current operation mode with described should locate mode of operation, determine whether to switching working mode, if switching, perform handover module (5), otherwise perform mode of operation type judging module (6)；
Handover module (5), for current operation mode switches to described mode of operation of should locating, performs mode of operation type judging module (6)；For
Mode of operation type judging module (6), judge whether current operation mode is generating in parallel, parallel drive or pure engine mode, if it is perform first object gear acquisition module (7), otherwise perform the second target gear acquisition module (11)；
First object gear acquisition module (7), for according to described real-time parameter, calculate currently available gear, and according under each gear at the described motor peak value driving torque at wheel place and described motor peak value charge torque, calculate each corresponding gear and meet the electromotor under vehicle demand torque premise and motor at wheel place output moment of torsion, contrast the fuel consumption that each gear engine working point is corresponding, gear minimum for fuel consumption is set to first object gear；
First gearshift judge module (8), for according to described first object gear, current shift and the gear shift interval time of the two, judge whether to need gearshift, if it is perform the first shift module (9), otherwise perform the first steady-state module (10)；
First shift module (9), is used for shifting gears, and output engine and motor target torque instruction, performs acquisition module (1)；
First steady-state module (10), for according to described vehicle demand torque moment of torsion corresponding to electromotor optimal economic line, output engine and motor target torque, performing acquisition module (1)；
Second target gear acquisition module (11), for according to described real-time parameter, calculate currently available gear, and according under each gear at the described motor peak value driving torque at wheel place and described motor peak value charge torque, calculate the motor that corresponding gear meets under described vehicle demand torque premise and export moment of torsion at wheel place, contrast the work efficiency that each gear motor operating point is corresponding, gear high for work efficiency is set to the second target gear；
Second gearshift judge module (12), for according to described second target gear, current shift and the gear shift interval time of the two, judge whether to need gearshift, if it is perform the second shift module (13), otherwise perform the second steady-state module (14)；
Second shift module (13), is used for shifting gears, and output motor target torque instruction, performs acquisition module (1)；
Second steady-state module (14), for output engine and motor target torque, performs acquisition module (1).
16. control device according to claim 15, it is characterized in that, farther include breakdown judge module (15), for according to described real-time parameter, judge vehicle runs whether there is fault, if there is fault, performing fault processing module (16), otherwise performing to locate mode of operation judge module (2)；
Described fault processing module (16) is used for carrying out troubleshooting, performs to locate mode of operation judge module (2) after having processed.
17. control device according to claim 16, it is characterised in that farther include filtering processing module (17), be used for being filtered smoothing processing, after having processed, perform fault processing module (16).
18. the control device according to claim 16 or 17, it is characterised in that described fault processing module (16) including:
Warning and limit power modules (161), be used for carrying out warning and limitting power operation；
Filtering processes submodule (162), is used for being filtered smoothing processing, performs to locate mode of operation judge module (2) after having processed.
19. according to the arbitrary described control device of claim 15-18, it is characterised in that the described current operation mode in described acquisition module (1) be a upper cycle should locate mode of operation.
20. according to the arbitrary described control device of claim 15-19, it is characterized in that, the described real-time parameter in described acquisition module (1) farther includes that diagnostic signal, speed, SOC, pedal aperture, the maximum charge-discharge electric power of battery, high-low pressure accessory power, cell potential, electromotor be minimum and maximum speed restrictive condition and motor is minimum and maximum speed restrictive condition.
21. control device according to claim 20, it is characterised in that described mode of operation judge module (2) of should locating including:
Vehicle demand torque obtains submodule (21), for according to speed and pedal aperture, it is thus achieved that vehicle demand torque；
Mode of operation should be located and judge submodule (22), for according to vehicle demand torque and SOC, it is judged that vehicle should locate mode of operation.
22. control device according to claim 21, it is characterised in that described mode of operation of should locating includes parallel drive, generating in parallel, the driving of pure electromotor, pure electronic and braking mode.
23. according to the arbitrary described control device of claim 20-22, it is characterised in that described first computing module (3) including:
Motor peak value driving/charge torque obtains submodule (31), obtains motor peak value driving torque and motor peak value charge torque for calculating according to speed, SOC, the maximum charge-discharge electric power of battery, high-low pressure accessory power and cell potential；
Submodule (32) is obtained at wheel place motor peak value driving/charge torque under each gear, for described motor peak value driving torque and motor peak value charge torque are multiplied by each gear speed ratio and transmission efficiency respectively, obtain under each gear at the motor peak value driving torque at wheel place and motor peak value charge torque.
24. according to the arbitrary described control device of claim 20-23, it is characterised in that described first object gear acquisition module (7) including:
Electromotor and motor export moment of torsion and obtain submodule (71) at wheel place, for the minimum and maximum speed restrictive condition according to speed, electromotor, calculate currently available gear, and according under each gear at the described motor peak value driving torque at wheel place and described motor peak value charge torque, calculate each corresponding gear meet the electromotor under vehicle demand torque premise and motor wheel place export moment of torsion；
Each gear engine working point fuel consumption obtains submodule (72), moment of torsion is exported at wheel place, it is thus achieved that the fuel consumption that each gear engine working point is corresponding for meeting electromotor under vehicle demand torque premise and motor according to each corresponding gear；
First object gear obtains submodule (73), for contrasting the fuel consumption that each gear engine working point is corresponding, gear minimum for fuel consumption is set to first object gear.
25. according to the arbitrary described control device of claim 15-24, it is characterised in that described first gearshift judge module (8) including:
First gear shift interval time obtained submodule (81), for according to described first object gear and current shift, calculating the gear shift interval time of the two；
First gearshift judges submodule (82), for according to described first object gear, current shift and the gear shift interval time of the two, it may be judged whether need gearshift.
26. according to the arbitrary described control device of claim 20-25, it is characterised in that described second target gear acquisition module (11) including:
Motor exports moment of torsion and obtains submodule (111) at wheel place, for the minimum and maximum speed restrictive condition according to speed, motor, calculate currently available gear, and according under each gear at the described motor peak value driving torque at wheel place and described motor peak value charge torque, calculate the motor that each corresponding gear meets under vehicle demand torque premise and export moment of torsion at wheel place；
Each gear motor operating point work efficiency obtains submodule (112), exports moment of torsion at wheel place for meeting motor under vehicle demand torque premise according to each corresponding gear, it is thus achieved that the work efficiency that each gear motor operating point is corresponding；
Second target gear obtains submodule (113), for contrasting the work efficiency that each gear motor operating point is corresponding, gear high for work efficiency is set to the second target gear.
27. according to the arbitrary described control device of claim 20-26, it is characterised in that described second gearshift judge module (12) including:
Second gear shift interval time obtained submodule (121), for according to described second target gear and current shift, calculating the gear shift interval time of the two；
Second gearshift judges submodule (122), for according to described second target gear, current shift and the gear shift interval time of the two, it may be judged whether need gearshift.
28. according to the arbitrary described control device of claim 15-27, it is characterized in that, described first shift module (9) and described second shift module (13) all include by dropping torsion, pluck gear, block selecting, speed governing, put into gear and moment of torsion recovers to shift gears.
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