CN106394548A - Layered coordination energy efficiency control method for plug-in four-wheel drive hybrid power automobile - Google Patents

Layered coordination energy efficiency control method for plug-in four-wheel drive hybrid power automobile Download PDF

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Publication number
CN106394548A
CN106394548A CN201610900269.4A CN201610900269A CN106394548A CN 106394548 A CN106394548 A CN 106394548A CN 201610900269 A CN201610900269 A CN 201610900269A CN 106394548 A CN106394548 A CN 106394548A
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motor
torque
real
output
time
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CN106394548B (en
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杜玖玉
欧阳明高
李建秋
高明明
王佳
卢兰光
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Tsinghua University
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Tsinghua University
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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
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/24—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/26—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the motors or the generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/28—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the electric energy storing means, e.g. batteries or capacitors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/36—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/38—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the driveline clutches
    • 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
    • B60W20/20—Control strategies involving selection of hybrid configuration, e.g. selection between series or parallel configuration
    • 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
    • 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
    • B60W40/105—Speed
    • 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 layered coordination energy efficiency control method for a plug-in four-wheel drive hybrid power automobile and relates to a hybrid power automobile control method. The method aims at solving the problem that energy efficiency of the automobile is not exerted to the optimum through existing hybrid power system control methods. The method comprises the steps that power system driving modes are switched in real time according to the operation condition of the automobile, and the target total torque Tt of two driving motors of the electric automobile is calculated under the three-type-power hybrid mode including the pure electric drive mode and two HEV modes; then, whether values of four nodes of a matrix grid Q<i, j> are null or not is judged, if the value of any node is null, a search method is adopted for searching for the torque optimization allocation coefficient k, and Tt is allocated to the first driving motor and the second driving motor according to k; or otherwise, the mean value k of the values of the four nodes of the matrix grid Q<i, j> is calculated, k is treated as the corresponding torque optimization allocation coefficient, and the total torque Tt is allocated to the first driving motor and the second driving motor according to k. The layered coordination energy efficiency control method is applicable to the field of automobile design and manufacturing.

Description

A kind of vehicle layered coordination energy efficiency controlling method of Plug-in four-wheel-drive hybrid power
Technical field
The present invention relates to a kind of control method of hybrid vehicle.
Background technology
Hybrid vehicle (Hybrid Electrical Vehicle, abbreviation HEV) refers to equip two kinds of power simultaneously The automobile with electrodynamic source (battery and motor) for the source heat dynamic resource (being produced by traditional gasoline engine or diesel engine).Logical Cross on hybrid vehicle using motor so that dynamical system can require flexibly to adjust according to the actual operating mode of car load Control, and electromotor is maintained at work in the optimal region of combination property, thus reducing oil consumption and discharge.
Hybrid vehicle, using the relatively puffer that disclosure satisfy that automobile cruise needs, relies on motor or other auxiliary Device provides and accelerates the additional power required with climbing.Its result is to improve overall efficiency, does not sacrifice performance simultaneously.Mixing Power car is designed to recyclable braking energy.In orthodox car, when driver steps on braking, this can be used to accelerate to automobile Energy thrown away in vain as heat.And hybrid electric vehicle most of can reclaim these energy, and it is temporarily stored Get up for accelerate when again.When driver wants to have the acceleration of maximum, petrol engine and motor parallel operation, providing can The starting performance suitable with powerful petrol engine.Less high occasion is being required to acceleration, hybrid electric vehicle can be single Travel by motor, or depend merely on petrol engine and travel, or the two combines to obtain the efficiency of maximum.Such as patrol on highway Using petrol engine during boat.And when running at a low speed, motor drag can be depended merely on, without petrol engine auxiliary.Even if During tail-off, electric turning booster system still can keep operating function, provides the efficiency bigger than conventional hydraulic.
At present, the classification of hybrid power system：
A, the bind mode being driven according to hybrid power, hybrid power system is broadly divided into following three classes：
One is series connection type hybrid power system.Series connection type hybrid power system typically directly drives electromotor to send out by internal combustion engine Electricity, the electric energy of generation passes to battery by control unit, then is transferred to motor by battery and is converted into kinetic energy, finally by variable-speed motor Structure is driving automobile.Under this bind mode, as a reservoir, the object simply adjusting is not the water yield to battery, but electric Energy.It is adjusted between the energy that battery needs to the energy producing in electromotor and motor, thus ensureing the normal work of vehicle Make.Application on city bus for this dynamical system is relatively more, and car is rarely employed.
Two is parallel connection type hybrid power system.Parallel connection type hybrid power system has two sets of drive systems：Traditional internal combustion engine System and motor driven systems.Two systems both can co-ordination simultaneously it is also possible to the driving automobile that each works independently.This System is applied to multiple different driving cycles, is particularly suited for the road conditions of complexity.This bind mode structure is simple, low cost.
Three is series-parallel hybrid electric system.The feature of series-parallel hybrid electric system is that internal-combustion engine system and motor drive Dynamic system respectively has a set of mechanical variable speed device, Liang Tao mechanism or pass through gear train, or is combined together using planet gear type structure, Thus the rotation speed relation between comprehensive adjustment internal combustion engine and motor.Compared with parallel connection type hybrid power system, series parallel type power System more neatly can adjust the power output of internal combustion engine and the operating of motor according to operating mode.This bind mode system is multiple Miscellaneous, high cost.
B, according in hybrid power system, the proportion that the output of motor accounts in whole system output, It is exactly the difference of the degree of mixing often said, hybrid power system is further divided into following four classes：
One is micro-hybrid system.Startup motor in traditional combustion engine for this hybrid power system is (generally Install belt drives on 12V) additional and start motor (the Belt-alternator Starter Generator namely often saying, letter Claim BSG system).This motor is to generate electricity to start (Stop-Start) integral motor, for controlling the startup of electromotor and stopping Only, thus eliminating the idling of electromotor, oil consumption and discharge are reduced.For from the strict sense, this micro-hybrid system The automobile of system is not belonging to real hybrid vehicle, because the unpromising running car of its motor provides lasting power. In micro-hybrid system, the voltage of motor generally has two kinds：12v and 42v.Wherein 42v is mainly used in diesel hybrid System.
Two is light hybrid power system.This hybrid power system employs integrated starting motor and (namely often says Integrated Starter Generator, abbreviation ISG system).Compared with micro-hybrid system, light hybrid power system Except being capable of with startup and the stopping of generator control electromotor additionally it is possible to realize：(1) under deceleration and damped condition, Portion of energy is absorbed；(2) in the process of moving, electromotor constant speed drive, the energy that electromotor produces can be in wheel Driving demand and the charge requirement of electromotor between be adjusted.The degree of mixing of light hybrid power system typically 20% with Under.
Three is middle hybrid power system.This hybrid power system equally employs ISG system.With mild hybrid power system Difference, middle hybrid power system uses high-voltage motor.In addition, middle hybrid power system also add One function：In vapour Car is in acceleration or during high load working condition, motor can auxiliary drive wheels, thus supplementing electromotor power output itself Deficiency, thus preferably improve car load performance.The mixability of this system is higher, can reach 30% about, at present Technology is ripe, is widely used.
Four is complete mixed power system.System that employs the high voltage startup motor of 272-650v, mixability is higher. Compared with middle hybrid power system, the degree of mixing of complete mixed power system can meet or exceed 50%.The development of technology By the main development direction making complete mixed power system be increasingly becoming Technology of Hybrid Electric Vehicle.
Any of the above different hybrid mode, can reduces cost and discharge to a certain extent.Ge great automobile vendor exists The more than ten years in past, by continuous Innovation Input, Test Summary, business application, define respective Technology of Hybrid Electric Vehicle it Road, and performance commercially is also to differ from one another.But, at present existing hybrid power system and control method exist dynamic The efficiency of automobile is not all played by the feature that power and energy consumption can not be taken into account, especially these hybrid power systems and control method To optimum.
Content of the invention
The efficiency of automobile is not performed to optimum for the control method solving existing hybrid power system by the present invention Problem.
A kind of vehicle layered coordination energy efficiency controlling method of Plug-in four-wheel-drive hybrid power, is based on a kind of plug-in bi-motor Four-wheel-drive hybrid power system is realized；Described a kind of plug-in bi-motor four-wheel-drive hybrid power system includes electromotor, clutch Device, TCU (Transmission Control Unit, i.e. automatic gear-box control unit), charger, electrokinetic cell, inverter System, two motors and two decelerators；Two described motors include：First motor and second drives electricity Machine；Two described variators include：First variator and the second variator；
First motor and the first variator even drive front axle, and the second motor is connected with the second variator after driving Axle；
The outfan of electromotor and clutch input mechanical connection, clutch output and the first transmission input machine Tool connection, the first motor outfan and the first transmission input mechanical connection, the first transmission output and rear axle machine Tool connects；First motor and electromotor are capable of mechanical couplings；
Charger outfan is electrically connected with electrokinetic cell input, electrokinetic cell outfan and inverter system input Electrical connection, inverter system outfan is electrically connected with the first motor input and the second motor input respectively Connect, the second motor outfan and the second transmission input are mechanically connected, the second transmission output is with front shaft mechanical even Connect；
TCU respectively with the first variator and the second variator, TCU controls the first variator and the second speed change by signal Device.
A kind of Plug-in four-wheel-drive hybrid power vehicle layered coordination energy efficiency controlling method of the present invention, comprises the following steps：
Step one, the real time execution situation according to plug-in bi-motor four-drive hybrid electric vehicle, real-time detection power current Pond SOC situation, speed and accelerator pedal signal, calculate vehicle aggregate demand torque, root using real-time speed and accelerator pedal aperture According to the real-time SOC of electrokinetic cell (charged state or residual capacity) and vehicle aggregate demand torque, switching dynamical system drives mould in real time Formula；
Described dynamical system drive pattern includes：Pure electric Drive Mode that two motors drive, electromotor and The a common HEV tri- power mixed model driving of two motors, electromotor and two motors common drive the Two HEV tri- power mixed model, electromotor are operated alone pattern, electromotor and the first motor parallel connection forerunner's pattern；
When dynamical system drive pattern switches to, electromotor is operated alone pattern and forerunner's pattern in parallel does not have torque and divides Join, therefore not execution step two, the ruuning situation of the plug-in bi-motor four-drive hybrid electric vehicle according to subsequent time is again Detection；When dynamical system drive pattern switches to pure electric Drive Mode, a HEV tri- power mixed model, the 2nd HEV tri- to move Power mixed model execution step two；
Step 2, combine dynamical system drive pattern, real-time detection first motor and the second motor export mesh Mark total torque Tt；
Using the speed of automobile as abscissa i, using two motor target total torques Tt of automobile as vertical coordinate j, Set optimum torque partition coefficient matrix W, W interior element is torque optimized distribution coefficient ki,j；
In optimum torque partition coefficient matrix W, 4 adjacent torque optimized distribution coefficient ki,j、ki,j+1、ki+1,j、ki+1,j+1 Constitute matrix grid QI, j；
In optimum torque partition coefficient matrix W finding step two obtain target total torque Tt of automobile drive electric motor and Matrix grid Q corresponding to the real-time speed of automobileI, j；Judgment matrix grid QI, j4 node ki,j、ki,j+1、ki+1,j、 ki+1,j+1Numerical value be whether empty, if ki,j、ki,j+1、ki+1,j、ki+1,j+1Middle any node numerical value is sky, then execution step four are no Then, execution step three；
Step 3, calculating matrix grid QI, j4 node ki,j、ki,j+1、ki+1,j、ki+1,j+1Numerical value meansigma methodss k, will K as the torque optimized distribution coefficient corresponding to target total torque Tt of two motors of automobile and the real-time speed of automobile, By numerical value k, total torque is distributed to the first motor and the second motor, control the first motor and second to drive electricity Machine output torque, realizes Plug-in four-wheel-drive hybrid power automobile torque distribution control；It is then back to execution step one；
Step 4, target total torque Tt using search method search automobile first motor and the second motor and vapour Target total torque Tt is distributed to the first motor and second by k by the torque optimal sorting distribution coefficient k corresponding to the real-time speed of car Motor, controls motor output target torque, and numerical value k is assigned to the real-time speed of Tt in matrix W and automobile Corresponding matrix grid QI, j4 node ki,j、ki,j+1、ki+1,j、ki+1,j+1, return execution step one.
Preferably, the process of the real-time switching dynamical system drive pattern described in step one comprises the following steps：
Step1, the SOC (i ') of detection i ' moment electrokinetic cell, judge whether SOC (i ') is less than engine start SOC door Limit value SOC_low, if so, then executes Step2, otherwise executes Step3；
Step2, control engine start, engine continuous work, and judge the aggregate demand torque Ttotal of i ' moment automobile Whether (i ') is more than upper limit Tmax_ice (i ') of the economic consumption location of electromotor under current vehicle speed, if so, then carries out Step2A, no Then execute Step2B；
Step2A, entrance the first HEV tri- power mixed model, execute Step2A1 to Step2A3：
When Step2A1, calculating SOC (i '), two motors allow output torque capacity Temax (i ') and electromotor defeated Go out minimum torque Ticemin (i ')=Ttotal (i ')-Temax (i ')；
Step2A2, according to throttle opening, Shifting and accelerator pedal signal, determines engine working range,
Step2A3, according to engine efficiency optimum control engine output torque Ticeout1 (i '), be designated as starting Reality output torque Tice (i ') of machine；
Calculate two motors output total torque Tt (i ')=Ttotal (i ')-Tice (i ') in the case of corresponding to；Work as Tt (i′)<During Temax (i '), Tt (i ') is distributed to the first motor and the second motor；
Step2B, judges whether i ' moment aggregate demand torque Ttotal (i ') consumes more than electromotor economy under current vehicle speed Lower limit Tmin_ice (i ') in area, if so, then executes Step2B1, otherwise carries out Step2B2；
Step2B1, enters electromotor list and drives pattern；
Step2B2, enters forerunner's pattern in parallel, executes Step2B2A and Step2B2B：
Step2B2A, determines engine working range according to throttle opening, Shifting and accelerator pedal signal；
Step2B2B, according to fuel economy optimum output torque Ticeout2 (i ') of electromotor, is designated as starting Reality output torque Tice (i ') of machine, Tice (i ') is distributed to front-wheel, by surplus torque Tice (i ')-Ttotal (i ') warp First motor is to power battery charging；
Whether Step3, judgement i ' moment aggregate demand torque Ttotal (i ') are less than the first motor maximum output torque With the second motor maximum output torque sum Tmax_m1 (i ')+Tmax_m2 (i '), if so, then execute Step3A, otherwise Carry out Step3B；
Step3A, the pure electric Drive Mode of entrance, the first motor and the second motor output target total torque are Tt (i ')=Ttotal (i '), total torque Tt (i ') is distributed to the first motor and the second motor；
Step3B, entrance the 2nd HEV tri- power mixed model, execute Step3B1 and Step3B2：
Step3B1, control engine start, determine according to throttle opening, Shifting and accelerator pedal signal and start Machine working range；
Step3B2, according to electromotor fuel economy optimum output torque Ticeout2 (i '), be designated as electromotor Reality output torque Tice (i ')；
Calculate two motors output total torque Tt (i ')=Ttotal (i ')-Tice (i ') in the case of corresponding to, by Tt (i ') distributes to the first motor and the second motor.
Preferably, the employing search method described in step 4 searches for the target of automobile first motor and the second motor Target total torque Tt is simultaneously distributed to the first driving by torque optimal sorting distribution coefficient k corresponding to the real-time speed of total torque Tt and automobile The process of motor and the second motor comprises the following steps：
Output target total torque Tt (i ') of step 4 one, calculating i ' moment first motor and the second motor；
Step 4 two, setting torque optimized distribution coefficient k, k is driven with the i ' moment first for the first motor output torque Galvanic electricity machine and the ratio of the second motor output target total torque Tt (i '), the region of search [a, b] of k, the region of search [a, b] The initialization region of search is [0,1]；Setting search ratio x, x<1；Search convergence precision is ε；
Step 4 three, the mesh exporting in real time by torque partition coefficient k=k1=a+x (b-a) calculating the first motor Mark torque, the target torque of front axle output in real time when obtaining torque partition coefficient k=k1；
Calculate the second motor by torque partition coefficient (1-k1) and export target total torque in real time, obtain torque distribution system The target torque of rear axle output in real time during number k=k1；
Turn by the target that torque partition coefficient k=k2=a+ (1-x) (b-a) calculates the output in real time of the first motor Square；, the target torque of front axle output in real time when obtaining torque partition coefficient k=k2；
Calculate the second motor by torque partition coefficient (1-k2) and export target total torque in real time, obtain torque distribution system The target torque of rear axle output in real time during number k=k2；
Step 4 four, using step 4 three obtain k=k1 when the first motor and the second motor export in real time Target torque and during k=k2 the first motor and the output in real time of the second motor target torque, in conjunction with the first driving Motor and the second motor input bus voltage, bus current and output speed, calculating torque partition coefficient k=k1 and turn The real-time input power of the first motor and the second motor, real-time output during square partition coefficient k=k2；
The real-time input power of step 4 five, the first motor according to step 4 four acquisition and the second motor, Output in real time, and torque distribution system is calculated according to the first motor and the second motor input power and output Real-time aggregate efficiency value η 2=η (k2) when real-time aggregate efficiency value η 1=η (k1) during number k=k1 and torque partition coefficient k=k2；
Real-time aggregate efficiency value η 1=η when step 4 six, the torque partition coefficient k=k1 that step 4 five calculating is obtained (k1) real-time aggregate efficiency value η 2=η (k2) and during torque partition coefficient k=k2 is compared；
As η 1<During η 2, make a=k1, k1=k2, η 1=η 2, k2=a+ (1-x) (b-a)；Calculate real-time aggregate efficiency value η 2 =η (k2), execution step four or seven；
As η 1 >=η 2, make b=k2, k2=k1, η 2=η 1, k1=a+x (b-a), calculate real-time aggregate efficiency value η 1=η (k1), execution step four or seven；
Step 4 seven, the torque partition coefficient k region of search [a, b] is carried out convergence judge, if | a-b |<ε, then terminate to search Rope, obtains the torque optimum allocation coefficient of the first motor and the second motor, and the first motor output torque is T1 =k Tt (i '), the second motor output torque is T2=(1-k) Tt (i ')；Otherwise, return execution step four or six.
Preferably, described in step 4 five according to the first motor and the second motor input power and output Always imitating in real time when real-time aggregate efficiency value η 1=η (k1) during calculating torque partition coefficient k=k1 and torque partition coefficient k=k2 The process of rate value η 2=η (k2) comprises the following steps：
The real-time input-output power obtaining the first motor is calculated by formula (1),
Wherein, Pin,1(i ') is the real-time input power of i ' moment first motor, Pout,1(i ') drove for the i ' moment first The real-time output of galvanic electricity machine；U1(i ') is i ' moment the first motor input busbar voltage, I1(i ') is the i ' moment first Motor input bus current；n1(i ') is the rotating speed of the first motor；
Calculated by formula (2) and obtain the second real-time input-output power of drive,
Wherein, Pin,2(i ') is the real-time input power of i ' moment second motor, Pout,2(i ') drove for the i ' moment second The real-time output of galvanic electricity machine；U2(i ') is i ' moment the second motor input busbar voltage, I2(i ') is the i ' moment second Motor input bus current；n2(i ') is the rotating speed of the second motor；
Calculated by formula (3) and obtain the first motor and the real-time aggregate efficiency of the second motor,
As k=k1, calculate η (k1) according to formula (5), obtain total in real time during i ' moment torque partition coefficient k=k1 Efficiency value η 1=η (k1)；
As k=k2, calculate η (k2) according to formula (5), obtain total in real time during i ' moment torque partition coefficient k=k1 Efficiency value η 2=η (k2).
For above scheme,
Pure electric Drive Mode exist after distribution of torque pure electronic forerunner's drive pattern, pure electronic rear-guard drive pattern and Pure electric four-wheel drive drive pattern；
Before there is HEV mixing in the first HEV tri- power mixed model and the 2nd HEV tri- power mixed model after distribution of torque Drive drive pattern, HEV mixing rear-guard drive pattern and HEV tri- power mixing 4 wheel driven drive pattern.
The method of the invention based on plug-in bi-motor four-wheel-drive hybrid power system, have electromotor and two driving Motor, the control method according to the present invention is constantly switched, and is not only fully able to meet the need of the various road conditions of automobile and vehicle condition Will, and it is capable of hybrid vehicle efficiency optimum control；And the present invention can achieve drive efficiency and dynamical system effect Rate is worked in coordination with and is optimized.
The method of the invention is controlled by hierarchical coordinative and is not only able to ensure efficiency during power system operation simultaneously Optimum, and it is capable of driving torque distribution, to realize instantaneous torque optimization.Ensure that automobile under conditions of efficiency optimum There is good torque distribution.Compare existing control method, the efficiency method for optimally controlling of the system based on the present invention can save About more than 11% efficiency.
Brief description
Fig. 1 is a kind of plug-in bi-motor four-wheel-drive hybrid power system schematic diagram；In figure, a is the near front wheel, and b is off-front wheel, C is left rear wheel, and d is off hind wheel；1 is electromotor, and 2 is clutch, and 3 is the first motor, and 4 is the first variator, and 5 is TCU, 6 is charger, and 7 is electrokinetic cell, and 8 is inverter system, and 9 is the second motor, and 10 is the second variator；Wherein connect and close System is schematically as follows：
Fig. 2 is the flow chart of the present invention；
Fig. 3 is the flow chart of switching dynamical system drive pattern output torque in real time；
Fig. 4 is using search method search torque optimal sorting distribution coefficient k and target total torque Tt to be distributed to the first motor Flow chart with the second motor.
Specific embodiment
Specific embodiment one：In conjunction with Fig. 1 and Fig. 2, present embodiment is described,
A kind of plug-in bi-motor four-wheel-drive hybrid power system, including electromotor 1, clutch 2, TCU 5, charger 6, moves Power battery 7, inverter system 8, two motors and two decelerators；Two motors include：First motor 3 He Second motor 9；Two variators include：First variator 4 and the second variator 10；
First motor 3 and the first variator 4 even drive front axle, and the second motor 9 is connected with the second variator 10 Drive rear axle；
The outfan of electromotor 1 is mechanically connected with clutch 2 input, and clutch 2 outfan is inputted with the first variator 4 End is mechanically connected, and the first motor 3 outfan and the first variator 4 input are mechanically connected, the first variator 4 outfan and Rear axle is mechanically connected；First motor 3 is capable of mechanical couplings with electromotor 1；
Charger 6 outfan is electrically connected with electrokinetic cell 7 input, and electrokinetic cell 7 outfan is defeated with inverter system 8 Enter end electrical connection, inverter system 8 outfan respectively with the first motor 3 input and the second motor 9 input Electrical connection, the second motor 9 outfan and the second variator 10 input are mechanically connected, the second variator 10 outfan and Front axle is mechanically connected；
TCU5 respectively with the first variator 4 and the second variator 10, TCU5 by signal control the first variator 4 and second Variator 10.
Based on described a kind of plug-in bi-motor four-wheel-drive hybrid power system, a kind of plug-in 4 wheel driven mixing of the present invention Power vehicle hierarchical coordinative energy efficiency controlling method, comprises the following steps：
Step one, the real time execution situation according to plug-in bi-motor four-drive hybrid electric vehicle, real-time detection power current Pond 7SOC situation, speed and accelerator pedal signal, calculate vehicle aggregate demand torque, root using real-time speed and accelerator pedal aperture According to the real-time SOC of electrokinetic cell 7 (charged state or residual capacity) and vehicle aggregate demand torque, switching dynamical system drives mould in real time Formula；
Described dynamical system drive pattern includes：Pure electric Drive Mode that two motors drive, electromotor and The a common HEV tri- power mixed model driving of two motors, electromotor and two motors common drive the Two HEV tri- power mixed model, electromotor are operated alone pattern, electromotor and the first motor parallel connection forerunner's pattern；
When dynamical system drive pattern switches to, electromotor is operated alone pattern and forerunner's pattern in parallel does not have torque and divides Join, therefore not execution step two, the ruuning situation of the plug-in bi-motor four-drive hybrid electric vehicle according to subsequent time is again Detection；When dynamical system drive pattern switches to pure electric Drive Mode, a HEV tri- power mixed model, the 2nd HEV tri- to move Power mixed model execution step two；
Step 2, combine dynamical system drive pattern, real-time detection first motor and the second motor export mesh Mark total torque Tt；
Using the speed of automobile as abscissa i, using two motor target total torques Tt of automobile as vertical coordinate j, Set optimum torque partition coefficient matrix W, W interior element is torque optimized distribution coefficient ki,j；
In optimum torque partition coefficient matrix W, 4 adjacent torque optimized distribution coefficient ki,j、ki,j+1、ki+1,j、ki+1,j+1 Constitute matrix grid QI, j；
In optimum torque partition coefficient matrix W finding step two obtain target total torque Tt of automobile drive electric motor and Matrix grid Q corresponding to the real-time speed of automobileI, j；Judgment matrix grid QI, j4 node ki,j、ki,j+1、ki+1,j、 ki+1,j+1Numerical value be whether empty, if ki,j、ki,j+1、ki+1,j、ki+1,j+1Middle any node numerical value is sky, then execution step four are no Then, execution step three；
Step 3, calculating matrix grid QI, j4 node ki,j、ki,j+1、ki+1,j、ki+1,j+1Numerical value meansigma methodss k, will K as the torque optimized distribution coefficient corresponding to target total torque Tt of two motors of automobile and the real-time speed of automobile, By numerical value k, total torque is distributed to the first motor 3 and the second motor 9, control the first motor 3 and the second driving Motor 9 output torque, realizes Plug-in four-wheel-drive hybrid power automobile torque distribution control；It is then back to execution step one；
Step 4, searched for using search method automobile the first motor 3 and the second motor 9 target total torque Tt and Target total torque Tt is distributed to the first motor 3 He by k by the torque optimal sorting distribution coefficient k corresponding to the real-time speed of automobile Second motor 9, controls motor output target torque, and numerical value k is assigned to the real-time of Tt in matrix W and automobile Matrix grid Q corresponding to speedI, j4 node ki,j、ki,j+1、ki+1,j、ki+1,j+1, return execution step one.
Specific embodiment two：In conjunction with Fig. 3, present embodiment is described,
The process of the real-time switching dynamical system drive pattern described in present embodiment step one comprises the following steps：
Step1, the SOC (i ') of detection i ' moment electrokinetic cell 7, judge whether SOC (i ') is less than engine start SOC door Limit value SOC_low, if so, then executes Step2, otherwise executes Step3；
Step2, control engine start, engine continuous work, and judge the aggregate demand torque Ttotal of i ' moment automobile Whether (i ') is more than upper limit Tmax_ice (i ') of the economic consumption location of electromotor under current vehicle speed, if so, then carries out Step2A, no Then execute Step2B；
Step2A, entrance the first HEV tri- power mixed model, execute Step2A1 to Step2A3：
When Step2A1, calculating SOC (i '), two motors allow output torque capacity Temax (i ') and electromotor defeated Go out minimum torque Ticemin (i ')=Ttotal (i ')-Temax (i ')；
Step2A2, according to throttle opening, Shifting and accelerator pedal signal, determines engine working range,
Step2A3, according to engine efficiency optimum control engine output torque Ticeout1 (i '), be designated as starting Reality output torque Tice (i ') of machine；
Calculate two motors output total torque Tt (i ')=Ttotal (i ')-Tice (i ') in the case of corresponding to；Work as Tt (i′)<During Temax (i '), Tt (i ') is distributed to the first motor and the second motor；
Step2B, judges whether i ' moment aggregate demand torque Ttotal (i ') consumes more than electromotor economy under current vehicle speed Lower limit Tmin_ice (i ') in area, if so, then executes Step2B1, otherwise carries out Step2B2；
Step2B1, enters electromotor list and drives pattern；
Step2B2, enters forerunner's pattern in parallel, executes Step2B2A and Step2B2B：
Step2B2A, determines engine working range according to throttle opening, Shifting and accelerator pedal signal；
Step2B2B, according to fuel economy optimum output torque Ticeout2 (i ') of electromotor, is designated as starting Reality output torque Tice (i ') of machine, Tice (i ') is distributed to front-wheel, by surplus torque Tice (i ')-Ttotal (i ') warp First motor is to power battery charging；
Whether Step3, judgement i ' moment aggregate demand torque Ttotal (i ') are less than the first motor maximum output torque With the second motor maximum output torque sum Tmax_m1 (i ')+Tmax_m2 (i '), if so, then execute Step3A, otherwise Carry out Step3B；
Step3A, the pure electric Drive Mode of entrance, the first motor and the second motor output target total torque are Tt (i ')=Ttotal (i '), total torque Tt (i ') is distributed to the first motor and the second motor；
Step3B, entrance the 2nd HEV tri- power mixed model, execute Step3B1 and Step3B2：
Step3B1, control engine start, determine according to throttle opening, Shifting and accelerator pedal signal and start Machine working range；
Step3B2, according to electromotor fuel economy optimum output torque Ticeout2 (i '), be designated as electromotor Reality output torque Tice (i ')；
Calculate two motors output total torque Tt (i ')=Ttotal (i ')-Tice (i ') in the case of corresponding to, by Tt (i ') distributes to the first motor and the second motor.
Other steps and parameter are identical with specific embodiment one.
Specific embodiment three：In conjunction with Fig. 4, present embodiment is described,
Employing search method described in present embodiment step 4 searches for automobile first motor and the second motor Target total torque Tt is simultaneously distributed to first by torque optimal sorting distribution coefficient k corresponding to the real-time speed of target total torque Tt and automobile The process of motor and the second motor comprises the following steps：
Output target total torque Tt (i ') of step 4 one, calculating i ' moment first motor and the second motor；
Step 4 two, setting torque optimized distribution coefficient k, k is driven with the i ' moment first for the first motor output torque Galvanic electricity machine and the ratio of the second motor output target total torque Tt (i '), the region of search [a, b] of k, the region of search [a, b] The initialization region of search is [0,1]；Setting search ratio x, x<1；Search convergence precision is ε；
Step 4 three, the mesh exporting in real time by torque partition coefficient k=k1=a+x (b-a) calculating the first motor Mark torque, the target torque of front axle output in real time when obtaining torque partition coefficient k=k1；
Calculate the second motor by torque partition coefficient (1-k1) and export target total torque in real time, obtain torque distribution system The target torque of rear axle output in real time during number k=k1；
Turn by the target that torque partition coefficient k=k2=a+ (1-x) (b-a) calculates the output in real time of the first motor Square；, the target torque of front axle output in real time when obtaining torque partition coefficient k=k2；
Calculate the second motor by torque partition coefficient (1-k2) and export target total torque in real time, obtain torque distribution system The target torque of rear axle output in real time during number k=k2；
Step 4 four, using step 4 three obtain k=k1 when the first motor and the second motor export in real time Target torque and during k=k2 the first motor and the output in real time of the second motor target torque, in conjunction with the first driving Motor and the second motor input bus voltage, bus current and output speed, calculating torque partition coefficient k=k1 and turn The real-time input power of the first motor and the second motor, real-time output during square partition coefficient k=k2；
The real-time input power of step 4 five, the first motor according to step 4 four acquisition and the second motor, Output in real time, and torque distribution system is calculated according to the first motor and the second motor input power and output Real-time aggregate efficiency value η 2=η (k2) when real-time aggregate efficiency value η 1=η (k1) during number k=k1 and torque partition coefficient k=k2；
Real-time aggregate efficiency value η 1=η when step 4 six, the torque partition coefficient k=k1 that step 4 five calculating is obtained (k1) real-time aggregate efficiency value η 2=η (k2) and during torque partition coefficient k=k2 is compared；
As η 1<During η 2, make a=k1, k1=k2, η 1=η 2, k2=a+ (1-x) (b-a)；Calculate real-time aggregate efficiency value η 2 =η (k2), execution step four or seven；
As η 1 >=η 2, make b=k2, k2=k1, η 2=η 1, k1=a+x (b-a), calculate real-time aggregate efficiency value η 1=η (k1), execution step four or seven；
Step 4 seven, the torque partition coefficient k region of search [a, b] is carried out convergence judge, if | a-b |<ε, then terminate to search Rope, obtains the torque optimum allocation coefficient of the first motor and the second motor, and the first motor output torque is T1 =k Tt (i '), the second motor output torque is T2=(1-k) Tt (i ')；Otherwise, return execution step four or six.
Other steps and parameter are identical with specific embodiment one or two.
Specific embodiment four：
Described in present embodiment step 4 five according to the first motor and the second motor input power and output Real-time when real-time aggregate efficiency value η 1=η (k1) during power calculation torque partition coefficient k=k1 and torque partition coefficient k=k2 The process of aggregate efficiency value η 2=η (k2) comprises the following steps：
The real-time input-output power obtaining the first motor is calculated by formula (1),
Wherein, Pin,1(i ') is the real-time input power of i ' moment first motor, Pout,1(i ') drove for the i ' moment first The real-time output of galvanic electricity machine；U1(i ') is i ' moment the first motor input busbar voltage, I1(i ') is the i ' moment first Motor input bus current；n1(i ') is the rotating speed of the first motor；
Calculated by formula (2) and obtain the second real-time input-output power of drive,
Wherein, Pin,2(i ') is the real-time input power of i ' moment second motor, Pout,2(i ') drove for the i ' moment second The real-time output of galvanic electricity machine；U2(i ') is i ' moment the second motor input busbar voltage, I2(i ') is the i ' moment second Motor input bus current；n2(i ') is the rotating speed of the second motor；
Calculated by formula (3) and obtain the first motor and the real-time aggregate efficiency of the second motor,
As k=k1, calculate η (k1) according to formula (5), obtain total in real time during i ' moment torque partition coefficient k=k1 Efficiency value η 1=η (k1)；
As k=k2, calculate η (k2) according to formula (5), obtain total in real time during i ' moment torque partition coefficient k=k1 Efficiency value η 2=η (k2).
Other steps and parameter are identical with specific embodiment three.
Specific embodiment five：
There is pure electronic forerunner's drive pattern, pure electricity in the pure electric Drive Mode described in present embodiment after distribution of torque Dynamic rear-guard drive pattern and pure electric four-wheel drive drive pattern；
There is HEV in a described HEV tri- power mixed model and the 2nd HEV tri- power mixed model after distribution of torque Mixing forerunner's drive pattern, HEV mixing rear-guard drive pattern and HEV tri- power mixing 4 wheel driven drive pattern.
One of other steps and parameter and specific embodiment one to four are identical.

Claims (5)

1. a kind of vehicle layered coordination energy efficiency controlling method of Plug-in four-wheel-drive hybrid power, is based on a kind of plug-in bi-motor four Driving mixed power system is realized, and described system includes electromotor (1), clutch (2), TCU (5), charger (6), power current Pond (7), inverter system (8), two motors and two decelerators；Two described motors include：First driving Motor (3) and the second motor (9)；Two described variators include：First variator (4) and the second variator (10)；
First motor (3) is connected with the first variator (4) and drives front axle, the second motor (9) and the second variator (10) it is connected and drive rear axle；
The outfan of electromotor (1) and clutch (2) input mechanical connection, clutch (2) outfan and the first variator (4) Input is mechanically connected, and the first motor (3) outfan and the first variator (4) input are mechanically connected, the first variator (4) outfan and rear axle are mechanically connected；First motor (3) and electromotor (1) are capable of mechanical couplings；
Charger (6) outfan is electrically connected with electrokinetic cell (7) input, electrokinetic cell (7) outfan and inverter system (8) input electrical connection, inverter system (8) outfan drives electricity with the first motor (3) input and second respectively Machine (9) input is electrically connected, and the second motor (9) outfan and the second variator (10) input are mechanically connected, and second Variator (10) outfan is mechanically connected with front axle；
TCU (5) respectively with the first variator (4) and the second variator (10), TCU (5) by signal control the first variator (4) With the second variator (10)；
It is characterized in that, the method comprising the steps of：
Step one, the real time execution situation according to plug-in bi-motor four-drive hybrid electric vehicle, real-time detection electrokinetic cell (7) SOC situation, speed and accelerator pedal signal, calculate vehicle aggregate demand torque using real-time speed and accelerator pedal aperture, according to Electrokinetic cell (7) SOC and vehicle aggregate demand torque in real time, switching dynamical system drive pattern in real time；
Described dynamical system drive pattern includes：Pure electric Drive Mode, electromotor and Liang Tai that two motors drive The 2nd HEV that a common HEV tri- power mixed model driving of motor, electromotor and two motors drive jointly Three power mixed models, electromotor are operated alone pattern, electromotor and the first motor parallel connection forerunner's pattern；
When dynamical system drive pattern switches to, electromotor is operated alone pattern and forerunner's pattern in parallel does not have torque distribution, root Ruuning situation according to the plug-in bi-motor four-drive hybrid electric vehicle of subsequent time detects again；When dynamical system drive pattern Switch to pure electric Drive Mode, a HEV tri- power mixed model, the 2nd HEV tri- power mixed model execution step two；
Step 2, combine dynamical system drive pattern, real-time detection first motor with second motor output target total Torque Tt；
Using the speed of automobile as abscissa i, using two motor target total torques Tt of automobile as vertical coordinate j, set Optimum torque partition coefficient matrix W, W interior element is torque optimized distribution coefficient ki,j；
In optimum torque partition coefficient matrix W, 4 adjacent torque optimized distribution coefficient ki,j、ki,j+1、ki+1,j、ki+1,j+1Constitute Matrix grid QI, j；
Target total torque Tt of automobile drive electric motor and automobile that in optimum torque partition coefficient matrix W, finding step two obtains Matrix grid Q corresponding to real-time speedI, j；Judgment matrix grid QI, j4 node ki,j、ki,j+1、ki+1,j、ki+1,j+1's Whether numerical value is empty, if ki,j、ki,j+1、ki+1,j、ki+1,j+1Middle any node numerical value is sky, then execution step four, otherwise, execution Step 3；
Step 3, calculating matrix grid QI, j4 node ki,j、ki,j+1、ki+1,j、ki+1,j+1Numerical value meansigma methodss k, k is made Torque optimized distribution coefficient corresponding to the real-time speed of target total torque Tt for two motors of automobile and automobile, by number Total torque is distributed to the first motor (3) and the second motor (9) by value k, controls the first motor (3) and the second drive Galvanic electricity machine (9) output torque, realizes Plug-in four-wheel-drive hybrid power automobile torque distribution control；It is then back to execution step one；
Step 4, using search method search for automobile first motor (3) and the second motor (9) target total torque Tt with Target total torque Tt is distributed to the first motor (3) by k by the torque optimal sorting distribution coefficient k corresponding to the real-time speed of automobile With the second motor (9), control motor output target torque, and numerical value k is assigned to Tt in matrix W and automobile Matrix grid Q corresponding to real-time speedI, j4 node ki,j、ki,j+1、ki+1,j、ki+1,j+1, return execution step one.
2. the vehicle layered coordination energy efficiency controlling method of a kind of Plug-in four-wheel-drive hybrid power according to claim 1, it is special Levy and be, the process of the real-time switching dynamical system drive pattern described in step one comprises the following steps：
Step1, the SOC (i ') of detection i ' moment electrokinetic cell (7), judge whether SOC (i ') is less than engine start SOC thresholding Value SOC_low, if so, then executes Step2, otherwise executes Step3；
Step2, control engine start, engine continuous work, and judge aggregate demand torque Ttotal (i ') of i ' moment automobile Whether it is more than the upper limit of the economic consumption location of electromotor under current vehicle speed, if so, then carry out Step2A, otherwise execute Step2B；
Step2A, entrance the first HEV tri- power mixed model, execute Step2A1 to Step2A3：
When Step2A1, calculating SOC (i '), two motors allow output torque capacity Temax (i ') and electromotor to export Little torque Ticemin (i ')=Ttotal (i ')-Temax (i ')；
Step2A2, according to throttle opening, Shifting and accelerator pedal signal, determines engine working range,
Step2A3, according to engine efficiency optimum control engine output torque Ticeout1 (i '), be designated as electromotor Reality output torque Tice (i ')；
Calculate two motors output total torque Tt (i ')=Ttotal (i ')-Tice (i ') in the case of corresponding to；As Tt (i ')< During Temax (i '), Tt (i ') is distributed to the first motor and the second motor；
Whether Step2B, judge i ' moment aggregate demand torque Ttotal (i ') more than the economic consumption location of electromotor under current vehicle speed Lower limit, if so, then executes Step2B1, otherwise carries out Step2B2；
Step2B1, enters electromotor list and drives pattern；
Step2B2, enters forerunner's pattern in parallel, executes Step2B2A and Step2B2B：
Step2B2A, determines engine working range according to throttle opening, Shifting and accelerator pedal signal；
Step2B2B, according to fuel economy optimum output torque Ticeout2 (i ') of electromotor, is designated as electromotor Reality output torque Tice (i '), Tice (i ') is distributed to front-wheel, by surplus torque Tice (i ')-Ttotal (i ') through first Motor is to power battery charging；
Step3, judge i ' moment aggregate demand torque Ttotal (i ') whether less than the first motor maximum output torque and the Two motors maximum output torque sum Tmax_m1 (i ')+Tmax_m2 (i '), if so, then execute Step3A, otherwise carry out Step3B；
Step3A, the pure electric Drive Mode of entrance, the first motor and the second motor output target total torque are Tt (i ')=Ttotal (i '), total torque Tt (i ') is distributed to the first motor and the second motor；
Step3B, entrance the 2nd HEV tri- power mixed model, execute Step3B1 and Step3B2：
Step3B1, control engine start, determine electromotor work according to throttle opening, Shifting and accelerator pedal signal Make scope；
Step3B2, according to electromotor fuel economy optimum output torque Ticeout2 (i '), be designated as the reality of electromotor Border output torque Tice (i ')；
Calculate two motors output total torque Tt (i ')=Ttotal (i ')-Tice (i ') in the case of corresponding to, by Tt (i ') Distribute to the first motor and the second motor.
3. the vehicle layered coordination energy efficiency controlling method of a kind of Plug-in four-wheel-drive hybrid power according to claim 1 and 2, its It is characterised by, the employing search method described in step 4 searches for the target of automobile first motor (3) and the second motor (9) Target total torque Tt is simultaneously distributed to the first driving by torque optimal sorting distribution coefficient k corresponding to the real-time speed of total torque Tt and automobile The process of motor and the second motor comprises the following steps：
Output target total torque Tt (i ') of step 4 one, calculating i ' moment first motor and the second motor；
Step 4 two, setting torque optimized distribution coefficient k, k is that the first motor output torque drives electricity with the i ' moment first Machine and the second motor export the ratio of target total torque Tt (i '), the region of search [a, b] of k, the region of search [a, b] initial Changing the region of search is [0,1]；Setting search ratio x, x<1；Search convergence precision is ε；
Step 4 three, the target calculating the in real time output of the first motor by torque partition coefficient k=k1=a+x (b-a) turn Square, the target torque of front axle output in real time when obtaining torque partition coefficient k=k1；
Calculate the second motor by torque partition coefficient (1-k1) and export target total torque in real time, obtain torque partition coefficient k The target torque of rear axle output in real time during=k1；
Calculate the target torque of the first motor output in real time by torque partition coefficient k=k2=a+ (1-x) (b-a)；, obtain The target torque of front axle output in real time when obtaining torque partition coefficient k=k2；
Calculate the second motor by torque partition coefficient (1-k2) and export target total torque in real time, obtain torque partition coefficient k The target torque of rear axle output in real time during=k2；
The mesh of the first motor and the in real time output of the second motor when step 4 four, the k=k1 being obtained using step 4 three The target torque of the first motor and the output in real time of the second motor when mark torque and k=k2, in conjunction with the first motor With the second motor input bus voltage, bus current and output speed, calculating torque partition coefficient k=k1 and torque divide The real-time input power of the first motor and the second motor, real-time output during distribution coefficient k=k2；
The real-time input power of step 4 five, the first motor being obtained according to step 4 four and the second motor, in real time Output, and torque partition coefficient k is calculated according to the first motor and the second motor input power and output Real-time aggregate efficiency value η 2=η (k2) when real-time aggregate efficiency value η 1=η (k1) during=k1 and torque partition coefficient k=k2；
Step 4 six, to step 4 five calculate obtain torque partition coefficient k=k1 when real-time aggregate efficiency value η 1=η (k1) and Real-time aggregate efficiency value η 2=η (k2) during torque partition coefficient k=k2 is compared；
As η 1<During η 2, make a=k1, k1=k2, η 1=η 2, k2=a+ (1-x) (b-a)；Calculate real-time aggregate efficiency value η 2=η (k2), execution step four or seven；
As η 1 >=η 2, make b=k2, k2=k1, η 2=η 1, k1=a+x (b-a), calculate real-time aggregate efficiency value η 1=η (k1), execution step four or seven；
Step 4 seven, the torque partition coefficient k region of search [a, b] is carried out convergence judge, if | a-b |<ε, then terminate to search for, obtain Obtain the torque optimum allocation coefficient of the first motor and the second motor, the first motor output torque is T1=k Tt (i '), the second motor output torque is T2=(1-k) Tt (i ')；Otherwise, return execution step four or six.
4. the vehicle layered coordination energy efficiency controlling method of a kind of Plug-in four-wheel-drive hybrid power according to claim 3, it is special Levy and be, described in step 4 five, torque is calculated according to the first motor and the second motor input power and output Real-time aggregate efficiency value η 2=when real-time aggregate efficiency value η 1=η (k1) during partition coefficient k=k1 and torque partition coefficient k=k2 The process of η (k2) comprises the following steps：
The real-time input-output power obtaining the first motor is calculated by formula (1),
P i n , 1 ( i &prime; ) = U 1 ( i &prime; ) &CenterDot; I 1 ( i &prime; ) / 1000 P o u t , 1 ( i &prime; ) = T t ( i &prime; ) &CenterDot; k &CenterDot; n 1 ( i &prime; ) / 9550 - - - ( 1 )
Wherein, Pin,1(i ') is the real-time input power of i ' moment first motor, Pout,1(i ') drives electricity for the i ' moment first The real-time output of machine；U1(i ') is i ' moment the first motor input busbar voltage, I1(i ') drove for the i ' moment first Input end of motor bus current；n1(i ') is the rotating speed of the first motor；
Calculated by formula (2) and obtain the second real-time input-output power of drive,
P i n , 2 ( i &prime; ) = U 2 ( i &prime; ) &CenterDot; I 2 ( i &prime; ) / 1000 P o u t , 2 ( i &prime; ) = T t ( i &prime; ) &CenterDot; ( 1 - k ) &CenterDot; n 2 ( i &prime; ) / 9550 - - - ( 2 )
Wherein, Pin,2(i ') is the real-time input power of i ' moment second motor, Pout,2(i ') drives electricity for the i ' moment second The real-time output of machine；U2(i ') is i ' moment the second motor input busbar voltage, I2(i ') drove for the i ' moment second Input end of motor bus current；n2(i ') is the rotating speed of the second motor；
Calculated by formula (3) and obtain the first motor and the real-time aggregate efficiency of the second motor,
&eta; ( i &prime; ) = P o u t , 1 ( i &prime; ) + P o u t , 2 ( i &prime; ) P i n , 1 ( i &prime; ) + P i n , 2 ( i &prime; ) &times; 100 - - - ( 3 )
As k=k1, calculate η (k1) according to formula (5), obtain real-time aggregate efficiency during i ' moment torque partition coefficient k=k1 Value η 1=η (k1)；
As k=k2, calculate η (k2) according to formula (5), obtain real-time aggregate efficiency during i ' moment torque partition coefficient k=k1 Value η 2=η (k2).
5. the vehicle layered coordination energy efficiency controlling method of a kind of Plug-in four-wheel-drive hybrid power according to claim 4, it is special Levy and be, pure electric Drive Mode exist after distribution of torque pure electronic forerunner's drive pattern, pure electronic rear-guard drive pattern and Pure electric four-wheel drive drive pattern；First HEV tri- power mixed model and the 2nd HEV tri- power mixed model are deposited after distribution of torque Mix forerunner's drive pattern, HEV mixing rear-guard drive pattern and HEV tri- power mixing 4 wheel driven drive pattern in HEV.
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