CN105966391A - Braking mode energy management and control method for plug-in type four-wheel-drive hybrid electric vehicle - Google Patents

Braking mode energy management and control method for plug-in type four-wheel-drive hybrid electric vehicle Download PDF

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Publication number
CN105966391A
CN105966391A CN201610328052.0A CN201610328052A CN105966391A CN 105966391 A CN105966391 A CN 105966391A CN 201610328052 A CN201610328052 A CN 201610328052A CN 105966391 A CN105966391 A CN 105966391A
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braking
electromotor
perform
torque
brake
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钱立军
邱利宏
胡伟龙
程伟
李博溪
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Hefei University of Technology
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Hefei University of Technology
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Priority to CN201610328052.0A priority Critical patent/CN105966391A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
    • B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/119—Conjoint control of vehicle sub-units of different type or different function including control of all-wheel-driveline means, e.g. transfer gears or clutches for dividing torque between front and rear axle
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/15—Control strategies specially adapted for achieving a particular effect
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
    • 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
    • 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
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/24—Energy storage means
    • B60W2510/242—Energy storage means for electrical energy
    • B60W2510/244—Charge state
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0666—Engine torque
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/92—Hybrid vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles

Abstract

The invention discloses a braking mode energy management and control method for a plug-in type four-wheel-drive hybrid electric vehicle. The braking mode energy management and control method comprises a whole vehicle braking mode judgment method and a method for distribution control over braking torque under different braking modes. On the basis that braking safety is guaranteed, the braking mode of the hybrid electric vehicle and the working points of an engine, an ISG motor and a rear-wheel-drive motor under different braking modes are reasonably controlled. A relatively simple and practical control strategy based on logic threshold values is used for achieving basic braking mode energy management of the plug-in type four-wheel-drive hybrid electric vehicle. Compared with the prior art, the braking mode energy management and control method has the following beneficial effects that by the adoption of the mentioned control method, on the basis that the brake performance of the plug-in type four-wheel-drive hybrid electric vehicle is guaranteed, the braking output torque of all power components and all mechanical brakes is controlled in a coordinative manner, the braking safety of the hybrid electric vehicle is guaranteed, the braking energy consumption is reduced, the energy recycling efficiency is improved, and therefore the fuel economy of the hybrid electric vehicle is improved.

Description

A kind of Plug-in four-wheel-drive hybrid power automobile brake mode of energy management control method
The application is invention entitled a kind of Plug-in four-wheel-drive hybrid power automobile energy management control method machine and device thereof, The divisional application of Application No. 201410220012.5 (on 05 22nd, 2014 applying date).
Technical field
The invention belongs to new-energy automobile control field, in particular a kind of Plug-in four-wheel-drive hybrid power automobile system Dynamic model formula energy management control method.
Background technology
The focus of current plug-in hybrid-power automobile research concentrates in the key technology of plug-in hybrid-power automobile, One of them critically important aspect is exactly the control strategy of plug-in hybrid-power automobile；Formulate rational control strategy, On the one hand to consider to drive the optimized distribution of energy, on the other hand it should also be taken into account that the high efficiente callback of braking energy, thus Improve the fuel economy of hybrid vehicle.When designing braking mode control strategy, need meeting brake safe On the premise of property, reduce braking energy loss, improve energy recovery efficiency.Current hybrid vehicle braking mode In control method, it is usually the size according to braking requirement torque, current vehicle speed, electrokinetic cell SOC etc. and carries out pattern Switching, but the calculating of braking requirement torque often be brake-pedal travel linear function, do so have ignored The driving intention of driver, the braking requirement torque tried to achieve is inaccurate.Some expert, scholar's research base both at home and abroad Control strategy in Fuzzy Torque identification, it is contemplated that the driving intention of driver, but this based on fuzzy method meter Calculate the most oversize, it is impossible to arriving on real vehicle is applied.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that a kind of Plug-in four-wheel-drive hybrid power automobile system Dynamic model formula energy management control method.
The present invention is achieved by the following technical solutions: a kind of Plug-in four-wheel-drive hybrid power automobile brake mode of energy Management control method,
When the demand torque of the entire car controller detection automobile of Plug-in four-wheel-drive hybrid power automobile is less than zero, hybrid power Automobile enters braking mode, performs the control flow of braking mode；
The control flow of described braking mode is:
Step5, judgement vehicle velocity V, whether more than zero, if it is not, perform step6, if so, perform step7；
Step6, execution mechanical braking, if electromotor is opened, perform electromotor anti-dragged brake, and additional brake torque is by making Dynamic device provides；If electromotor is not opened, perform brake；
Step7, judgement braking requirement moment coefficient K2Scope, work as K2For little, perform step8, work as K2In for, Perform step9, work as K2For greatly, perform step10；
Described braking requirement moment coefficient K2It is defined as preferable braking moment calculated with according to brake pedal aperture The ratio of braking moment, if K2∈ [0.8,0.95), K2For little；If K2∈ [0.95,1.05], K2In for；If K2∈ (1.05,1.2], K2For greatly；
Step8, judge to judge that electrokinetic cell SOC is whether less than the maximum SOC in its best effort districthigh, if so, Perform step11, if it is not, perform step10；
Step9, judge to judge that electrokinetic cell SOC is whether less than the maximum SOC in its best effort districthigh, if so, Perform step12, if it is not, perform step10；
Step10, perform mechanical braking, if electromotor open, perform electromotor anti-dragged brake, additional brake torque by Brake provides；If electromotor is not opened, perform brake, return simultaneously and perform step step7；
Step11, execution regenerative braking, regenerative braking moment is mainly provided by rear-guard motor, and extra part is by ISG Motor provides, and returns simultaneously and performs step step7；
Step12, execution composite braking pattern, rear-guard motor and ISG motor are provided which the maximum regeneration under current rotating speed Braking moment, if electromotor is not opened, extra brake force uses brake to provide, if electromotor is opened, performs to send out Motivation anti-dragged brake, extra part by while brake provide, simultaneously return perform step step7.
As the further optimization of such scheme, the entire car controller detection automobile of Plug-in four-wheel-drive hybrid power automobile When demand torque is more than zero, hybrid vehicle enters drive pattern, performs the control flow of drive pattern；Described drive The control flow of dynamic model formula is:
Step1, judge driving demand moment coefficient K1Value place is interval；Work as K1For little, perform step2, work as K1For In, perform step3, work as K1For greatly, perform step4；
Step2, entrance rear axle drive pattern；
Whether Step2A, judgement electrokinetic cell SOC are more than the minimum SOC in its best effort districtLOW, when SOC ＞ SOCLOW, perform step step2A1, otherwise perform step step2A2；
Step2A1, the execution pure electric Drive Mode of rear-guard, the output torque of rear-guard motor is the demand of hybrid vehicle Torque, returns simultaneously and performs step step1；
Step2A2, execution series drive mode, electromotor is operated on optimum output torque curve and drives ISG motor Generating；Hybrid vehicle is driven by rear-guard motor, and rear-guard motor output torque is equal to driving torque, and electromotor exports Torque is its optimum output torque, and ISG motor charge torque is that engine output torque deducts automobile demand torque, with Time return perform step step1；
Step3, entrance front axle drive pattern；
Whether Step3A, judgement electrokinetic cell SOC are more than the minimum SOC in its best effort districtLOW, judge to drive simultaneously Dynamic demand torque Treq scope,
If SOC is ＞ SOCLOW, and when driving demand torque is more than zero and less than or equal to electromotor economy under current rotating speed Fuel oil consumption location output lower torque, performs step Step3A1；
If SOC is ＞ SOCLOW, and when driving demand torque electromotor economic fuel oil consumption location under current rotating speed Time between upper and lower limit, perform step Step3A2；
If SOC is ＞ SOCLOW, and when driving demand torque is more than or equal to electromotor economic fuel oil consumption under current rotating speed District's upper limit and less than electromotor torque capacity, performs step Step3A3；
If SOC is ＞ SOCLOW, and when driving demand torque turns more than or equal to the maximum output of electromotor under current rotating speed Square, less than the economic fuel oil consumption location of electromotor export under torque upper limit and current rotating speed the torque capacity of ISG motor it With, perform step Step3A4；
If SOC is ＞ SOCLOW, and when driving demand torque is more than or equal to electromotor economic fuel oil consumption under current rotating speed The torque capacity sum that district's output torque upper limit can be provided by with ISG under current rotating speed, less than electromotor under current rotating speed Torque capacity and the torque capacity sum of ISG motor, perform step Step3A5；
If SOC is ＜ SOCLOW, and when driving demand torque is more than zero and less than or equal to electromotor economy under current rotating speed Fuel oil consumption location output lower torque, performs step3B1；
If SOC is ＜ SOCLOW, and when driving demand torque electromotor economic fuel oil consumption location under current rotating speed Time between upper and lower limit, perform step3B2；
If SOC is ＜ SOCLOW, and when driving demand torque is more than or equal to electromotor economic fuel oil consumption under current rotating speed District's output torque upper limit, less than electromotor torque capacity under current rotating speed, performs step3B3；
If SOC is ＜ SOCLOW, and when automobile demand torque can be provided by more than or equal to electromotor under current rotating speed Big torque, performs step3B4；
Step3A1, execution ISG motor are operated alone hybrid vehicle, and ISG motor output torque is that automobile demand turns Square, returns simultaneously and performs step1；
Step3A2, execution electromotor are operated alone hybrid vehicle, and engine output torque is automobile demand torque, Return simultaneously and perform step1；
Step3A3, execution electromotor and ISG motor drive hybrid vehicle jointly, engine controller controls send out Motivation throttle opening so that electromotor is operated on optimal output torque curve, and extra driving torque is by ISG electricity Machine provides；Return simultaneously and perform step1；
Step3A4, execution electromotor and ISG motor drive hybrid vehicle jointly, engine controller controls send out Motivation throttle opening so that electromotor is operated in economic fuel oil consumption location output torque upper limit, outside ISG motor supplementary quota Drive external torque；Return simultaneously and perform step1；
Step3A5, execution electromotor drive hybrid vehicle jointly with ISG motor, and ISG motor provides current rotating speed Under torque capacity, additional torque is provided by electromotor；Return simultaneously and perform step1；
Step3B1, execution electromotor drive and power generation mode, and engine output torque is that it most preferably exports torque, ISG Motor charge torque is the difference that demand torque and electromotor most preferably export torque, returns simultaneously and performs step step1；
Step3B2, execution electromotor drive and power generation mode, and engine output torque is that the output of economic fuel oil consumption location turns The square upper limit, ISG motor charge torque is the difference of automobile demand torque and engine output torque, returns simultaneously and performs step step1；
Step3B3, execution electromotor drive and power generation mode, and engine output torque is the torque capacity under current rotating speed； When the difference that charge torque is automobile demand torque and engine output torque of ISG motor, return simultaneously and perform step step1；
Step3B4, system enter on-warning mode, and automatically proceed to electromotor pattern is operated alone, the output of electromotor Torque is the torque capacity that can be provided by under current rotating speed, returns simultaneously and performs step1；
Step4, entrance Two axle drive pattern, i.e. 4 wheel driven pattern；
Whether step4A, judgement electrokinetic cell SOC are more than the minimum SOC in its best effort districtLOW, if so, perform Sub-step step4B, otherwise performs step step4A1；
Step4A1, system enter on-warning mode, and automatically proceed to electromotor pattern is operated alone, and the output of electromotor turns Square is the torque capacity that can be provided by under current rotating speed；Return simultaneously and perform step step1；
Step4B, judge driving demand torque Treq scope；
When the torque capacity sum driving demand torque to can be provided by with electromotor more than or equal to ISG motor under current rotating speed, The torque capacity sum that can be provided by less than rear-guard motor and electromotor under current rotating speed, performs step step4B1；
When the torque capacity sum driving demand torque to can be provided by with electromotor more than or equal to rear-guard motor under current rotating speed, Perform step step4B2；
Step4B1, execution rear-guard motor assist four-wheel drive pattern, the output torque of electromotor is institute's energy under current rotating speed The torque capacity provided, the difference of the torque capacity that the output torque of rear-guard motor provides with electromotor for demand torque, with Time return perform step step1；
Step4B2, execution full mixing four-wheel drive pattern, the output torque of ISG motor and rear-guard motor is current rotating speed Under respective maximum output torque, the maximum that the output torque of electromotor is demand torque be can be provided by with two motors turns The difference of square sum, returns simultaneously and performs step step1.
As the further optimization of such scheme, described driving demand moment coefficient K1Be defined as preferable output torque with According to the ratio of accelerator pedal aperture calculated output torque, K1Mould is controlled by a PID in entire car controller Block one is calculated.If K1∈ [0.8,0.95), K1For little；If K1∈ [0.95,1.05], K1In for；If K1∈ (1.05,1.02], K1For greatly.
The present invention also provides for the control device of a kind of Plug-in four-wheel-drive hybrid power automobile, including after driving back axle Drive motor and rear-guard electric machine controller, for electromotor and the engine controller phase coaxial with electromotor driving propons ISG motor even and ISG electric machine controller, for starting the pony engine of electromotor, being placed in electromotor and ISG electricity Clutch one between machine, the clutch two being connected with ISG motor output shaft, the CVT change speed gear box being connected with clutch two, Electrokinetic cell, electrokinetic cell controller, inverter one and inverter two, described electrokinetic cell controller and described power Battery is placed between vehicle frame and floor, for providing electric energy for rear-guard motor and ISG motor and reclaiming braking energy, described Electrokinetic cell is electrically connected with described rear-guard motor by described inverter one, and described electrokinetic cell passes through described inverter Two are electrically connected with described ISG motor.
The present invention has the advantage that a kind of Plug-in four-wheel-drive hybrid power automobile of the present invention compared to existing technology Braking mode energy management control method proposes new braking requirement torque calculation method, overcomes braking requirement torque Calculate coarse drawback, and the pattern switching law and braking mode to Plug-in four-wheel-drive hybrid power automobile enters Go rational definition, it is ensured that Plug-in four-wheel-drive hybrid power automobile is operated in efficient district as far as possible.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of Plug-in four-wheel-drive hybrid power automobile of the present invention.
Fig. 2 is the drive pattern control structure block diagram of a kind of Plug-in four-wheel-drive hybrid power automobile of the present invention.
Fig. 3 is the braking mode control structure block diagram of a kind of Plug-in four-wheel-drive hybrid power automobile of the present invention.
Fig. 4 is the control flow chart of the drive pattern of a kind of Plug-in four-wheel-drive hybrid power automobile of the present invention
Fig. 5 is the control flow chart of the braking mode of a kind of Plug-in four-wheel-drive hybrid power automobile of the present invention
Detailed description of the invention
Elaborating embodiments of the invention below, the present embodiment is carried out under premised on technical solution of the present invention Implement, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following Embodiment.
See Fig. 1, the control device of a kind of Plug-in four-wheel-drive hybrid power automobile, including the independent dynamical system of two sets, For providing electric energy for rear-guard motor and ISG motor and reclaiming the electrokinetic cell 11 of braking energy, electrokinetic cell controller 12, inverter 1, inverter 2 14.
Unified rear-guard motor 1 and the rear-guard electric machine controller 2 thereof included for driving back axle of dynamical system.
Dynamical system two includes electromotor 3 and engine controller 4 for driving propons, is coaxially connected with electromotor ISG motor 5 and ISG electric machine controller 6, for start electromotor pony engine 7, be placed in electromotor and ISG electricity Clutch 1 between machine, the clutch 29 being connected with ISG motor output shaft and the CVT being connected with clutch 29 become Speed case 10.
Electrokinetic cell 11 and electrokinetic cell controller 12 are placed between vehicle frame and floor, and electrokinetic cell 11 is by inverter one 13 and inverter 2 14 is connected with ISG motor 5 respectively and rear-guard motor 1 connects.
The mode of operation of a kind of Plug-in four-wheel-drive hybrid power automobile of the present invention includes: rear axle drive pattern, front axle drive Dynamic model formula, Two axle drive pattern.Rear axle drive pattern is divided into electric-only mode that rear-guard motor is operated alone and series connection to drive Dynamic model formula.Front axle drive pattern includes that electromotor is operated alone pattern, ISG motor is operated alone pattern, electromotor drives And power generation mode and hybrid mode.Two axle drive pattern includes rear-guard motor assist 4 wheel driven pattern and entirely mixes 4 wheel driven Pattern.
A kind of various control signals of the Plug-in four-wheel-drive hybrid power automobile identification of the present invention, as accelerator pedal aperture, The input signals such as brake pedal aperture, speed, electrokinetic cell SOC.Entire car controller, ISG electric machine controller 6, after Drive electric machine controller 2, CVT controller according to rule, to electromotor, ISG under the various mode of operations of hybrid vehicle When motor and the duty of rear-guard motor, output torque and the switching of various mode of operation, turning of each power part Square is coordinated to be controlled, and each power part has instructed corresponding actions according to controller.
Plug-in four-wheel-drive hybrid power Automobile drive demand moment coefficient K1It is defined as preferable driving torque to step on according to acceleration The ratio of the calculated driving torque of plate aperture, K1Calculated by a pid control module one in entire car controller Arrive.
See Fig. 2, the drive pattern structured flowchart of a kind of Plug-in four-wheel-drive hybrid power automobile.Hybrid vehicle is first During startup, system default is rear axle drive pattern (RWD), the driving torque COEFFICIENT K under rear axle drive pattern1In the range of [0.8,0.95).When electrokinetic cell SOC is more than the minimum SOC in its best effort districtLOWTime, system enters rear-guard motor Pattern is operated alone, and front bridge system disconnects, and hybrid vehicle is by rear bridge driven；When electrokinetic cell SOC less than it The minimum SOC of good working areaLOWTime, system enters series drive mode, and electromotor is operated in it and most preferably exports torque On curve, driving ISG electric power generation, clutch between ISG motor and CVT change speed gear box disconnects, ISG motor with send out Clutch between motivation combines, and rear-guard motor is operated alone hybrid vehicle.When entire car controller detects driving Demand moment coefficient K1When being positioned at interval [0.95,1.05], hybrid vehicle mode of operation jumps to front axle drive pattern (FWD), when jumping to front wheel drive mode, first system default is automobile to be operated alone by electromotor.Work as full-vehicle control Device detect driving demand moment coefficient be positioned at interval (1.05,1.2] time, hybrid vehicle mode of operation jumps to twin shaft Drive pattern (AWD), when jumping to Two axle drive pattern, first system default is common by electromotor and rear-guard motor Drive automobile.Defined in this case: if K1∈ [0.8,0.95), K1For little；If K1∈ [0.95,1.05], K1In for； If K1∈ (1.05,1.2], K1For greatly.
Plug-in four-wheel-drive hybrid power automobile brake demand moment coefficient K2It is defined as preferable braking moment to step on according to braking The ratio of the calculated braking moment of plate aperture, K2Calculated by a pid control module two in entire car controller Arrive.
See Fig. 3, the braking mode structured flowchart of a kind of Plug-in four-wheel-drive hybrid power automobile.Hybrid vehicle is first During braking, system default is braking mode (Reg_mode), the braking moment COEFFICIENT K under braking mode2's Scope be [0.8,0.95), and meet electrokinetic cell SOC less than the maximum SOC in its best effort districthigh, perform again During raw braking, rear-guard motor is combined with rear bridge system, it is provided that regenerative braking moment, if the regenerative braking of rear-guard motor turns Square meets braking torque demand without the method for determining, then ISG motor is combined with front bridge system, it is provided that extra regenerative brake torque. When entire car controller detects braking requirement moment coefficient K2Scope be positioned at interval (1.05,1.2] [0.95,1.05], or Braking requirement moment coefficient K2The maximum SOC allowed more than it in the range of [0.8,1.05] and electrokinetic cell SOChigh, Hybrid vehicle performs mechanical braking pattern (Fric_mdoe), now, if electromotor is opened, then and clutch one He Clutch two all combines, electromotor anti-dragged brake, and extra braking moment is provided by brake, if electromotor does not leaves Open, then front-rear axle system all disconnects with power part, brake provide all of braking moment.When entire car controller is examined Measure braking requirement moment coefficient K2Scope is positioned at interval [0.95,1.05], and electrokinetic cell SOC is less than its best effort district Maximum SOChighTime, hybrid vehicle performs composite braking pattern (CoB_mode), now, then front-rear axle system System all combines, if electromotor is not opened, clutch two combines, and ISG motor and rear-guard motor are provided which under current rotating speed Big regenerative brake torque, extra torque is provided by brake, if electromotor is opened, clutch one and clutch two are all tied Closing, ISG motor and rear-guard motor are provided which the maximum regeneration braking moment under current rotating speed, electromotor anti-dragged brake, volume Outer braking moment is provided by brake.Defined herein as；If K2∈ [0.8,0.95), K2For little；If K2∈ [0.95,1.05], K2In for；If K2∈ (1.05,1.2], K2For greatly.:
A kind of Plug-in four-wheel-drive hybrid power automobile energy management control method:
If the demand torque of the entire car controller detection automobile of Plug-in four-wheel-drive hybrid power automobile is more than zero, hybrid power Automobile enters drive pattern, performs the control flow of drive pattern；
If the demand torque of the entire car controller detection automobile of Plug-in four-wheel-drive hybrid power automobile is less than zero, hybrid power Automobile enters braking mode, performs the control flow of braking mode.
Wherein, drive demand torque equal to driving torque COEFFICIENT K1Value be multiplied by under current rotating speed each power part institute energy The torque capacity sum provided is multiplied by the aperture of accelerator pedal again.Braking requirement torque is equal to braking requirement moment coefficient K2 Value be multiplied by the maximum regeneration braking moment of two motors under current rotating speed and be multiplied by system again with maximum machine braking moment sum The aperture of dynamic pedal.
Seeing Fig. 4, the control flow of the drive pattern of Plug-in four-wheel-drive hybrid power automobile is:
Step1, judge driving demand moment coefficient K1Value place is interval；Work as K1For little, i.e. K1∈ [0.8,0.95) hold Row step2, works as K1In for, i.e. K1∈ [0.95,1.05], performs step3, works as K1For greatly, i.e. K1∈ (1.05,1.2] hold Row step4.
Step2, entrance rear-guard pattern, i.e. rear axle drive pattern.
Whether Step2A, judgement electrokinetic cell SOC are more than the minimum SOC in its best effort districtLOW, when SOC ＞ SOCLOW, perform step step2A1, otherwise perform step step2A2.
Step2A1, the execution pure electric Drive Mode of rear-guard electric-only mode, i.e. rear-guard, the output torque of rear-guard motor is The demand torque of hybrid vehicle, returns simultaneously and performs step step1.
Step2A2, execution series drive mode, electromotor is operated on optimum output torque curve and drives ISG motor Generating；Hybrid vehicle is driven by rear-guard motor, and rear-guard motor output torque is equal to driving torque, and electromotor exports Torque is its optimum output torque, and ISG motor charge torque is that engine output torque deducts automobile demand torque, with Time return perform step step1.
Step3, entrance forerunner's pattern, i.e. front axle drive pattern.
Whether Step3A, judgement electrokinetic cell SOC are more than the minimum SOC in its best effort districtLOW, judge to drive simultaneously Dynamic demand torque Treq scope.
If SOC is ＞ SOCLOW, and when driving demand torque Treq is more than zero and less than or equal to electromotor under current rotating speed Economic fuel oil consumption location output lower torque Telow, i.e. Treq ∈ (0, Telow], perform step Step3A1.
If SOC is ＞ SOCLOW, and when driving demand torque Treq electromotor economic fuel oil consumption under current rotating speed Upper limit T in districtehighWith lower limit TelowBetween time, i.e. Treq ∈ (Telow,Tehigh), perform step Step3A2.
If SOC is ＞ SOCLOW, and when driving demand torque Treq is more than or equal to the economic fuel oil of electromotor under current rotating speed Consumption location upper limit TehighAnd less than electromotor torque capacity Temax, i.e. Treq ∈ [Tehigh,Temax), perform step Step3A3。
If SOC is ＞ SOCLOW, and when driving demand torque Treq is defeated more than or equal to the maximum of electromotor under current rotating speed Go out torque Temax, export torque upper limit T less than the economic fuel oil consumption location of electromotorehighWith ISG motor under current rotating speed Torque capacity TISGmaxSum, i.e. Treq ∈ [Temax,Tehigh+TISGmax), perform step Step3A4.
If SOC is ＞ SOCLOW, and when driving demand torque Treq is more than or equal to the economic fuel oil of electromotor under current rotating speed Consumption location output torque upper limit TehighTorque capacity T that can be provided by with ISG under current rotating speedISGmaxSum, less than current Electromotor torque capacity T under rotating speedemaxTorque capacity T with ISG motorISGmaxSum, i.e. Treq∈[Tehigh+TISGmax,Temax+TISGmax), perform step Step3A5.
If SOC is ＜ SOCLOW, and when driving demand torque Treq is more than zero and less than or equal to electromotor under current rotating speed Economic fuel oil consumption location output lower torque Telow, i.e. Treq ∈ (0, Telow], perform step3B1.
If SOC is ＜ SOCLOW, and when driving demand torque Treq electromotor economic fuel oil consumption under current rotating speed Upper limit T in districtehighWith lower limit TelowBetween time, i.e. Treq ∈ (Telow,Tehigh), perform step3B2.
If SOC is ＜ SOCLOW, and when driving demand torque Treq is more than or equal to the economic fuel oil of electromotor under current rotating speed Consumption location output torque upper limit Tehigh, less than electromotor torque capacity T under current rotating speedemax, Treq ∈ [Tehigh,Temax) hold Row step3B3；
If SOC is ＜ SOCLOW, and when automobile demand torque Treq can be provided by more than or equal to electromotor under current rotating speed Torque capacity Temax, i.e. Treq ∈ [Temax,+∞), perform step3B4.
Step3A1, execution ISG motor drive mode, i.e. ISG motor is operated alone hybrid vehicle, ISG motor Output torque is automobile demand torque, returns simultaneously and performs step1.
Step3A2, execution engine drive mode, i.e. electromotor are operated alone hybrid vehicle, and electromotor output turns Square is automobile demand torque, returns simultaneously and performs step1.
A mixed dynamic pattern, i.e. electromotor and the ISG motor of Step3A3, execution front axle drives hybrid vehicle jointly, by Engine controller controls engine air throttle aperture so that electromotor is operated on optimal output torque curve, additionally Driving torque provided by ISG motor；Return simultaneously and perform step1.
Mixed dynamic two modes, i.e. electromotor and the ISG motor of Step3A4, execution front axle drives hybrid vehicle jointly, by Engine controller controls engine air throttle aperture so that electromotor is operated in the output torque of economic fuel oil consumption location Limit, ISG motor supplementary quota drives external torque；Return simultaneously and perform step1.
Step3A5, execution front axle mixed dynamic three patterns, i.e. electromotor drive hybrid vehicle jointly with ISG motor, and ISG motor provides the torque capacity under current rotating speed, and additional torque is provided by electromotor；Return simultaneously and perform step1.
Step3B1, performing electromotor and drives and generate electricity a pattern, it may be assumed that electromotor drives and generates electricity, electromotor exports turn Square is that it most preferably exports torque, and ISG motor charge torque is the difference that demand torque and electromotor most preferably export torque, simultaneously Return and perform step step1.
Step3B2, performing electromotor and drives and generate electricity two modes, it may be assumed that electromotor drives and generates electricity, electromotor exports turn Square is that economic fuel oil consumption location exports torque upper limit, and ISG motor charge torque is that automobile demand torque turns with electromotor output The difference of square, returns simultaneously and performs step step1.
Step3B3, perform electromotor and drives and generate electricity three patterns, it may be assumed that electromotor drives also power generation mode, and electromotor is defeated Going out torque is the torque capacity under current rotating speed；When the charge torque of ISG motor is that automobile demand torque is defeated with electromotor Go out the difference of torque, return simultaneously and perform step step1.
Step3B4, execution system alert electromotor drive a pattern, it may be assumed that system enters on-warning mode, and automatically proceeds to Electromotor is operated alone pattern, and the output torque of electromotor is the torque capacity that can be provided by under current rotating speed, returns simultaneously Receipt row step1.
Step4, entrance 4 wheel driven pattern, it may be assumed that Two axle drive pattern.
Whether step4A, judgement electrokinetic cell SOC are more than the minimum SOC in its best effort districtLOW, if so, perform Sub-step step4B, otherwise performs step step4A1.
Step4A1, execution system alert electromotor drive two modes, it may be assumed that enter on-warning mode, and automatically proceed to start Machine is operated alone pattern, and the output torque of electromotor is the torque capacity that can be provided by under current rotating speed；Return simultaneously and hold Row step step1.
Step4B, judge driving demand torque TreqScope.Torque capacity T that electromotor can be provided byemaxUnder current rotating speed Torque capacity T of ISG motorISGmax
When driving demand torque TreqMore than or equal to torque capacity T of ISG motor under current rotating speedISGmaxWith electromotor institute energy Torque capacity T providedemaxSum, torque capacity T that can be provided by less than electromotoremaxWith rear-guard electricity under current rotating speed Torque capacity T that machine can be provided bymmaxSum, it may be assumed that Treq ∈ [Temax+TISGmax,Temax+Tmmax), perform step step4B1。
When driving demand torque TreqTorque capacity T that can be provided by more than or equal to rear-guard motor under current rotating speedmmaxWith send out Torque capacity T that motivation can be provided byemaxSum, it may be assumed that Treq ∈ [Temax+Tmmax,+∞), perform step step4B2.
Step4B1, execution rear-guard motor assist four-wheel drive pattern, the output torque of electromotor is institute's energy under current rotating speed The torque capacity provided, the difference of the torque capacity that the output torque of rear-guard motor provides with electromotor for demand torque, with Time return perform step step1.
Step4B2, execution full mixing four-wheel drive pattern, the output torque of ISG motor and rear-guard motor is current rotating speed Under respective maximum output torque, the maximum that the output torque of electromotor is demand torque be can be provided by with two motors turns The difference of square sum, returns simultaneously and performs step step1.
The control flow of the braking mode seeing Fig. 5, Plug-in four-wheel-drive hybrid power automobile is:
Step5, judgement vehicle velocity V, whether more than zero, if it is not, perform step6, if so, perform step7.
Step6, execution mechanical braking, if electromotor is opened, perform electromotor anti-dragged brake, and additional brake torque is by making Dynamic device provides；If electromotor is not opened, perform brake.
Step7, judgement braking requirement moment coefficient K2Scope, work as K2For little, it may be assumed that K2∈ [0.8,0.95), perform Step8, works as K2In for, i.e. K2∈ [0.95,1.05], performs step9, works as K2For greatly, K2∈ (1.05,1.2] perform step10。
Step8, judge to judge that electrokinetic cell SOC is whether less than the maximum SOC in its best effort districthigh, if so, Perform step11, if it is not, perform step10.
Step9, judge to judge that electrokinetic cell SOC is whether less than the maximum SOC in its best effort districthigh, if so, Perform step12, if it is not, perform step10.
Step10, perform mechanical braking, if electromotor open, perform electromotor anti-dragged brake, additional brake torque by Brake provides；If electromotor is not opened, perform brake, return simultaneously and perform step step7.
Step11, execution regenerative braking, regenerative braking moment is mainly provided by rear-guard motor, and extra part is by ISG Motor provides, and returns simultaneously and performs step step7.
Step12, execution composite braking pattern, rear-guard motor and ISG motor are provided which the maximum regeneration under current rotating speed Braking moment, if electromotor is not opened, extra brake force uses brake to provide, if electromotor is opened, performs to send out Motivation anti-dragged brake, extra part is provided by brake, returns simultaneously and performs step step7.
During the mode of operation switching of Plug-in four-wheel-drive hybrid power automobile, automobile is in transition mode, in transition In pattern, each power part of automobile, under the coordination of respective controller and entire car controller, performs torque coordination control System, it is ensured that during pattern switching, the output torque of automobile is not undergone mutation, and improves the ride comfort that hybrid vehicle is driven.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention Any amendment, equivalent and the improvement etc. made within god and principle, should be included in protection scope of the present invention it In.

Claims (1)

1. a Plug-in four-wheel-drive hybrid power automobile brake mode of energy management control method, it is characterised in that:
When the demand torque of the entire car controller detection automobile of Plug-in four-wheel-drive hybrid power automobile is less than zero, hybrid power Automobile enters braking mode, performs the control flow of braking mode；
The control flow of described braking mode is:
Step5, judgement vehicle velocity V, whether more than zero, if it is not, perform step6, if so, perform step7；
Step6, execution mechanical braking, if electromotor is opened, perform electromotor anti-dragged brake, and additional brake torque is by making Dynamic device provides；If electromotor is not opened, perform brake；
Step7, judgement braking requirement moment coefficient K2Scope, work as K2For little, perform step8, work as K2In for, Perform step9, work as K2For greatly, perform step10；
Braking requirement moment coefficient K2It is defined as preferable braking moment to turn with according to the calculated braking of brake pedal aperture The ratio of square, if K2∈ [0.8,0.95), K2For little；If K2∈ [0.95,1.05], K2In for；If K2∈ (1.05,1.2], K2For greatly；
Step8, judge to judge that electrokinetic cell SOC is whether less than the maximum SOC in its best effort districthigh, if so, Perform step11, if it is not, perform step10；
Step9, judge to judge that electrokinetic cell SOC is whether less than the maximum SOC in its best effort districthigh, if so, Perform step12, if it is not, perform step10；
Step10, perform mechanical braking, if electromotor open, perform electromotor anti-dragged brake, additional brake torque by Brake provides；If electromotor is not opened, perform brake, return simultaneously and perform step step7；
Step11, execution regenerative braking, regenerative braking moment is mainly provided by rear-guard motor, and extra part is by ISG Motor provides, and returns simultaneously and performs step step7；
Step12, execution composite braking pattern, rear-guard motor and ISG motor are provided which the maximum regeneration under current rotating speed Braking moment, if electromotor is not opened, extra brake force uses brake to provide, if electromotor is opened, performs to send out Motivation anti-dragged brake, extra part by while brake provide, simultaneously return perform step step7.
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