CN106427979A - Method for acquiring filtering coefficient, and torque filtering method and system for hybrid power vehicle - Google Patents
Method for acquiring filtering coefficient, and torque filtering method and system for hybrid power vehicle Download PDFInfo
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- CN106427979A CN106427979A CN201510471791.0A CN201510471791A CN106427979A CN 106427979 A CN106427979 A CN 106427979A CN 201510471791 A CN201510471791 A CN 201510471791A CN 106427979 A CN106427979 A CN 106427979A
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- 238000000034 method Methods 0.000 title claims abstract description 53
- 238000010248 power generation Methods 0.000 claims description 78
- 238000005070 sampling Methods 0.000 claims description 4
- 230000035772 mutation Effects 0.000 description 9
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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
- 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
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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
- 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
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
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- 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
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- 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
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Electric Motors In General (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
The invention provides a method for acquiring filtering coefficient, and a torque filtering method and system for a hybrid power vehicle. The method for acquiring the filtering coefficient includes: acquiring current working condition modes of an engine, a first electric motor and a second electric motor, determining a filtering coefficient of the engine, a filtering coefficient of the first electric motor and a filtering coefficient of the second electric motor according to the current working condition modes of the engine, the first electric motor and the second electric motor; acquiring a larger value from the filtering coefficient of the first electric motor and the filtering coefficient of the second electric motor, comparing the larger value and the filtering coefficient of the engine to acquire a smaller value from the larger value and the filtering coefficient of the engine, and using the smaller value as a final torque filtering coefficient; and finally performing first order inertia filtering according to the final torque filtering coefficient. The final torque filtering coefficient can be determined by compressive consideration of the filtering coefficients of the engine, the first electric motor and the second electric motor in the current working conditions; a current output torque of the whole vehicle can follow the desired torque of a driver timely and accurately, and the demand of a hybrid power automobile for torque filtering can be met.
Description
Technical field
The present invention relates to hybrid vehicle control field, specifically a kind of side obtaining filter factor
The moment of torsion filtering method of method and hybrid electric vehicle and system.
Background technology
Hybrid vehicle refers to the automobile on car equipped with two or more power source, such as includes electromotor simultaneously
And motor.Compared to electromotor, motor has excellent torque response characteristic, you can right to realize
The tracking quickly and precisely of operator demand's moment of torsion (i.e. required vehicle output torque) and response.
In hybrid vehicle, the regime mode of electromotor includes：Drive pattern and zero torque mode, with
And pattern when mutually switching between both patterns；The regime mode of motor includes：Drive pattern,
In power generation mode, feedback braking pattern and zero torque mode, and these four patterns any both of which it
Between pattern when mutually switching.Hybrid vehicle to the filtering demands of moment of torsion is under different regime mode
Different, wherein, during switching working mode, moment of torsion is likely to occur unexpected increase, reduces suddenly or zero passage
Situations such as point；Under same mode of operation moment of torsion be likely to occur change too fast or excessively slow situations such as.For difference
Regime mode, need to have respective obtain for filtering filter factor method to ensure whole vehicle not
Serious shake can occur, simultaneously it is ensured that power assembly part and car load will not be because because of the mutation of moment of torsion
The mutation of moment of torsion and be subject to serious impacting.Do not have a kind of filtering obtaining for filtering in prior art
The method of coefficient can well adapt to the hybrid vehicle that there are different regime mode, especially works as mixing
When power vehicle has three power sources, acquisition of the prior art is used for the method for the filter factor of filtering simultaneously
Collaborative Control is not carried out to three power sources.
Content of the invention
For this reason, the present invention proposes a kind of acquisition method of filter factor and the moment of torsion filtering side of hybrid electric vehicle
Method and system, it adapts to filtering demands to moment of torsion under hybrid vehicle difference operating mode, it is to avoid turn round
The mutation of square.
Technical scheme is as follows：
A kind of method obtaining the filter factor for hybrid electric vehicle filtering, described hybrid electric vehicle includes
Electromotor, the first motor and the second motor, comprise the steps：
Obtain the current regime mode of electromotor；
Electromotor filter factor is determined according to the described regime mode that electromotor is current；
Obtain the current regime mode of the first motor；
First motor filter factor is determined according to the current described regime mode of the first motor；
Obtain the current regime mode of the second motor；
Second motor filter factor is determined according to the current described regime mode of the second motor；
Obtain the higher value in described first motor filter factor and described second motor filter factor,
And this higher value is taken compared with described electromotor filter factor smaller value in both, as final moment of torsion
Filter factor.
Preferably, described electromotor filter factor, described first motor filter factor, described second electricity
Motivation filter factor is 0.01-0.2 with the span of described final moment of torsion filter factor.
Preferably, the regime mode of electromotor includes：Drive pattern, zero torque mode and drive pattern
And zero switch mode between torque mode.
Preferably, step electromotor filter factor being determined according to the current described regime mode of electromotor
For：
If the current regime mode of electromotor is the switch mode between drive pattern and zero torque mode,
Then obtained current in the electromotor speed torque meter prestoring according to current vehicle speed value and torque value
The filter factor of electromotor under regime mode；
If the current regime mode of electromotor is drive pattern or zero torque mode, according to current vehicle speed
Value and torque gradient obtain current operating mode in the electromotor speed torque gradient table prestoring
The filter factor of electromotor under pattern.
Preferably, the step setting up electromotor speed torque meter includes：
It is in the switch mode between drive pattern and zero torque mode in the current regime mode of electromotor
When：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the filtering system of described electromotor
The span of number is 0.01-0.05；
When speed is between described High Speed Threshold and low velocity threshold, the filter factor of described electromotor
Span be 0.05-0.2；
When moment of torsion is more than torque threshold, the span of the filter factor of described electromotor is
0.05-0.2；
When moment of torsion is less than torque threshold, the span of the filter factor of described electromotor is
0.01-0.05；
The step setting up electromotor speed torque gradient table includes：
When the current regime mode of electromotor is in drive pattern or zero torque mode：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the filtering system of described electromotor
The span of number is 0.01-0.05；
When speed is between described High Speed Threshold and low velocity threshold, the filter factor of described electromotor
Span be 0.05-0.2；
When torque gradient is more than torque gradient threshold value, the taking of the filter factor of described electromotor
Value scope is 0.05-0.2；
When torque gradient is less than torque gradient threshold value, the taking of the filter factor of described electromotor
Value scope is 0.01-0.05.
Preferably, the regime mode of described first motor includes：Drive pattern, power generation mode, braking
Switch mode between any both of which in feedback pattern, zero torque mode and these four patterns；Described
The regime mode of the second motor includes：Drive pattern, power generation mode, feedback braking pattern, zero moment of torsion
Switch mode between any both of which in pattern and these four patterns.
Preferably, the first motor filter factor is determined according to the current described regime mode of the first motor
Step be：
If the current regime mode of the first motor switches to feedback braking pattern, brakes back for power generation mode
Feedback pattern switching is to power generation mode, drive pattern, power generation mode, feedback braking pattern or zero torque mode
When, then according to current vehicle speed value and torque gradient in the first motor speed change in torque prestoring
The filter factor of the first motor under current working pattern is obtained in rate table；
If the current regime mode of the first motor is other pattern, according to current vehicle speed value and moment of torsion
Value looks into that to obtain under current working pattern first in the first motor speed torque meter prestoring electronic
The filter factor of machine.
Preferably, the step setting up the first motor speed torque gradient table includes：
It is in the current regime mode of the first motor and switch to feedback braking pattern, system for power generation mode
Dynamic feedback pattern switching is to power generation mode, drive pattern, power generation mode, feedback braking pattern or zero moment of torsion
During pattern：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the filter of described first motor
The span of wave system number is 0.01-0.05；
When speed is between described High Speed Threshold and low velocity threshold, the filtering of described first motor
The span of coefficient is 0.05-0.2；
When torque gradient is more than torque gradient threshold value, the filter factor of described first motor
Span be 0.05-0.2；
When torque gradient is less than torque gradient threshold value, the filter factor of described first motor
Span be 0.01-0.05；
The step setting up the first motor speed torque meter includes：
It is in drive pattern in the current regime mode of the first motor and switch to power generation mode, drive pattern
Switch to feedback braking pattern, power generation mode switches to drive pattern, feedback braking pattern switching is to driving
During pattern：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the filter of described first motor
The span of wave system number is 0.01-0.05；
When speed is between described High Speed Threshold and low velocity threshold, the filtering of described first motor
The span of coefficient is 0.05-0.2；
When moment of torsion from zero more close to when, the span of the filter factor of described first motor is
0.01-0.05；
When moment of torsion from zero more away from when, the span of the filter factor of described first motor is
0.05-0.2；
It is in drive pattern in the current regime mode of the first motor and switch to zero torque mode, zero moment of torsion
When pattern switching is to drive pattern：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the filter of described first motor
The span of wave system number is 0.01-0.05；
When speed is between described High Speed Threshold and low velocity threshold, the filtering of described first motor
The span of coefficient is 0.05-0.2；
When moment of torsion is less than torque threshold, the span of the filter factor of described first motor is
0.01-0.05；
When moment of torsion is more than torque threshold, the span of the filter factor of described first motor is
0.05-0.2；
It is in power generation mode in the current regime mode of the first motor and switch to zero torque mode, zero moment of torsion
Pattern switching switches to feedback braking pattern, feedback braking pattern switching to power generation mode, zero torque mode
During to zero torque mode：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the filter of described first motor
The span of wave system number is 0.01-0.05；
When speed is between described High Speed Threshold and low velocity threshold, the filtering of described first motor
The span of coefficient is 0.05-0.2；
When moment of torsion is more than torque threshold, the span of the filter factor of described first motor is
0.01-0.05；
When moment of torsion is less than torque threshold, the span of the filter factor of described first motor is
0.05-0.2.
A kind of moment of torsion filtering method of hybrid electric vehicle, comprises the steps：
The method being used for the filter factor of hybrid electric vehicle filtering using above-mentioned acquisition, obtains hybrid electric vehicle
Final moment of torsion filter factor；
One order inertia filtering is carried out according to described final moment of torsion filter factor.
Preferably, carried out in the step of one order inertia filtering according to described final moment of torsion filter factor, adopt
Filtering Formula be：Y (n)=z*x (n)+(1-z) * y (n-1), wherein,
y(n)：Filtered torque value；
z:Final moment of torsion filter factor；
x(n):Currently practical torque value；
y(n-1)：The filtered torque value of previous sampling instant.
A kind of system obtaining the filter factor for hybrid electric vehicle filtering, described hybrid electric vehicle includes
Electromotor, the first motor and the second motor, including：
Obtain engine operating condition mode module, the regime mode current for obtaining electromotor；
Determine electromotor filter factor module, determine for the described regime mode current according to electromotor and send out
Motivation filter factor；
Obtain the first motor working condition mode module, the regime mode current for obtaining the first motor；
Determine the first motor filter factor module, for the described operating mode mould current according to the first motor
Formula determines the first motor filter factor；
Obtain the second motor working condition mode module, the regime mode current for obtaining the second motor；
Determine the second motor filter factor module, for the described operating mode mould current according to the second motor
Formula determines the second motor filter factor；
Determine final moment of torsion filter factor module, for obtaining described first motor filter factor and described
Higher value in second motor filter factor, and by this higher value compared with described electromotor filter factor
Take the smaller value in both, as final moment of torsion filter factor.
A kind of moment of torsion filtering system of hybrid electric vehicle, comprises the steps：
Obtain final moment of torsion filter factor module, for hybrid electric vehicle filtering is used for using above-mentioned acquisition
The system of filter factor, obtains the final moment of torsion filter factor of hybrid electric vehicle；
One order inertia filtration module, for carrying out one order inertia filter according to described final moment of torsion filter factor
Ripple.
The technique scheme of the present invention has advantages below compared to existing technology：
(1) acquisition that the present invention provides is used for the method and system of the filter factor of hybrid electric vehicle filtering,
By obtaining electromotor, the first motor and the current regime mode of the second motor, and according to electromotor,
First motor and the second motor current working pattern determine electromotor filter factor, the first electronic machine filter
Wave system number and the second motor filter factor；Obtain the first motor filter factor and the second electronic machine filter
Higher value in wave system number, and this higher value is taken compared with electromotor filter factor less in both
Value, as final moment of torsion filter factor it is contemplated that the torque responsive precision of electromotor is less than the torsion of motor
Square response accuracy.Filter factor for hybrid electric vehicle filtering is obtained using the method and system, comprehensive
Consider electromotor, the first motor and the second motor to determine after the filter factor under current working
Whole moment of torsion filter factor as electromotor, the first motor and the second motor filter factor it is ensured that
Car load current output torque energy is timely, accurately follow operator demand's moment of torsion, and meets hybrid power
Automobile filtering demands to moment of torsion under different operating modes, it is to avoid because the mutation of moment of torsion is to power assembly part
Cause serious impact with car load.
(2) present invention provides the moment of torsion filtering method of hybrid electric vehicle and system, are started by obtaining
Machine, the first motor and the current regime mode of the second motor, and according to electromotor, the first motor
With the second motor current working pattern determine electromotor filter factor, the first motor filter factor and
Second motor filter factor；Obtain in the first motor filter factor and the second motor filter factor
Higher value, and this higher value is taken compared with electromotor filter factor the smaller value in both, as final
Moment of torsion filter factor is it is contemplated that the torque responsive precision of electromotor is less than the torque responsive precision of motor；
Finally, one order inertia filtering is carried out according to final moment of torsion filter factor.Using the method and system to mixing
Power car carries out moment of torsion filtering, has considered electromotor, the first motor and the second motor current
Determine final moment of torsion filter factor as electromotor, the first motor and second after filter factor under operating mode
The filter factor of motor is it is ensured that car load current output torque energy is timely, accurately follow driver need to
Seek moment of torsion, and meet the filtering demands to moment of torsion under different operating modes for the hybrid vehicle, it is to avoid because
The mutation of moment of torsion causes serious impact to power assembly part and car load.
Brief description
In order that present disclosure is more likely to be clearly understood, being embodied as below according to the present invention
Example simultaneously combines accompanying drawing, and the present invention is further detailed explanation, wherein
Fig. 1 is a kind of filtering obtaining for hybrid electric vehicle filtering according to an embodiment of the invention
The flow chart of the method for coefficient；
Fig. 2 a-2c is acquisition electromotor according to an embodiment of the invention, the first motor and the second electricity
The method schematic diagram of motivation filter factor；
Fig. 3 is a kind of filtering obtaining for hybrid electric vehicle filtering according to an embodiment of the invention
The structured flowchart of the system of coefficient；
In figure reference is expressed as：1- obtains engine operating condition mode module, and 2- determines that electromotor filters
Coefficient module, 3- obtains the first motor working condition mode module, and 4- determines the first motor filter factor mould
Block, 5- obtains the second motor working condition mode module, and 6- determines the second motor filter factor module, 7-
Determine final moment of torsion filter factor module.
Specific embodiment
Embodiment 1
As shown in figure 1, this enforcement provides a kind of side obtaining the filter factor for hybrid electric vehicle filtering
Method, described hybrid electric vehicle includes electromotor, the first motor and the second motor, comprises the steps：
Step S1：Obtain electromotor, the first motor and the current regime mode of the second motor.
In step S1, the regime mode of electromotor includes：Drive pattern, zero torque mode and driving mould
Switch mode between formula and zero torque mode；The regime mode of the first motor and the second motor all wraps
Include：Appoint in drive pattern, power generation mode, feedback braking pattern, zero torque mode and these four patterns
Switch mode between meaning both of which, the switch mode tool between any both of which wherein in these four patterns
Body includes：Drive pattern switches to power generation mode, drive pattern switches to feedback braking pattern, drive mould
Formula switches to zero torque mode, power generation mode switches to drive pattern, power generation mode switches to feedback braking
Pattern, power generation mode switch to zero torque mode, zero torque mode switches to drive pattern, zero moment of torsion mould
Formula switches to power generation mode, zero torque mode switches to feedback braking pattern, feedback braking pattern switching extremely
Drive pattern, feedback braking pattern switching to power generation mode, feedback braking pattern switching are to zero torque mode.
When electromotor, the first motor and the second motor are not at switch mode, then referred to as it is in stable state work
Condition pattern.
Step S2：Current according to the electromotor obtaining in step S1, the first motor and the second motor
Regime mode, determine the filter factor of electromotor, the first motor and the second motor, that is,：According to
The current regime mode of electromotor determines electromotor filter factor；According to the current operating mode mould of the first motor
Formula determines the first motor filter factor；Determine that second is electronic according to the current regime mode of the second motor
Machine filter factor.
As a kind of specific implementation, determine above-mentioned electromotor, the first motor and the second electronic machine filter
Wave system number all by demarcating form and can look into the form realization demarcated.
As shown in Figure 2 a, step electromotor filter factor being determined according to the current regime mode of electromotor
Can be：
If the current regime mode of electromotor is the switch mode between drive pattern and zero torque mode,
Then obtained current in the electromotor speed torque meter prestoring according to current vehicle speed value and torque value
The filter factor of electromotor under regime mode；
If the current regime mode of electromotor is (also referred to as steady state condition when drive pattern or zero torque mode
Pattern), then according to current vehicle speed value and torque gradient in the electromotor speed change in torque prestoring
The filter factor of electromotor under current regime mode is obtained in rate table.
The setting up process and can be of electromotor speed torque meter:In advance electromotor be in drive pattern and
During switch mode between zero torque mode, demarcate each vehicle speed value and the corresponding filter factor of torque value,
Set up electromotor speed torque meter.
For macroscopically, when speed higher (more than High Speed Threshold) and speed relatively low (less than low velocity threshold)
When, the filter factor that electromotor is in during above-mentioned operating mode is less；When speed moderate (be in High Speed Threshold and
Between low velocity threshold) when, the filter factor that electromotor is in during above-mentioned operating mode is larger；When moment of torsion is larger (big
In torque threshold) when, the filter factor that electromotor is in during above-mentioned operating mode is larger；When moment of torsion is less (little
In torque threshold) when, the filter factor that electromotor is under above-mentioned operating mode is less.Electromotor filter factor
The span of less i.e. filter factor can be：0.01-0.05；The larger i.e. filter factor of filter factor
Span can be：0.05-0.2.
The setting up process and can be of electromotor speed torque gradient table:It is in driving in electromotor in advance
When pattern or zero torque mode, demarcate each vehicle speed value and the corresponding filter factor of torque gradient, set up
Electromotor speed torque gradient table.
For macroscopically, when speed higher (more than High Speed Threshold) and speed relatively low (less than low velocity threshold)
When, the filter factor that electromotor is in during above-mentioned operating mode is less；When speed moderate (be in High Speed Threshold and
Between low velocity threshold) when, the filter factor that electromotor is in during above-mentioned operating mode is larger；Work as torque gradient
When larger (more than torque gradient threshold value), the filter factor that electromotor is in during above-mentioned operating mode is larger；
When torque gradient less (less than torque gradient threshold value), electromotor is in the filter under above-mentioned operating mode
Wave system number is less.The span of the less i.e. filter factor of electromotor filter factor can be：
0.01-0.05；The span of the larger i.e. filter factor of filter factor can be：0.05-0.2.
As shown in Figure 2 b, the first motor filtering system is determined according to the current regime mode of the first motor
Number process can be：
If the current regime mode of the first motor switches to feedback braking pattern, brakes back for power generation mode
Feedback pattern switching is to power generation mode, drive pattern, power generation mode, feedback braking pattern or zero torque mode
When, then according to current vehicle speed value and torque gradient in the first motor speed change in torque prestoring
The filter factor of the first motor under current working pattern is obtained in rate table；
If the current regime mode of the first motor is other pattern, according to current vehicle speed value and moment of torsion
Value looks into that to obtain under current working pattern first in the first motor speed torque meter prestoring electronic
The filter factor of machine.Other regime mode include：Drive pattern switches to power generation mode, drive pattern extremely
Feedback braking pattern, drive pattern switch to zero torque mode, power generation mode switches to drive pattern, send out
Power mode switches to zero torque mode, zero torque mode switches to drive pattern, zero torque mode switches to
Power generation mode, zero torque mode switch to feedback braking pattern, feedback braking pattern switching to drive pattern,
Feedback braking pattern switching is to zero torque mode.
The setting up process and can be of first motor speed torque gradient table:In advance in the first motor
It is in power generation mode to switch to feedback braking pattern, feedback braking pattern switching to power generation mode, drive mould
When formula, power generation mode, feedback braking pattern or zero torque mode, demarcate each vehicle speed value and change in torque
The corresponding filter factor of rate, sets up the first motor speed torque gradient table.
For macroscopically, speed, torque gradient and filtering in the first motor speed torque gradient table
The corresponding relation of coefficient is as follows, and wherein, the higher speed that refers to of speed is more than High Speed Threshold, speed relatively low finger car
Speed is less than low velocity threshold, and the bigger torque gradient that refers to of torque gradient is more than torque gradient threshold value, moment of torsion
Rate of change is got over little finger of toe torque gradient and is less than torque gradient threshold value：
If current working pattern switches to feedback braking pattern for power generation mode, filter factor takes b5, then
When speed is higher relatively low with speed, b5 is less, and when speed is moderate, b5 is larger；The bigger b5 of torque gradient
Bigger, less b5 is less for torque gradient；
If for feedback braking pattern switching to power generation mode, filter factor takes b11 to current working pattern, then
When speed is higher relatively low with speed, b11 is less, and when speed is moderate, b11 is larger；Torque gradient is bigger
When b11 bigger, torque gradient more hour b11 is less；
If current working pattern is drive pattern, power generation mode, feedback braking pattern or zero torque mode,
Filter factor takes b13, then, when speed is higher and speed is relatively low, b13 is less, and when speed is moderate, b13 is relatively
Greatly；When torque gradient is bigger, b13 is bigger, and rate of change more hour b13 is less.
The span of the less i.e. filter factor of the first motor filter factor can be：0.01-0.05；
The span of the larger i.e. filter factor of filter factor can be：0.05-0.2.
The setting up process and can be of first motor speed torque meter:It is in other in the first motor in advance
During regime mode, demarcate each vehicle speed value and the corresponding filter factor of torque value, set up the first electric motor car
Fast torque meter.
For macroscopically, the corresponding pass of speed, moment of torsion and filter factor in the first motor speed torque meter
It is to be：
If current working pattern switches to power generation mode for drive pattern, filter factor takes b1, then：Car
When speed is higher relatively low with speed, b1 is less, and when speed is moderate, b1 is larger；Moment of torsion from 0 more close to when b1
Less, from 0 more away from when b1 bigger；
If for drive pattern to feedback braking pattern, filter factor takes b2 to current working pattern, then：Car
When speed is higher relatively low with speed, b2 is less, and when speed is moderate, b2 is larger；Moment of torsion from 0 more close to when b2
Less, from 0 more away from when b2 bigger；
If current working pattern switches to zero torque mode for drive pattern, filter factor takes b3, then：
When speed is higher relatively low with speed, b3 is less, and when speed is moderate, b3 is larger；When moment of torsion is bigger, b3 is more
Greatly, moment of torsion more hour b3 is less；
If current working pattern switches to drive pattern for power generation mode, filter factor b4, then：Speed
When higher and speed is relatively low, b4 is less, and when speed is moderate, b4 is larger；Moment of torsion from 0 more close to when b4 more
Little, from 0 more away from when b4 bigger；
If current working pattern switches to zero torque mode for power generation mode, filter factor takes b6, then：
When speed is higher relatively low with speed, b6 is less, and when speed is moderate, b6 is larger；Moment of torsion more hour b6 is more
Greatly, when moment of torsion is bigger, b6 is less；
If current working pattern is zero torque mode switches to drive pattern, filter factor takes b7, then：
When speed is higher relatively low with speed, b7 is less, and when speed is moderate, b7 is larger；When moment of torsion is bigger, b7 is more
Greatly, moment of torsion more hour b7 is less；
If current working pattern is zero torque mode switches to power generation mode, filter factor takes b8, then：
When speed is higher relatively low with speed, b8 is less, and when speed is moderate, b8 is larger；Moment of torsion more hour b8 is more
Greatly, when moment of torsion is bigger, b8 is less；
If current working pattern is zero torque mode switches to feedback braking pattern, filter factor takes b9,
When then speed is higher relatively low with speed, b9 is less, and when speed is moderate, b9 is larger；Moment of torsion gets over hour b9
Larger, when moment of torsion is bigger, b9 is less；
If for feedback braking pattern switching to drive pattern, filter factor takes b10 to current working pattern, then
When speed is higher relatively low with speed, b10 is less, and when speed is moderate, b10 is larger；Moment of torsion from 0 more close to when
B10 is less, from 0 more away from when b10 bigger；
If for feedback braking pattern switching to zero torque mode, filter factor takes b12 to current working pattern,
When then speed is higher relatively low with speed, b12 is less, and when speed is moderate, b12 is larger；Moment of torsion gets over hour b12
Larger, when moment of torsion is bigger, b12 is less.
The span of the less i.e. filter factor of the first motor filter factor can be：0.01-0.05；
The span of the larger i.e. filter factor of filter factor can be：0.05-0.2.
As shown in Figure 2 c, the second motor filter factor is determined according to current second motor working condition pattern
Method and the method phase determining the first motor filter factor according to current first motor working condition pattern
With that is,：
If the current regime mode of the second motor switches to feedback braking pattern, brakes back for power generation mode
Feedback pattern switching is to power generation mode, drive pattern, power generation mode, feedback braking pattern or zero torque mode
When, then according to current vehicle speed value and torque gradient in the second motor speed change in torque prestoring
The filter factor of the second motor under current working pattern is obtained in rate table；
If the current regime mode of the second motor is other pattern, according to current vehicle speed value and moment of torsion
Value looks into that to obtain under current working pattern second in the second motor speed torque meter prestoring electronic
The filter factor of machine.
Set up the process of the second motor speed torque gradient table and the second motor speed torque meter with
Set up the first motor speed torque gradient table and the process of the first motor speed torque meter is identical, and
In table, the corresponding macro-relation of each numerical value is also identical, that is,：
The step setting up the second motor speed torque gradient table includes：
It is in the current regime mode of the second motor and switch to feedback braking pattern, system for power generation mode
Dynamic feedback pattern switching is to power generation mode, drive pattern, power generation mode, feedback braking pattern or zero moment of torsion
During pattern：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the filter of described second motor
The span of wave system number is 0.01-0.05；
When speed is between described High Speed Threshold and low velocity threshold, the filtering of described second motor
The span of coefficient is 0.05-0.2；
When torque gradient is more than torque gradient threshold value, the filter factor of described second motor
Span be 0.05-0.2；
When torque gradient is less than torque gradient threshold value, the filter factor of described second motor
Span be 0.01-0.05.
The step setting up the second motor speed torque meter includes：
It is in drive pattern in the current regime mode of the second motor and switch to power generation mode, drive pattern
Switch to feedback braking pattern, power generation mode switches to drive pattern, feedback braking pattern switching is to driving
During pattern：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the filter of described second motor
The span of wave system number is 0.01-0.05；
When speed is between described High Speed Threshold and low velocity threshold, the filtering of described second motor
The span of coefficient is 0.05-0.2；
When moment of torsion from zero more close to when, the span of the filter factor of described second motor is
0.01-0.05；
When moment of torsion from zero more away from when, the span of the filter factor of described second motor is
0.05-0.2；
It is in drive pattern in the current regime mode of the second motor and switch to zero torque mode, zero moment of torsion
When pattern switching is to drive pattern：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the filter of described second motor
The span of wave system number is 0.01-0.05；
When speed is between described High Speed Threshold and low velocity threshold, the filtering of described second motor
The span of coefficient is 0.05-0.2；
When moment of torsion is less than torque threshold, the span of the filter factor of described second motor is
0.01-0.05；
When moment of torsion is more than torque threshold, the span of the filter factor of described second motor is
0.05-0.2；
It is in power generation mode in the current regime mode of the second motor and switch to zero torque mode, zero moment of torsion
Pattern switching switches to feedback braking pattern, feedback braking pattern switching to power generation mode, zero torque mode
During to zero torque mode：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the filter of described second motor
The span of wave system number is 0.01-0.05；
When speed is between described High Speed Threshold and low velocity threshold, the filtering of described second motor
The span of coefficient is 0.05-0.2；
When moment of torsion is more than torque threshold, the span of the filter factor of described second motor is
0.01-0.05；
When moment of torsion is less than torque threshold, the span of the filter factor of described second motor is
0.05-0.2.
When speed is higher or speed is relatively low, the moment of torsion of electromotor, the first motor and the second motor
Change is all relatively slow, therefore its corresponding filter factor is also less, meanwhile, every threshold of referring in the present embodiment
Value, those skilled in the art can go to select according to practical situation, therefore here is not described in detail.
Step S3：Obtain the higher value in the first motor filter factor and the second motor filter factor,
And this higher value is taken compared with electromotor filter factor smaller value in both, as the filtering of final moment of torsion
Coefficient, this kind of obtaining value method has taken into full account that the torque responsive precision of electromotor is less than the moment of torsion sound of motor
Answer the problem of precision.I.e.：If electromotor filter factor is a, the first motor filter factor is b, the
Two motor filter factors are c, then final moment of torsion filter factor z=Min [a, Max (b, c)].
Electromotor filter factor in the present embodiment, the first motor filter factor, the second motor filtering
Coefficient can be all 0.01-0.2 with the span of final moment of torsion filter factor.
The method that the acquisition that the present embodiment provides is used for the filter factor of hybrid electric vehicle filtering, by obtaining
Electromotor, the first motor and the current regime mode of the second motor, and according to electromotor, the first electricity
Motivation and the second motor current working pattern determine electromotor filter factor, the first motor filter factor
And the second motor filter factor；Obtain the first motor filter factor and the second motor filter factor
In higher value, and this higher value is taken compared with electromotor filter factor the smaller value in both, as
Final moment of torsion filter factor is it is contemplated that the torque responsive precision of electromotor is less than the torque responsive essence of motor
Degree.Using the method obtain for hybrid electric vehicle filtering filter factor, considered electromotor,
First motor and the second motor determine final moment of torsion filtering system after the filter factor under current working
Several filter factors as electromotor, the first motor and the second motor are it is ensured that car load currently exports
Moment of torsion energy is timely, accurately follow operator demand's moment of torsion, and meets hybrid vehicle in different works
Filtering demands to moment of torsion under condition, it is to avoid because the mutation of moment of torsion causes sternly to power assembly part and car load
The impact of weight.
Embodiment 2
The present embodiment provides a kind of moment of torsion filtering method of hybrid electric vehicle, comprises the steps：
First, it is used for the filtering system of hybrid electric vehicle one order inertia filtering using the acquisition described in embodiment 1
The method of number, obtains the final moment of torsion filter factor of hybrid electric vehicle；
Secondly, one order inertia filtering is carried out according to described final moment of torsion filter factor.
As a kind of specific implementation, carry out the step of one order inertia filtering according to final moment of torsion filter factor
In rapid, the Filtering Formula of employing can be：Y (n)=z*x (n)+(1-z) * y (n-1), wherein, y (n)：
Filtered torque value；z:Final moment of torsion filter factor；x(n):Currently practical torque value；y(n-1)：Before
The filtered torque value of one sampling instant.
The moment of torsion filtering method of the hybrid electric vehicle that the present embodiment provides, by obtaining electromotor, the first electricity
Motivation and the current regime mode of the second motor, and electronic according to electromotor, the first motor and second
Machine current working pattern determines electromotor filter factor, the first motor filter factor and the second motor
Filter factor；Obtain the higher value in the first motor filter factor and the second motor filter factor, and
This higher value is taken compared with electromotor filter factor the smaller value in both, filter system as final moment of torsion
Number is it is contemplated that the torque responsive precision of electromotor is less than the torque responsive precision of motor；Finally, according to
Final moment of torsion filter factor carries out one order inertia filtering.Moment of torsion filter is carried out to hybrid electric vehicle using the method
Ripple, has considered electromotor, the first motor and the second motor filter factor under current working
Determine final moment of torsion filter factor as the filtering system of electromotor, the first motor and the second motor afterwards
Number is it is ensured that car load current output torque energy is timely, accurately follow operator demand's moment of torsion, and meets
Hybrid vehicle filtering demands to moment of torsion under different operating modes, it is to avoid because the mutation of moment of torsion is to dynamic
Power assembly part and car load cause serious impact.
Embodiment 3
As shown in figure 3, the present embodiment provides a kind of filter factor obtaining and filtering for hybrid electric vehicle
System, described hybrid electric vehicle includes electromotor, the first motor and the second motor, including：
Obtain engine operating condition mode module 1, the regime mode current for obtaining electromotor.Wherein,
The regime mode of electromotor includes：Drive pattern, zero torque mode and drive pattern and zero torque mode
Between switch mode.
Determine electromotor filter factor module 2, determine for the described regime mode current according to electromotor
Electromotor filter factor.It is specially：If the current regime mode of electromotor is drive pattern and zero moment of torsion mould
During switch mode between formula, then according to current vehicle speed value and torque value in the electromotor speed prestoring
The filter factor of electromotor under current regime mode is obtained in torque meter；If the current operating mode mould of electromotor
When formula is drive pattern or zero torque mode, then prestored according to current vehicle speed value and torque gradient
Electromotor speed torque gradient table in obtain the filter factor of electromotor under current regime mode.
Obtain the first motor working condition mode module 3, the regime mode current for obtaining the first motor.
Wherein, the regime mode of the first motor all includes：Drive pattern, power generation mode, feedback braking pattern,
Switch mode between any both of which, wherein these four patterns in zero torque mode and these four patterns
In switch mode arbitrarily between both of which specifically include：Drive pattern switches to power generation mode, drives mould
Formula switches to feedback braking pattern, drive pattern switches to zero torque mode, power generation mode switches to driving
Pattern, power generation mode switch to feedback braking pattern, power generation mode switches to zero torque mode, zero moment of torsion
Pattern switching is to drive pattern, zero torque mode switches to power generation mode, zero torque mode switches to braking
Feedback pattern, feedback braking pattern switching to drive pattern, feedback braking pattern switching to power generation mode,
Feedback braking pattern switching is to zero torque mode.
Determine the first motor filter factor module 4, for the described operating mode current according to the first motor
Pattern determines the first motor filter factor.It is specially：If the current regime mode of the first motor is to send out
Power mode switches to feedback braking pattern, feedback braking pattern switching to power generation mode, drive pattern, sends out
When power mode, feedback braking pattern or zero torque mode, then existed according to current vehicle speed value and torque gradient
First is obtained under current working pattern electronic in the first motor speed torque gradient table prestoring
The filter factor of machine；If the current regime mode of the first motor is other pattern, according to current vehicle
Fast value and torque value are looked into and are obtained current working pattern in the first motor speed torque meter prestoring
The filter factor of lower first motor.Other regime mode include：Drive pattern switch to power generation mode,
Drive pattern is to feedback braking pattern, drive pattern switches to zero torque mode, power generation mode switches to drive
Dynamic model formula, power generation mode switch to zero torque mode, zero torque mode switches to drive pattern, zero moment of torsion
Pattern switching switches to feedback braking pattern, feedback braking pattern switching to power generation mode, zero torque mode
To drive pattern, feedback braking pattern switching to zero torque mode.
Obtain the second motor working condition mode module 5, the regime mode current for obtaining the second motor.
Wherein, the regime mode of the second motor all includes：Drive pattern, power generation mode, feedback braking pattern,
Switch mode between any both of which, wherein these four patterns in zero torque mode and these four patterns
In switch mode arbitrarily between both of which specifically include：Drive pattern switches to power generation mode, drives mould
Formula switches to feedback braking pattern, drive pattern switches to zero torque mode, power generation mode switches to driving
Pattern, power generation mode switch to feedback braking pattern, power generation mode switches to zero torque mode, zero moment of torsion
Pattern switching is to drive pattern, zero torque mode switches to power generation mode, zero torque mode switches to braking
Feedback pattern, feedback braking pattern switching to drive pattern, feedback braking pattern switching to power generation mode,
Feedback braking pattern switching is to zero torque mode.
Determine the second motor filter factor module 6, for the described operating mode current according to the second motor
Pattern determines the second motor filter factor.It is specially：If the current regime mode of the second motor is to send out
Power mode switches to feedback braking pattern, feedback braking pattern switching to power generation mode, drive pattern, sends out
When power mode, feedback braking pattern or zero torque mode, then existed according to current vehicle speed value and torque gradient
Second is obtained under current working pattern electronic in the second motor speed torque gradient table prestoring
The filter factor of machine；If the current regime mode of the second motor is other pattern, according to current vehicle
Fast value and torque value are looked into and are obtained current working pattern in the second motor speed torque meter prestoring
The filter factor of lower second motor.
Determine final moment of torsion filter factor module 7, for obtaining described first motor filter factor and institute
State the higher value in the second motor filter factor, and by this higher value and described electromotor filter factor phase
The ratio smaller value taking in both, as final moment of torsion filter factor, this kind of obtaining value method has taken into full account
The torque responsive precision of motivation is less than the problem of the torque responsive precision of motor.I.e.：If electromotor filters
Coefficient is a, and the first motor filter factor is b, and the second motor filter factor is c, then finally turn round
Square filter factor z=Min [a, Max (b, c)].
The acquisition that the present embodiment provides is used for the system of the filter factor of hybrid electric vehicle filtering, by obtaining
Electromotor, the first motor and the current regime mode of the second motor, and according to electromotor, the first electricity
Motivation and the second motor current working pattern determine electromotor filter factor, the first motor filter factor
And the second motor filter factor；Obtain the first motor filter factor and the second motor filter factor
In higher value, and this higher value is taken compared with electromotor filter factor the smaller value in both, as
Final moment of torsion filter factor is it is contemplated that the torque responsive precision of electromotor is less than the torque responsive essence of motor
Degree.Using this system obtain for hybrid electric vehicle filtering filter factor, considered electromotor,
First motor and the second motor determine final moment of torsion filtering system after the filter factor under current working
Several filter factors as electromotor, the first motor and the second motor are it is ensured that car load currently exports
Moment of torsion energy is timely, accurately follow operator demand's moment of torsion, and meets hybrid vehicle in different works
Filtering demands to moment of torsion under condition, it is to avoid because the mutation of moment of torsion causes sternly to power assembly part and car load
The impact of weight.
Embodiment 4
The present embodiment provides a kind of moment of torsion filtering system of hybrid electric vehicle, comprises the steps：
Obtain final moment of torsion filter factor module, dynamic for being used for mixing using the acquisition described in embodiment 3
The system of the filter factor of power car one order inertia filtering, obtains the final moment of torsion filtering system of hybrid electric vehicle
Number；
One order inertia filtration module, for carrying out one order inertia filter according to described final moment of torsion filter factor
Ripple.
As a kind of specific implementation, entered according to final moment of torsion filter factor in one order inertia filtration module
Row one order inertia filters, and the Filtering Formula of employing can be：Y (n)=z*x (n)+(1-z) * y (n-1), its
In, y (n)：Filtered torque value；z:Final moment of torsion filter factor；x(n):Currently practical torque value；
y(n-1)：The filtered torque value of previous sampling instant.
The moment of torsion filtering system of the hybrid electric vehicle that the present embodiment provides, by obtaining electromotor, the first electricity
Motivation and the current regime mode of the second motor, and electronic according to electromotor, the first motor and second
Machine current working pattern determines electromotor filter factor, the first motor filter factor and the second motor
Filter factor；Obtain the higher value in the first motor filter factor and the second motor filter factor, and
This higher value is taken compared with electromotor filter factor the smaller value in both, filter system as final moment of torsion
Number is it is contemplated that the torque responsive precision of electromotor is less than the torque responsive precision of motor；Finally, according to
Final moment of torsion filter factor carries out one order inertia filtering.Moment of torsion filter is carried out to hybrid electric vehicle using this system
Ripple, has considered electromotor, the first motor and the second motor filter factor under current working
Determine final moment of torsion filter factor as the filtering system of electromotor, the first motor and the second motor afterwards
Number is it is ensured that car load current output torque energy is timely, accurately follow operator demand's moment of torsion, and meets
Hybrid vehicle filtering demands to moment of torsion under different operating modes, it is to avoid because the mutation of moment of torsion is to dynamic
Power assembly part and car load cause serious impact.
Obviously, above-described embodiment is only intended to clearly illustrate example, and not to embodiment
Restriction.For those of ordinary skill in the field, can also do on the basis of the above description
Go out change or the variation of other multi-forms.There is no need to give thoroughly to all of embodiment
Lift.And the obvious change thus extended out or change still in the invention protection domain
Among.
Claims (12)
1. a kind of method obtaining the filter factor for hybrid electric vehicle filtering, described hybrid electric vehicle bag
Include electromotor, the first motor and the second motor it is characterised in that comprising the steps：
Obtain the current regime mode of electromotor；
Electromotor filter factor is determined according to the described regime mode that electromotor is current；
Obtain the current regime mode of the first motor；
First motor filter factor is determined according to the current described regime mode of the first motor；
Obtain the current regime mode of the second motor；
Second motor filter factor is determined according to the current described regime mode of the second motor；
Obtain the higher value in described first motor filter factor and described second motor filter factor,
And this higher value is taken compared with described electromotor filter factor smaller value in both, as final moment of torsion
Filter factor.
2. method according to claim 1 is it is characterised in that described electromotor filter factor, institute
State the first motor filter factor, described second motor filter factor and described final moment of torsion filter factor
Span be 0.01-0.2.
3. method according to claim 1 and 2 is it is characterised in that the regime mode bag of electromotor
Include：Switch mode between drive pattern, zero torque mode and drive pattern and zero torque mode.
4. method according to claim 3 is it is characterised in that according to the current described work of electromotor
Condition pattern determines that the step of electromotor filter factor is：
If the current regime mode of electromotor is the switch mode between drive pattern and zero torque mode,
Then obtained current in the electromotor speed torque meter prestoring according to current vehicle speed value and torque value
The filter factor of electromotor under regime mode；
If the current regime mode of electromotor is drive pattern or zero torque mode, according to current vehicle speed
Value and torque gradient obtain current operating mode in the electromotor speed torque gradient table prestoring
The filter factor of electromotor under pattern.
5. method according to claim 4 is it is characterised in that set up electromotor speed torque meter
Step includes：
It is in the switch mode between drive pattern and zero torque mode in the current regime mode of electromotor
When：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the filtering system of described electromotor
The span of number is 0.01-0.05；
When speed is between described High Speed Threshold and low velocity threshold, the filter factor of described electromotor
Span be 0.05-0.2；
When moment of torsion is more than torque threshold, the span of the filter factor of described electromotor is
0.05-0.2；
When moment of torsion is less than torque threshold, the span of the filter factor of described electromotor is
0.01-0.05；
The step setting up electromotor speed torque gradient table includes：
When the current regime mode of electromotor is in drive pattern or zero torque mode：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the filtering system of described electromotor
The span of number is 0.01-0.05；
When speed is between described High Speed Threshold and low velocity threshold, the filter factor of described electromotor
Span be 0.05-0.2；
When torque gradient is more than torque gradient threshold value, the taking of the filter factor of described electromotor
Value scope is 0.05-0.2；
When torque gradient is less than torque gradient threshold value, the taking of the filter factor of described electromotor
Value scope is 0.01-0.05.
6. according to the arbitrary described method of claim 1-5 it is characterised in that described first motor
Regime mode includes：Drive pattern, power generation mode, feedback braking pattern, zero torque mode and this four
Switch mode between any both of which in the pattern of kind；
The regime mode of described second motor includes：Drive pattern, power generation mode, feedback braking pattern,
Switch mode between any both of which in zero torque mode and these four patterns.
7. method according to claim 6 is it is characterised in that according to the current institute of the first motor
State regime mode and determine that the step of the first motor filter factor is：
If the current regime mode of the first motor switches to feedback braking pattern, brakes back for power generation mode
Feedback pattern switching is to power generation mode, drive pattern, power generation mode, feedback braking pattern or zero torque mode
When, then according to current vehicle speed value and torque gradient in the first motor speed change in torque prestoring
The filter factor of the first motor under current working pattern is obtained in rate table；
If the current regime mode of the first motor is other pattern, according to current vehicle speed value and moment of torsion
Value looks into that to obtain under current working pattern first in the first motor speed torque meter prestoring electronic
The filter factor of machine.
8. method according to claim 7 is it is characterised in that set up the first motor speed moment of torsion
The step of rate of change table includes：
It is in the current regime mode of the first motor and switch to feedback braking pattern, system for power generation mode
Dynamic feedback pattern switching is to power generation mode, drive pattern, power generation mode, feedback braking pattern or zero moment of torsion
During pattern：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the filter of described first motor
The span of wave system number is 0.01-0.05；
When speed is between described High Speed Threshold and low velocity threshold, the filtering of described first motor
The span of coefficient is 0.05-0.2；
When torque gradient is more than torque gradient threshold value, the filter factor of described first motor
Span be 0.05-0.2；
When torque gradient is less than torque gradient threshold value, the filter factor of described first motor
Span be 0.01-0.05；
The step setting up the first motor speed torque meter includes：
It is in drive pattern in the current regime mode of the first motor and switch to power generation mode, drive pattern
Switch to feedback braking pattern, power generation mode switches to drive pattern, feedback braking pattern switching is to driving
During pattern：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the filter of described first motor
The span of wave system number is 0.01-0.05；
When speed is between described High Speed Threshold and low velocity threshold, the filtering of described first motor
The span of coefficient is 0.05-0.2；
When moment of torsion from zero more close to when, the span of the filter factor of described first motor is
0.01-0.05；
When moment of torsion from zero more away from when, the span of the filter factor of described first motor is
0.05-0.2；
It is in drive pattern in the current regime mode of the first motor and switch to zero torque mode, zero moment of torsion
When pattern switching is to drive pattern：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the filter of described first motor
The span of wave system number is 0.01-0.05；
When speed is between described High Speed Threshold and low velocity threshold, the filtering of described first motor
The span of coefficient is 0.05-0.2；
When moment of torsion is less than torque threshold, the span of the filter factor of described first motor is
0.01-0.05；
When moment of torsion is more than torque threshold, the span of the filter factor of described first motor is
0.05-0.2；
It is in power generation mode in the current regime mode of the first motor and switch to zero torque mode, zero moment of torsion
Pattern switching switches to feedback braking pattern, feedback braking pattern switching to power generation mode, zero torque mode
During to zero torque mode：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the filter of described first motor
The span of wave system number is 0.01-0.05；
When speed is between described High Speed Threshold and low velocity threshold, the filtering of described first motor
The span of coefficient is 0.05-0.2；
When moment of torsion is more than torque threshold, the span of the filter factor of described first motor is
0.01-0.05；
When moment of torsion is less than torque threshold, the span of the filter factor of described first motor is
0.05-0.2.
9. a kind of moment of torsion filtering method of hybrid electric vehicle is it is characterised in that comprise the steps：
It is used for the filter factor of hybrid electric vehicle filtering using the arbitrary described acquisition of claim 1-8
Method, obtains the final moment of torsion filter factor of hybrid electric vehicle；
One order inertia filtering is carried out according to described final moment of torsion filter factor.
10. hybrid electric vehicle according to claim 9 moment of torsion filtering method it is characterised in that
Carry out in the step of one order inertia filtering according to described final moment of torsion filter factor, the Filtering Formula of employing
For：Y (n)=z*x (n)+(1-z) * y (n-1), wherein,
y(n)：Filtered torque value；
z:Final moment of torsion filter factor；
x(n):Currently practical torque value；
y(n-1)：The filtered torque value of previous sampling instant.
A kind of 11. systems obtaining the filter factor for hybrid electric vehicle filtering, described hybrid electric vehicle
Including electromotor, the first motor and the second motor it is characterised in that including：
Obtain engine operating condition mode module (1), the regime mode current for obtaining electromotor；
Determine electromotor filter factor module (2), true for the described regime mode current according to electromotor
Determine electromotor filter factor；
Obtain the first motor working condition mode module (3), the operating mode mould current for obtaining the first motor
Formula；
Determine the first motor filter factor module (4), for the described work current according to the first motor
Condition pattern determines the first motor filter factor；
Obtain the second motor working condition mode module (5), the operating mode mould current for obtaining the second motor
Formula；
Determine the second motor filter factor module (6), for the described work current according to the second motor
Condition pattern determines the second motor filter factor；
Determine final moment of torsion filter factor module (7), for obtain described first motor filter factor and
Higher value in described second motor filter factor, and by this higher value and described electromotor filter factor
Compare the smaller value taking in both, as final moment of torsion filter factor.
A kind of moment of torsion filtering system of 12. hybrid electric vehicles is it is characterised in that comprise the steps：
Obtain final moment of torsion filter factor module, for being used for mixing using the acquisition described in claim 11
Close the system of the filter factor of power car filtering, obtain the final moment of torsion filter factor of hybrid electric vehicle；
One order inertia filtration module, for carrying out one order inertia filter according to described final moment of torsion filter factor
Ripple.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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