CN105818803A - Torque control system and method for drive device of hybrid power railway vehicle - Google Patents
Torque control system and method for drive device of hybrid power railway vehicle Download PDFInfo
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- CN105818803A CN105818803A CN201610258518.4A CN201610258518A CN105818803A CN 105818803 A CN105818803 A CN 105818803A CN 201610258518 A CN201610258518 A CN 201610258518A CN 105818803 A CN105818803 A CN 105818803A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
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- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
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- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B60W2300/00—Indexing codes relating to the type of vehicle
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- B60W2510/00—Input parameters relating to a particular sub-units
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- B60W2510/00—Input parameters relating to a particular sub-units
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- B60W2510/00—Input parameters relating to a particular sub-units
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- B60W2510/00—Input parameters relating to a particular sub-units
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- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
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- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
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- B60W2710/00—Output or target parameters relating to a particular sub-units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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Abstract
The invention provides a torque control system and method for a drive device of a hybrid power railway vehicle. The torque of the drive device of the hybrid power railway vehicle based on a pump/motor and a motor can be accurately controlled, it is guaranteed that the output torque of the motor is located in a motor high-efficiency region, and coordinated work of the drive device of the hybrid power railway vehicle is achieved. The torque control process includes the steps that firstly, the target drive torque of a current train is determined, then the operation mode of a hydraulic hybrid power system of the current train is judged, and finally torque distribution is conducted according to the target drive torque and the operation mode of the current train. According to the characteristics that the hydraulic pump/motor is large in power density, high in energy cycle efficiency and low in energy density, the output torque of the hydraulic pump/motor, the motor and a friction brake is reasonably distributed, and it is guaranteed that the output torque of the motor is located in the motor high-efficiency region.
Description
Technical field
The present invention relates to a kind of moment controlling system and the method for vehicle drive unit, be specifically related to a kind of based on hydraulic pump/motor and the moment controlling system of the vehicle drive unit of motor with method, belong to technical field of vehicle control.
Background technology
City Rail Transit System has good benefit as modernization more than the million metropolitan arterial traffics of population.Yet with huge freight volume, the traction power consumption of Rail Transit System is very big, uses regenerative braking to be reclaimed by train momentum, it will to save appreciable energy.But the electric energy of regenerative braking feedback can cause line voltage to rise high problems, use resistance can consume unnecessary feedback power, but energy-saving effect is very poor；Restricted by battery performance, battery energy storage slower development；And flywheel manufactures difficulty, not easy care, and be not suitable for long-time energy storage；And technology is the most ripe needed for hydraulic hybrid, power density is high, is particularly well-suited to the Rail Transit System that freight volume is big, operating mode is fixing.
Summary of the invention
In view of this, the present invention provides a kind of moment controlling system and the method for hybrid power rail vehicle driving means, can accurately control the torque of the driving means of hybrid power rail vehicle based on pump/motor and motor, ensure that the output torque of motor is positioned at motor high efficiency region, it is achieved the co-ordination of hybrid power rail vehicle driving means.
The driving means of described hybrid power rail vehicle includes: motor, hydraulic pump/motor, friction brake and hydraulic accumulator；By following method distribution vehicle target drive torque under different operational modes:
Vehicle is in starting pattern, and when described hydraulic accumulator is in the blowing pressure state, hydraulic pump/motor does not works, and the target drive torque of vehicle is all provided by motor；
Vehicle is in starting pattern, hydraulic accumulator be in working pressure conditions and now operating pressure meet setting when requiring, motor does not works, and the target drive torque of vehicle is all provided by hydraulic pump/motor；
Vehicle is in starting pattern, hydraulic accumulator be in working pressure conditions and now operating pressure be unsatisfactory for setting when requiring, if the target drive torque of train is positioned at torque range during motor high-efficiency operation, then the target drive torque of train is all provided by motor；Otherwise, hydraulic pump/motor and motor jointly providing the target drive torque of train, now the distribution method of hydraulic pump/motor and the output torque of motor target is:
First the optimal value in torque range when the target output torque that choosing motor provides is its high-efficiency operation, the difference of the target output torque that the target drive torque that the target output torque that hydraulic pump/motor provides is train and motor provide；If the maximum torque value that this difference can be provided by under current rotating speed more than hydraulic pump/motor, the maximum that the target output torque then provided by motor is chosen for during its high-efficiency operation in torque range, the difference of the target output torque that the target drive torque that the target output torque that hydraulic pump/motor provides is train and motor provide；If the maximum torque value that this difference can be provided by under current rotating speed still above hydraulic pump/motor, the target output torque then provided by hydraulic pump/motor is chosen for its maximum torque value that can be provided by under current rotating speed, the difference of the target torque that the target drive torque that the target torque that motor provides is train provides with hydraulic pump/motor；
Vehicle be at the uniform velocity driving mode time, hydraulic pump/motor does not works, and the target drive torque of vehicle is all provided by motor；
Vehicle is in when giving it the gun pattern, if the torque range when target drive torque of train is positioned at motor high-efficiency operation, then the target drive torque of train is all provided by motor；Otherwise, hydraulic pump/motor and motor jointly providing the target drive torque of train, now the target output torque distribution method of hydraulic pump/motor and motor is:
First the optimal value in torque range when the target output torque that choosing motor provides is its high-efficiency operation, the difference of the target output torque that the target drive torque that the target output torque that hydraulic pump/motor provides is train and motor provide；If the maximum torque value that this difference can be provided by under current rotating speed more than hydraulic pump/motor, the maximum that the target output torque then provided by motor is chosen for during its high-efficiency operation in torque range, the difference of the target output torque that the target drive torque that the target output torque that hydraulic pump/motor provides is train and motor provide；If the maximum torque value that this difference can be provided by under current rotating speed still above hydraulic pump/motor, the target output torque then provided by hydraulic pump/motor is chosen for its maximum torque value that can be provided by under current rotating speed, the difference of the target torque that the target drive torque that the target torque that motor provides is train provides with hydraulic pump/motor；
When vehicle is in emergency brake modes, motor and hydraulic pump/motor do not work, and the target drive torque of vehicle is all provided by friction brake；
When vehicle is in normal brake mode, when speed is more than setting value, using hydraulic pump/motor braking, now the target drive torque of vehicle is all provided by the target torque of hydraulic pump/motor；When speed is less than or equal to setting value deficiency so that hydraulic pump/motor is braked, utilizing friction brake to brake, now the target drive torque of vehicle is all provided by friction brake.
The moment controlling system of hybrid power rail vehicle driving means based on above-mentioned method for controlling torque includes: management module, control module and execution module；
The signal of described management module collection vehicle pilot control behavior, and combine travel speed and the travel load of Current vehicle, determine the target drive torque required for Current vehicle traveling；And the target drive torque obtained is sent to described control module；
Described control module is according to the target drive torque obtained, and distribution vehicle is the target output torque of hydraulic pump/motor, motor and friction brake under different operational modes；Described control module includes: vehicle mode determination module, hydraulic pump/motor torque estimation module and vehicle torque distribution module；
Wherein said vehicle mode determination module handles signal, hydraulic pump/motor tach signal, hydraulic accumulator pressure signal, motor speed signal according to the travel speed signal of Current vehicle received, the travel load signal of vehicle, vehicle driver, and the signal such as friction brake, judging the operational mode that vehicle is current, the operational mode of described vehicle includes: start pattern, driving mode and braking mode；
Described hydraulic pump/motor torque estimation module, according to the hydraulic pump/motor tach signal received and hydraulic accumulator pressure signal, finds, in conjunction with hydraulic pump/motor efficiency curve, the torque capacity that the hydraulic pump/motor under current rotating speed can be provided by；
Described vehicle torque distributes the torque capacity that the hydraulic pump/motor under the current rotating speed of the current operational mode of the module vehicle that foundation vehicle mode determination module is judged and the acquisition of hydraulic pump/motor torque estimation module can be provided by, the target output torque of hydraulic pump/motor, motor and friction brake under distribution present mode of operation；
Described execution module includes: hydraulic pump/motor instruction performs module, motor command performs module, hydraulic accumulator instruction performs module and friction brake instruction performs module；The instruction of described hydraulic pump/motor performs module for hydraulic pump/motor output displacement control instruction so that it is output torque is consistent with the output torque of the target of distribution；Described motor command performs module for exporting control instruction to motor so that it is output torque is consistent with the output torque of the target of distribution；The instruction of described hydraulic accumulator performs module for instructing to control the pressure of hydraulic accumulator to hydraulic accumulator output pressure；The instruction of described friction brake performs module for exporting control instruction to friction brake so that it is output torque is consistent with the output torque of the target of distribution.
Beneficial effect:
The feature that the control method of the present invention is big according to hydraulic pump/motor power density, energy circulation efficiency high and energy density is low, the output torque of reasonable distribution hydraulic pump/motor, motor and friction brake, ensure that the output torque of motor is positioned at motor high efficiency region as far as possible, it is achieved the co-ordination of hybrid power rail vehicle driving means.
Accompanying drawing explanation
Fig. 1 is moment controlling system and the structure chart of method of the hybrid power rail vehicle driving means based on hydraulic pump/motor and motor that the present invention proposes
Detailed description of the invention
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.
The present embodiment provides moment controlling system and the control method of a kind of hybrid power rail vehicle driving means based on hydraulic pump/motor and motor, as shown in Figure 1
The method for controlling torque of hybrid power rail vehicle driving means particularly as follows:
Step one: travel speed signal, travel load signal, pilot control signal, hydraulic accumulator pressure signal, hydraulic pump/motor tach signal, friction brake signal and the motor speed signal that the hybrid power rail vehicle (abbreviation train) that arrives according to sensor acquisition is current, it is determined that the operational mode at hybrid power rail vehicle driving means of current train；The operational mode of this hybrid power rail vehicle driving means includes: start pattern, driving mode, braking mode.
Step 2: according to the operational mode at the hybrid power rail vehicle driving means of the current train judged in travel speed, travel load and step one that train is current, the target drive torque of estimation current train.
Step 3: according to pressure signal and the tach signal of hydraulic pump/motor of the hydraulic accumulator of sensor acquisition, find, in conjunction with known hydraulic pump/motor efficiency curve, the torque capacity that the hydraulic pump/motor under current rotating speed is provided that.
Step 4: the torque distribution of train:
The torque range of motor when searching motor high-efficiency operation corresponding on motor characteristic curve under current state, and the target drive torque of the current train estimated in the torque capacity that can be provided by under current rotating speed with hydraulic pump/motor and step 2 contrasts, pressure referring again to hydraulic accumulator, the required target output torque provided of hydraulic pump/motor, motor and friction brake under distribution current state, specific as follows:
(1) train starting, and when hydraulic accumulator is in the blowing pressure state, hydraulic pump/motor does not works, the target drive torque of train is all provided by motor；
(2) train starting, hydraulic accumulator be in working pressure conditions and now operating pressure abundance time, motor does not works, and the target drive torque of train is all provided by hydraulic pump/motor；
(3) train starting, hydraulic accumulator be in working pressure conditions and now operating pressure deficiency time, if the torque range when target drive torque of train is positioned at motor high-efficiency operation, then the target drive torque of train is all provided by motor；Otherwise, hydraulic pump/motor and motor jointly providing the target drive torque of train, now the target output torque distribution method of hydraulic pump/motor and motor is:
First the optimal value in torque range when the target output torque that choosing motor provides is its high-efficiency operation, the difference of the target output torque that the target drive torque that the target output torque that hydraulic pump/motor provides is train and motor provide；If the maximum torque value that this difference can be provided by under current rotating speed more than hydraulic pump/motor, the maximum that the target output torque then provided by motor is chosen for during its high-efficiency operation in torque range, the difference of the target output torque that the target drive torque that the target output torque that hydraulic pump/motor provides is train and motor provide；If the maximum torque value that this difference can be provided by under current rotating speed still above hydraulic pump/motor, the target output torque then provided by hydraulic pump/motor is chosen for its maximum torque value that can be provided by under current rotating speed, the difference of the target torque that the target drive torque that the target torque that motor provides is train provides with hydraulic pump/motor；
(4) when train at the uniform velocity travels, hydraulic pump/motor does not works, and the target drive torque of train is all provided by motor；
(5), when train gives it the gun, if the torque range when target drive torque of train is positioned at motor high-efficiency operation, then the target drive torque of train is all provided by motor；Otherwise, hydraulic pump/motor and motor jointly providing the target drive torque of train, now the target output torque distribution method of hydraulic pump/motor and motor is:
First the optimal value in torque range when the target output torque that choosing motor provides is its high-efficiency operation, the difference of the target output torque that the target drive torque that the target output torque that hydraulic pump/motor provides is train and motor provide；If the maximum torque value that this difference can be provided by under current rotating speed more than hydraulic pump/motor, the maximum that the target output torque then provided by motor is chosen for during its high-efficiency operation in torque range, the difference of the target output torque that the target drive torque that the target output torque that hydraulic pump/motor provides is train and motor provide；If the maximum torque value that this difference can be provided by under current rotating speed still above hydraulic pump/motor, the target output torque then provided by hydraulic pump/motor is chosen for its maximum torque value that can be provided by under current rotating speed, the difference of the target torque that the target drive torque that the target torque that motor provides is train provides with hydraulic pump/motor；
(6) during train brake hard, motor and hydraulic pump/motor do not work, and the target drive torque of train is all provided by friction brake；
(7) train normal brake application, during speed abundance, uses hydraulic pump/motor braking, and now the target drive torque of train is all provided by the target torque of hydraulic pump/motor；When speed is reduced to deficiency so that hydraulic pump/motor is braked, utilizing friction brake to brake, now the target drive torque of train is all provided by friction brake；
Under the target drive torque of the hydraulic pump/motor then obtained according to above-mentioned steps, current state, the rotating speed of hydraulic pump/motor, the operating pressure of hydraulic accumulator and hydraulic pump/motor efficiency curve obtain the displacement control instruction of hydraulic pump/motor, and hydraulic pump/motor exports corresponding target torque according to this control instruction；The target drive torque of motor, the rotating speed of current state motor and the motor control instruction obtained according to above-mentioned steps, with output torque, rotation speed change tables of data, obtains the control instruction of motor, and motor exports corresponding target torque according to this control instruction；The target drive torque of the friction brake obtained according to above-mentioned steps and friction brake control instruction, with the delta data table of output torque, obtain the control instruction of friction brake, and friction brake exports corresponding target torque according to this control instruction.
Following three layers of module are included: manage module, control module and execution module based on the hybrid power rail vehicle driving means moment controlling system designed by the method.
Wherein management module is the basis of whole control system, management module is by gathering the signal of train driver manipulative behavior, and combine the signals such as current train travel speed and travel load, determining the target drive torque required for current state Train traveling, this target drive torque is target and the foundation of whole control system allocation manager.
Described control module effect is the target drive torque obtained according to management module, the target output torque of hydraulic pump/motor, motor and friction brake under the various pattern of reasonable distribution, and send control instruction by control module and the transmission interface performed between module to all parts controller.Described control module includes: train mode decision module, hydraulic pump/motor torque estimation module and train torque distribution module.
Wherein said train mode decision module handles signal, hydraulic pump/motor tach signal, hydraulic accumulator pressure signal, motor speed signal according to the travel speed signal of current train received, the travel load signal of train, train driver, and the signal such as friction brake, judge which kind of operational mode current train is in, and the operational mode of described train includes: start pattern, driving mode and braking mode.
Described hydraulic pump/motor torque estimation module, according to the hydraulic pump/motor tach signal received and hydraulic accumulator pressure signal, finds, in conjunction with hydraulic pump/motor efficiency curve, the torque capacity that the hydraulic pump/motor under current rotating speed can be provided by.
The torque capacity that described train torque distribution module can be provided by according to the hydraulic pump/motor under the operational mode of the current train of train mode decision module output and the current rotating speed of hydraulic pump/motor torque estimation module output, determine the target output torque of motor, hydraulic pump/motor and friction brake under various operational mode, i.e. complete the distribution of train torque.
All parts (motor, hydraulic pump/motor and friction brake) controller in described execution module is according to the respective controlled device of control of the control command independence of control module, and the state variable of each controlled parts is fed back to control module.Specifically include: hydraulic pump/motor instruction performs module, motor command performs module, hydraulic accumulator instruction performs module and friction brake instruction performs module；Wherein hydraulic pump/motor instruction execution module is for output hydraulic pressure pump/motor current goal torque instruction, controls the discharge capacity of hydraulic pump/motor by controlling the swashplate angle of hydraulic pump/motor；Motor command performs module output motor control instruction to control motor operating element；Hydraulic accumulator performs the instruction of instruction module output hydraulic pressure energy storage pressure to control pressure and the opening and closing of oil circuit of hydraulic accumulator；Friction brake performs instruction module and is used for exporting the instructions such as friction brake control to control friction brake operating element.
Above-mentioned management module, control module and execution module composition controller, driver's train handling signal, train operation load signal, train running speed signal, hydraulic pump/motor tach signal, hydraulic pump/motor displacement signal, motor speed signal, hydraulic accumulator pressure signal and friction brake working state signal be connected to the input of controller；Hydraulic pump/motor controls, hydraulic accumulator controls, motor controls and train runing parameters shows the output port being connected to controller.
In sum, these are only presently preferred embodiments of the present invention, be not intended to limit protection scope of the present invention.All within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.
Claims (7)
1. the method for controlling torque of hybrid power rail vehicle driving means, the driving means of described hybrid power rail vehicle includes: motor, hydraulic pump/motor, friction brake and hydraulic accumulator；It is characterized in that: by following method distribution vehicle target drive torque under different operational modes:
Vehicle is in starting pattern, and when described hydraulic accumulator is in the blowing pressure state, hydraulic pump/motor does not works, and the target drive torque of vehicle is all provided by motor；
Vehicle is in starting pattern, hydraulic accumulator be in working pressure conditions and now operating pressure meet setting when requiring, motor does not works, and the target drive torque of vehicle is all provided by hydraulic pump/motor；
Vehicle is in starting pattern, hydraulic accumulator be in working pressure conditions and now operating pressure be unsatisfactory for setting when requiring, if the target drive torque of train is positioned at torque range during motor high-efficiency operation, then the target drive torque of train is all provided by motor；Otherwise, hydraulic pump/motor and motor jointly providing the target drive torque of train, now the distribution method of hydraulic pump/motor and the output torque of motor target is:
First the optimal value in torque range when the target output torque that choosing motor provides is its high-efficiency operation, the difference of the target output torque that the target drive torque that the target output torque that hydraulic pump/motor provides is train and motor provide；If the maximum torque value that this difference can be provided by under current rotating speed more than hydraulic pump/motor, the maximum that the target output torque then provided by motor is chosen for during its high-efficiency operation in torque range, the difference of the target output torque that the target drive torque that the target output torque that hydraulic pump/motor provides is train and motor provide；If the maximum torque value that this difference can be provided by under current rotating speed still above hydraulic pump/motor, the target output torque then provided by hydraulic pump/motor is chosen for its maximum torque value that can be provided by under current rotating speed, the difference of the target torque that the target drive torque that the target torque that motor provides is train provides with hydraulic pump/motor；
Vehicle be at the uniform velocity driving mode time, hydraulic pump/motor does not works, and the target drive torque of vehicle is all provided by motor；
Vehicle is in when giving it the gun pattern, if the torque range when target drive torque of train is positioned at motor high-efficiency operation, then the target drive torque of train is all provided by motor；Otherwise, hydraulic pump/motor and motor jointly providing the target drive torque of train, now the target output torque distribution method of hydraulic pump/motor and motor is:
First the optimal value in torque range when the target output torque that choosing motor provides is its high-efficiency operation, the difference of the target output torque that the target drive torque that the target output torque that hydraulic pump/motor provides is train and motor provide；If the maximum torque value that this difference can be provided by under current rotating speed more than hydraulic pump/motor, the maximum that the target output torque then provided by motor is chosen for during its high-efficiency operation in torque range, the difference of the target output torque that the target drive torque that the target output torque that hydraulic pump/motor provides is train and motor provide；If the maximum torque value that this difference can be provided by under current rotating speed still above hydraulic pump/motor, the target output torque then provided by hydraulic pump/motor is chosen for its maximum torque value that can be provided by under current rotating speed, the difference of the target torque that the target drive torque that the target torque that motor provides is train provides with hydraulic pump/motor；
When vehicle is in emergency brake modes, motor and hydraulic pump/motor do not work, and the target drive torque of vehicle is all provided by friction brake；
When vehicle is in normal brake mode, when speed is more than setting value, using hydraulic pump/motor braking, now the target drive torque of vehicle is all provided by the target torque of hydraulic pump/motor；When speed is less than or equal to setting value deficiency so that hydraulic pump/motor is braked, utilizing friction brake to brake, now the target drive torque of vehicle is all provided by friction brake.
2. the method for controlling torque of hybrid power rail vehicle driving means as claimed in claim 1, it is characterized in that, the target drive torque of Current vehicle is determined by the current travel speed of the operational mode at present hybrid rail vehicle driving means and vehicle and travel load.
3. the method for controlling torque of hybrid power rail vehicle driving means as claimed in claim 1, it is characterized in that, the torque capacity that described hydraulic pump/motor can be provided by under the current rotating speed pressure signal by hydraulic accumulator and the tach signal of hydraulic pump/motor, obtain in conjunction with hydraulic pump/motor efficiency curve.
4. the moment controlling system of hybrid power rail vehicle driving means based on the method for controlling torque described in claim 1, it is characterised in that including: management module, control module and execution module；
The signal of described management module collection vehicle pilot control behavior, and combine travel speed and the travel load of Current vehicle, determine the target drive torque required for Current vehicle traveling；And the target drive torque obtained is sent to described control module；
Described control module is according to the target drive torque obtained, and distribution vehicle is the target output torque of hydraulic pump/motor, motor and friction brake under different operational modes；Described control module includes: vehicle mode determination module, hydraulic pump/motor torque estimation module and vehicle torque distribution module；
Wherein said vehicle mode determination module handles signal, hydraulic pump/motor tach signal, hydraulic accumulator pressure signal, motor speed signal according to the travel speed signal of Current vehicle received, the travel load signal of vehicle, vehicle driver, and the signal such as friction brake, judging the operational mode that vehicle is current, the operational mode of described vehicle includes: start pattern, driving mode and braking mode；
Described hydraulic pump/motor torque estimation module, according to the hydraulic pump/motor tach signal received and hydraulic accumulator pressure signal, finds, in conjunction with hydraulic pump/motor efficiency curve, the torque capacity that the hydraulic pump/motor under current rotating speed can be provided by；
Described vehicle torque distributes the torque capacity that the hydraulic pump/motor under the current rotating speed of the current operational mode of the module vehicle that foundation vehicle mode determination module is judged and the acquisition of hydraulic pump/motor torque estimation module can be provided by, the target output torque of hydraulic pump/motor, motor and friction brake under distribution present mode of operation；
Described execution module includes: hydraulic pump/motor instruction performs module, motor command performs module, hydraulic accumulator instruction performs module and friction brake instruction performs module；The instruction of described hydraulic pump/motor performs module for hydraulic pump/motor output displacement control instruction so that it is output torque is consistent with the output torque of the target of distribution；Described motor command performs module for exporting control instruction to motor so that it is output torque is consistent with the output torque of the target of distribution；The instruction of described hydraulic accumulator performs module for instructing to control the pressure of hydraulic accumulator to hydraulic accumulator output pressure；The instruction of described friction brake performs module for exporting control instruction to friction brake so that it is output torque is consistent with the output torque of the target of distribution.
5. the moment controlling system of hybrid power rail vehicle driving means as claimed in claim 4, it is characterized in that, in the displacement control instruction of hydraulic pump/motor, the discharge capacity of hydraulic pump/motor is obtained by the rotating speed of hydraulic pump/motor, the operating pressure of hydraulic accumulator and hydraulic pump/motor efficiency curve under the target drive torque of hydraulic pump/motor, current state.
6. the moment controlling system of hybrid power rail vehicle driving means as claimed in claim 4, it is characterized in that, the control instruction of motor is obtained with output torque, rotation speed change tables of data by the target drive torque of motor, the current rotating speed of motor and motor control instruction.
7. the moment controlling system of hybrid power rail vehicle driving means as claimed in claim 4, it is characterized in that, the control instruction of friction brake is obtained with the delta data table of output torque by target drive torque and the friction brake control instruction of friction brake.
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| CN111959484A (en) * | 2020-08-18 | 2020-11-20 | 北京理工大学 | Control system and control method of motor hydraulic pump/motor composite driving device |
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