CN106427979B - Obtain the method for filter factor and the torque filtering method and system of hybrid electric vehicle - Google Patents
Obtain the method for filter factor and the torque filtering method and system of hybrid electric vehicle Download PDFInfo
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- CN106427979B CN106427979B CN201510471791.0A CN201510471791A CN106427979B CN 106427979 B CN106427979 B CN 106427979B CN 201510471791 A CN201510471791 A CN 201510471791A CN 106427979 B CN106427979 B CN 106427979B
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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
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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
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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
- 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
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- Y02T10/62—Hybrid vehicles
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- Control Of Electric Motors In General (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
The torque filtering method and system of the method and hybrid electric vehicle provided by the invention for obtaining filter factor, by obtaining engine, the first motor and the current regime mode of the second motor, and engine filter factor, the first motor filter factor and the second motor filter factor are determined according to engine, the first motor and the second motor current working pattern；It obtains the higher value in the first motor filter factor and the second motor filter factor, and the higher value is taken compared with engine filter factor to the smaller value in the two, as final torque filter factor；Finally, one order inertia filtering is carried out according to final torque filter factor.Consider engine, the first motor and the second motor and determines final torque filter factor after the filter factor under current working, it ensure that vehicle current output torque can in time, accurately follow operator demand's torque, and meet hybrid vehicle under different operating modes to the filtering demands of torque.
Description
Technical field
The present invention relates to hybrid vehicle control field, specifically a kind of method obtaining filter factor and mixing
The torque filtering method and system of power car.
Background technology
Hybrid vehicle refers to the automobile equipped with more than two power sources on vehicle, such as simultaneously including engine and electronic
Machine.Compared to engine, motor has excellent torque response characteristic, you can to realize to operator demand's torque (i.e. institute
Need vehicle output torque) tracking and response quickly and precisely.
In hybrid vehicle, the regime mode of engine includes：Drive mode and zero torque mode and both moulds
Pattern when mutually switching between formula；The regime mode of motor includes：Drive mode, power generation mode, feedback braking pattern and
Pattern when mutually switching between arbitrary both of which in zero torque mode and these four patterns.Hybrid vehicle is not
With being different to the filtering demands of torque under regime mode, wherein torque is likely to occur unexpected increasing when switching working mode
Greatly, reduce suddenly or situations such as zero crossing；Torque is likely to occur situations such as variation is too fast or excessively slow under same operating mode.For
Different regime modes need to have the respective method for obtaining the filter factor for filtering to ensure that entire vehicle will not be because of torque
Mutation and serious shake occurs, meanwhile, ensure that power assembly component and vehicle will not be due to the mutation of torque by serious
Impact.A kind of obtain can well adapt to that there are different for the method for the filter factor of filtering in the prior art
The hybrid vehicle of regime mode, especially when hybrid vehicle is there are three when power source, acquisition in the prior art is used for
There is no carry out Collaborative Control to three power sources for the method for the filter factor of filtering.
Invention content
For this purpose, the present invention propose it is a kind of obtain filter factor method and hybrid electric vehicle torque filtering method and be
System, adapts to the filtering demands to torque under hybrid vehicle difference operating mode, avoids the mutation of torque.
Technical scheme is as follows：
A method of obtain for hybrid electric vehicle filtering filter factor, the hybrid electric vehicle include engine,
First motor and the second motor, include the following steps：
Obtain the current regime mode of engine；
According to engine, the current regime mode determines engine filter factor；
Obtain the current regime mode of the first motor；
According to the first motor, the current regime mode determines the first motor filter factor；
Obtain the current regime mode of the second motor；
According to the second motor, the current regime mode determines the second motor filter factor；
Obtain the higher value in the first motor filter factor and the second motor filter factor, and should be compared with
Big value takes the smaller value in the two compared with the engine filter factor, as final torque filter factor.
Preferably, the engine filter factor, the first motor filter factor, second motor filtering system
The value range of number and the final torque filter factor is 0.01-0.2.
Preferably, the regime mode of engine includes：Drive mode, zero torque mode and drive mode and zero torque mould
Switch mode between formula.
Preferably, the step of determining engine filter factor according to the current regime mode of engine be：
If when switch mode of the current regime mode of engine between drive mode and zero torque mode, basis is worked as
The filter of engine under preceding vehicle speed value and torque value obtain current regime mode in pre-stored engine speed torque meter
Wave system number；
If the current regime mode of engine is drive mode or zero torque mode, according to current vehicle speed value and torque
The filtering system of engine under change rate obtains current regime mode in pre-stored engine speed torque gradient table
Number.
Preferably, the step of establishing engine speed torque meter include：
When the current regime mode of engine is in the switch mode between drive mode and zero torque mode：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the value range of the filter factor of the engine
For 0.01-0.05；
When speed is between the High Speed Threshold and low velocity threshold, the value range of the filter factor of the engine is
0.05-0.2；
When torque is more than torque threshold, the value range of the filter factor of the engine is 0.05-0.2；
When torque is less than torque threshold, the value range of the filter factor of the engine is 0.01-0.05；
The step of establishing engine speed torque gradient table include：
When the current regime mode of engine is in drive mode or zero torque mode：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the value range of the filter factor of the engine
For 0.01-0.05；
When speed is between the High Speed Threshold and low velocity threshold, the value range of the filter factor of the engine is
0.05-0.2；
When torque gradient is more than torque gradient threshold value, the value range of the filter factor of the engine is
0.05-0.2；
When torque gradient is less than torque gradient threshold value, the value range of the filter factor of the engine is
0.01-0.05。
Preferably, the regime mode of first motor includes：Drive mode, power generation mode, feedback braking pattern, zero
Switch mode in torque mode and these four patterns between arbitrary both of which；The regime mode packet of second motor
It includes：In drive mode, power generation mode, feedback braking pattern, zero torque mode and these four patterns between arbitrary both of which
Switch mode.
Preferably, the step of the first motor filter factor being determined according to the first motor current regime mode
For：
If the current regime mode of the first motor is that power generation mode switches to feedback braking pattern, feedback braking pattern is cut
When shifting to power generation mode, drive mode, power generation mode, feedback braking pattern or zero torque mode, then according to current vehicle speed value and
It is electronic that torque gradient obtains under current working pattern first in pre-stored first motor speed torque gradient table
The filter factor of machine；
If the current regime mode of the first motor is other patterns, looked into pre- according to current vehicle speed value and torque value
The filter factor of the first motor under current working pattern is obtained in the first motor speed torque meter first stored.
Preferably, the step of establishing the first motor speed torque gradient table include：
It is in the current regime mode of the first motor and switches to feedback braking pattern, feedback braking mould for power generation mode
When formula switches to power generation mode, drive mode, power generation mode, feedback braking pattern or zero torque mode：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the value of the filter factor of first motor
Ranging from 0.01-0.05；
When speed is between the High Speed Threshold and low velocity threshold, the value model of the filter factor of first motor
It encloses for 0.05-0.2；
When torque gradient is more than torque gradient threshold value, the value range of the filter factor of first motor is
0.05-0.2；
When torque gradient is less than torque gradient threshold value, the value range of the filter factor of first motor is
0.01-0.05；
The step of establishing the first motor speed torque meter include：
It is in that drive mode switches to power generation mode, drive mode switches to system in the current regime mode of the first motor
When dynamic feedback pattern, power generation mode switch to drive mode, feedback braking pattern switching to drive mode：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the value of the filter factor of first motor
Ranging from 0.01-0.05；
When speed is between the High Speed Threshold and low velocity threshold, the value model of the filter factor of first motor
It encloses for 0.05-0.2；
When torque is closer from zero, the value range of the filter factor of first motor is 0.01-0.05；
When torque is remoter from zero, the value range of the filter factor of first motor is 0.05-0.2；
It is in drive mode in the current regime mode of the first motor and switches to zero torque mode, the switching of zero torque mode
When to drive mode：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the value of the filter factor of first motor
Ranging from 0.01-0.05；
When speed is between the High Speed Threshold and low velocity threshold, the value model of the filter factor of first motor
It encloses for 0.05-0.2；
When torque is less than torque threshold, the value range of the filter factor of first motor is 0.01-0.05；
When torque is more than torque threshold, the value range of the filter factor of first motor is 0.05-0.2；
It is in power generation mode in the current regime mode of the first motor and switches to zero torque mode, the switching of zero torque mode
When switching to feedback braking pattern, feedback braking pattern switching to zero torque mode to power generation mode, zero torque mode：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the value of the filter factor of first motor
Ranging from 0.01-0.05；
When speed is between the High Speed Threshold and low velocity threshold, the value model of the filter factor of first motor
It encloses for 0.05-0.2；
When torque is more than torque threshold, the value range of the filter factor of first motor is 0.01-0.05；
When torque is less than torque threshold, the value range of the filter factor of first motor is 0.05-0.2.
A kind of torque filtering method of hybrid electric vehicle, includes the following steps：
Method using above-mentioned acquisition for the filter factor of hybrid electric vehicle filtering, obtains the final torsion of hybrid electric vehicle
Square filter factor；
One order inertia filtering is carried out according to the final torque filter factor.
Preferably, in the step of carrying out one order inertia filtering according to the final torque filter factor, the filtering of use is public
Formula is：Y (n)=z*x (n)+(1-z) * y (n-1), wherein
y(n)：Filtered torque value；
z:Final torque filter factor；
x(n):Currently practical torque value；
y(n-1)：The previous filtered torque value of sampling instant.
It is a kind of obtain for hybrid electric vehicle filtering filter factor system, the hybrid electric vehicle include engine,
First motor and the second motor, including：
Obtain engine operating condition mode module, the regime mode current for obtaining engine；
Engine filter factor module is determined, for determining that engine filters according to the current regime mode of engine
Coefficient；
The first motor working condition mode module is obtained, for obtaining the current regime mode of the first motor；
The first motor filter factor module is determined, for determining the according to the current regime mode of the first motor
One motor filter factor；
The second motor working condition mode module is obtained, for obtaining the current regime mode of the second motor；
The second motor filter factor module is determined, for determining the according to the current regime mode of the second motor
Two motor filter factors；
Final torque filter factor module is determined, for obtaining the first motor filter factor and described second electronic
Higher value in machine filter factor, and the higher value is taken compared with the engine filter factor to the smaller value in the two, make
For final torque filter factor.
A kind of torque filtering system of hybrid electric vehicle, includes the following steps：
Final torque filter factor module is obtained, the filter factor for being used for hybrid electric vehicle filtering using above-mentioned acquisition
System, obtain the final torque filter factor of hybrid electric vehicle；
One order inertia filter module, for carrying out one order inertia filtering according to the final torque filter factor.
The above technical solution of the present invention has the following advantages over the prior art：
(1) method and system provided by the invention for obtaining the filter factor for hybrid electric vehicle filtering, passes through acquisition
Engine, the first motor and the current regime mode of the second motor, and it is electronic according to engine, the first motor and second
Machine current working pattern determines engine filter factor, the first motor filter factor and the second motor filter factor；It obtains
The higher value in the first motor filter factor and the second motor filter factor is taken, and is by the higher value and engine filtering
Number is compared to the smaller value taken in the two, as final torque filter factor, it is contemplated that the torque responsive precision of engine is less than electricity
The torque responsive precision of motivation.Filter factor for hybrid electric vehicle filtering is obtained using this method and system, is considered
Engine, the first motor and the second motor determine that final torque filter factor is made after the filter factor under current working
For engine, the filter factor of the first motor and the second motor, it ensure that vehicle current output torque can in time, accurately
Follow operator demand's torque, and meet hybrid vehicle under different operating modes to the filtering demands of torque, avoid because
The mutation of torque causes serious impact to power assembly component and vehicle.
(2) the torque filtering method and system of hybrid electric vehicle provided by the invention, by obtaining engine, first electronic
Machine and the current regime mode of the second motor, and according to engine, the first motor and the second motor current working pattern
Determine engine filter factor, the first motor filter factor and the second motor filter factor；Obtain the first electronic machine filter
Higher value in wave system number and the second motor filter factor, and the higher value is taken compared with engine filter factor in the two
Smaller value, as final torque filter factor, it is contemplated that the torque responsive precision of engine be less than motor torque responsive
Precision；Finally, one order inertia filtering is carried out according to final torque filter factor.Using this method and system to hybrid electric vehicle into
Row torque filters, and it is true after the filter factor under current working to have considered engine, the first motor and the second motor
Fixed final torque filter factor ensure that vehicle is current as engine, the filter factor of the first motor and the second motor
Output torque can in time, accurately follow operator demand's torque, and meet hybrid vehicle under different operating modes to turning round
The filtering demands of square, serious impact caused by avoiding the mutation because of torque to power assembly component and vehicle.
Description of the drawings
In order to make the content of the present invention more clearly understood, it below according to specific embodiments of the present invention and combines
Attached drawing, the present invention is described in further detail, wherein
Fig. 1 is a kind of method obtaining the filter factor for hybrid electric vehicle filtering according to an embodiment of the invention
Flow chart；
Fig. 2 a-2c are acquisition engine, the first motor and the filtering of the second motor according to an embodiment of the invention
The method schematic diagram of coefficient；
Fig. 3 is a kind of system obtaining the filter factor for hybrid electric vehicle filtering according to an embodiment of the invention
Structure diagram；
Reference numeral is expressed as in figure：1- obtains engine operating condition mode module, and 2- determines engine filter factor module,
3- obtains the first motor working condition mode module, and 4- determines that the first motor filter factor module, 5- obtain the second motor work
Condition mode module, 6- determine that the second motor filter factor module, 7- determine final torque filter factor module.
Specific implementation mode
Embodiment 1
As shown in Figure 1, this implementation provides a kind of method obtaining the filter factor for hybrid electric vehicle filtering, it is described mixed
It includes engine, the first motor and the second motor to close power car, is included the following steps：
Step S1：Obtain engine, the first motor and the current regime mode of the second motor.
The regime mode of engine includes in step S1：Drive mode, zero torque mode and drive mode and zero torque
Switch mode between pattern；The regime mode of first motor and the second motor includes：Drive mode, power generation mode,
Switch mode in feedback braking pattern, zero torque mode and these four patterns between arbitrary both of which, wherein these four moulds
Switch mode in formula between arbitrary both of which specifically includes：Drive mode switches to power generation mode, drive mode switches to system
Dynamic feedback pattern, drive mode switches to zero torque mode, power generation mode switches to drive mode, power generation mode switches to braking
Feedback pattern, power generation mode switch to zero torque mode, zero torque mode switches to drive mode, zero torque mode switches to hair
Power mode, zero torque mode switch to feedback braking pattern, feedback braking pattern switching to drive mode, feedback braking pattern and cut
Shift to power generation mode, feedback braking pattern switching to zero torque mode.When engine, the first motor and the second motor are not located
When switch mode, then it is known as being in steady state condition pattern.
Step S2：According to the engine obtained in step S1, the first motor and the current regime mode of the second motor,
Determine the filter factor of engine, the first motor and the second motor, i.e.,：Hair is determined according to the current regime mode of engine
Motivation filter factor；The first motor filter factor is determined according to the current regime mode of the first motor；It is electronic according to second
The current regime mode of machine determines the second motor filter factor.
As a kind of specific implementation, determine that above-mentioned engine, the first motor and the second motor filter factor are equal
It can be realized by demarcating table and looking into the table demarcated.
As shown in Figure 2 a, the step of determining engine filter factor according to the current regime mode of engine can be：
If when switch mode of the current regime mode of engine between drive mode and zero torque mode, basis is worked as
The filter of engine under preceding vehicle speed value and torque value obtain current regime mode in pre-stored engine speed torque meter
Wave system number；
If the current regime mode of engine is drive mode or zero torque mode (also referred to as steady state condition pattern),
According to current vehicle speed value and torque gradient current operating mode is obtained in pre-stored engine speed torque gradient table
The filter factor of engine under pattern.
Engine speed torque meter establishes process and can be:In advance drive mode and zero torque mode are in engine
Between switch mode when, demarcate each vehicle speed value and the corresponding filter factor of torque value, establish engine speed torque meter.
For macroscopically, when speed higher (being more than High Speed Threshold) and speed relatively low (being less than low velocity threshold), engine
Filter factor when in above-mentioned operating mode is smaller；When speed moderate (between High Speed Threshold and low velocity threshold), engine
Filter factor when in above-mentioned operating mode is larger；When torque larger (being more than torque threshold), when engine is in above-mentioned operating mode
Filter factor it is larger；When torque smaller (being less than torque threshold), the filter factor that engine is under above-mentioned operating mode is smaller.
The smaller i.e. value range of filter factor of engine filter factor can be：0.01-0.05；The larger i.e. filter factor of filter factor
Value range can be：0.05-0.2.
Engine speed torque gradient table establishes process and can be:In advance drive mode or zero torsion are in engine
When square pattern, each vehicle speed value and the corresponding filter factor of torque gradient are demarcated, establishes engine speed torque gradient table.
For macroscopically, when speed higher (being more than High Speed Threshold) and speed relatively low (being less than low velocity threshold), engine
Filter factor when in above-mentioned operating mode is smaller；When speed moderate (between High Speed Threshold and low velocity threshold), engine
Filter factor when in above-mentioned operating mode is larger；When torque gradient larger (being more than torque gradient threshold value), at engine
Filter factor when above-mentioned operating mode is larger；When torque gradient smaller (being less than torque gradient threshold value), engine is in
Filter factor under above-mentioned operating mode is smaller.The smaller i.e. value range of filter factor of engine filter factor can be：0.01-
0.05；The larger i.e. value range of filter factor of filter factor can be：0.05-0.2.
As shown in Figure 2 b, determine that the process of the first motor filter factor can according to the current regime mode of the first motor
Think：
If the current regime mode of the first motor is that power generation mode switches to feedback braking pattern, feedback braking pattern is cut
When shifting to power generation mode, drive mode, power generation mode, feedback braking pattern or zero torque mode, then according to current vehicle speed value and
It is electronic that torque gradient obtains under current working pattern first in pre-stored first motor speed torque gradient table
The filter factor of machine；
If the current regime mode of the first motor is other patterns, looked into pre- according to current vehicle speed value and torque value
The filter factor of the first motor under current working pattern is obtained in the first motor speed torque meter first stored.Other operating modes
Pattern includes：Drive mode switches to power generation mode, drive mode to feedback braking pattern, drive mode switches to zero torque mould
Formula, power generation mode switch to drive mode, power generation mode switches to zero torque mode, zero torque mode switches to drive mode,
Zero torque mode switches to power generation mode, zero torque mode switches to feedback braking pattern, feedback braking pattern switching to driving
Pattern, feedback braking pattern switching to zero torque mode.
First motor speed torque gradient table establishes process and can be:In advance power generation mould is in the first motor
Formula switches to feedback braking pattern, feedback braking pattern switching to power generation mode, drive mode, power generation mode, feedback braking mould
When formula or zero torque mode, each vehicle speed value and the corresponding filter factor of torque gradient are demarcated, establishes the first motor speed
Torque gradient table.
For macroscopically, speed in the first motor speed torque gradient table, torque gradient and filter factor pair
It should be related to as follows, wherein the higher finger speed of speed is more than High Speed Threshold, and the relatively low finger speed of speed is less than low velocity threshold, and torque becomes
The bigger finger torque gradient of rate is more than torque gradient threshold value, and torque gradient gets over little finger of toe torque gradient and is less than change in torque
Rate threshold value：
If current working pattern be power generation mode switch to feedback braking pattern, filter factor takes b5, then speed it is higher and
When speed is relatively low, b5 is smaller, and b5 is larger when speed is moderate；Torque gradient is bigger, and b5 is bigger, and the smaller b5 of torque gradient is smaller；
If current working pattern be feedback braking pattern switching to power generation mode, filter factor takes b11, then speed it is higher and
When speed is relatively low, b11 is smaller, and b11 is larger when speed is moderate；B11 is bigger when torque gradient is bigger, and torque gradient gets over hour
B11 is smaller；
If current working pattern is drive mode, power generation mode, feedback braking pattern or zero torque mode, filter factor
B13 is taken, then when speed is higher relatively low with speed, b13 is smaller, and b13 is larger when speed is moderate；B13 is more when torque gradient is bigger
Greatly, it is smaller to get over hour b13 for change rate.
The smaller i.e. value range of filter factor of first motor filter factor can be：0.01-0.05；Filter factor compared with
The value range of big i.e. filter factor can be：0.05-0.2.
First motor speed torque meter establishes process and can be:In advance other regime modes are in the first motor
When, each vehicle speed value and the corresponding filter factor of torque value are demarcated, the first motor speed torque meter is established.
For macroscopically, the correspondence of speed, torque and filter factor is in the first motor speed torque meter：
If current working pattern, which is drive mode, switches to power generation mode, filter factor takes b1, then：Speed is higher and speed
When relatively low, b1 is smaller, and b1 is larger when speed is moderate；B1 is smaller when torque is closer from 0, and b1 is bigger when remoter from 0；
If current working pattern be drive mode to feedback braking pattern, filter factor takes b2, then：Speed is higher and speed
When relatively low, b2 is smaller, and b2 is larger when speed is moderate；B2 is smaller when torque is closer from 0, and b2 is bigger when remoter from 0；
If current working pattern, which is drive mode, switches to zero torque mode, filter factor takes b3, then：Speed is higher and vehicle
When speed is relatively low, b3 is smaller, and b3 is larger when speed is moderate；B3 is bigger when torque is bigger, and it is smaller that torque gets over hour b3；
If current working pattern, which is power generation mode, switches to drive mode, filter factor b4, then：Speed is higher and speed compared with
When low, b4 is smaller, and b4 is larger when speed is moderate；B4 is smaller when torque is closer from 0, and b4 is bigger when remoter from 0；
If current working pattern, which is power generation mode, switches to zero torque mode, filter factor takes b6, then：Speed is higher and vehicle
When speed is relatively low, b6 is smaller, and b6 is larger when speed is moderate；Torque more hour b6 is bigger, and b6 is smaller when torque is bigger；
If current working pattern, which is zero torque mode, switches to drive mode, filter factor takes b7, then：Speed is higher and vehicle
When speed is relatively low, b7 is smaller, and b7 is larger when speed is moderate；B7 is bigger when torque is bigger, and it is smaller that torque gets over hour b7；
If current working pattern, which is zero torque mode, switches to power generation mode, filter factor takes b8, then：Speed is higher and vehicle
When speed is relatively low, b8 is smaller, and b8 is larger when speed is moderate；Torque more hour b8 is bigger, and b8 is smaller when torque is bigger；
If current working pattern, which is zero torque mode, switches to feedback braking pattern, filter factor takes b9, then speed is higher
When relatively low with speed, b9 is smaller, and b9 is larger when speed is moderate；Torque gets over that hour b9 is larger, and b9 is smaller when torque is bigger；
If current working pattern be feedback braking pattern switching to drive mode, filter factor takes b10, then speed it is higher and
When speed is relatively low, b10 is smaller, and b10 is larger when speed is moderate；B10 is smaller when torque is closer from 0, and b10 is bigger when remoter from 0；
If current working pattern be feedback braking pattern switching to zero torque mode, filter factor takes b12, then speed is higher
When relatively low with speed, b12 is smaller, and b12 is larger when speed is moderate；Torque gets over that hour b12 is larger, and b12 is smaller when torque is bigger.
The smaller i.e. value range of filter factor of first motor filter factor can be：0.01-0.05；Filter factor compared with
The value range of big i.e. filter factor can be：0.05-0.2.
As shown in Figure 2 c, the method and root of the second motor filter factor are determined according to current second motor working condition pattern
Determine that the method for the first motor filter factor is identical according to current first motor working condition pattern, i.e.,：
If the current regime mode of the second motor is that power generation mode switches to feedback braking pattern, feedback braking pattern is cut
When shifting to power generation mode, drive mode, power generation mode, feedback braking pattern or zero torque mode, then according to current vehicle speed value and
It is electronic that torque gradient obtains under current working pattern second in pre-stored second motor speed torque gradient table
The filter factor of machine；
If the current regime mode of the second motor is other patterns, looked into pre- according to current vehicle speed value and torque value
The filter factor of the second motor under current working pattern is obtained in the second motor speed torque meter first stored.
It establishes the process of the second motor speed torque gradient table and the second motor speed torque meter and establishes first
The process of motor speed torque gradient table and the first motor speed torque meter is identical, and the corresponding macroscopic view of each numerical value in table
Relationship is also identical, i.e.,：
The step of establishing the second motor speed torque gradient table include：
It is in the current regime mode of the second motor and switches to feedback braking pattern, feedback braking mould for power generation mode
When formula switches to power generation mode, drive mode, power generation mode, feedback braking pattern or zero torque mode：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the value of the filter factor of second motor
Ranging from 0.01-0.05；
When speed is between the High Speed Threshold and low velocity threshold, the value model of the filter factor of second motor
It encloses for 0.05-0.2；
When torque gradient is more than torque gradient threshold value, the value range of the filter factor of second motor is
0.05-0.2；
When torque gradient is less than torque gradient threshold value, the value range of the filter factor of second motor is
0.01-0.05。
The step of establishing the second motor speed torque meter include：
It is in that drive mode switches to power generation mode, drive mode switches to system in the current regime mode of the second motor
When dynamic feedback pattern, power generation mode switch to drive mode, feedback braking pattern switching to drive mode：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the value of the filter factor of second motor
Ranging from 0.01-0.05；
When speed is between the High Speed Threshold and low velocity threshold, the value model of the filter factor of second motor
It encloses for 0.05-0.2；
When torque is closer from zero, the value range of the filter factor of second motor is 0.01-0.05；
When torque is remoter from zero, the value range of the filter factor of second motor is 0.05-0.2；
It is in drive mode in the current regime mode of the second motor and switches to zero torque mode, the switching of zero torque mode
When to drive mode：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the value of the filter factor of second motor
Ranging from 0.01-0.05；
When speed is between the High Speed Threshold and low velocity threshold, the value model of the filter factor of second motor
It encloses for 0.05-0.2；
When torque is less than torque threshold, the value range of the filter factor of second motor is 0.01-0.05；
When torque is more than torque threshold, the value range of the filter factor of second motor is 0.05-0.2；
It is in power generation mode in the current regime mode of the second motor and switches to zero torque mode, the switching of zero torque mode
When switching to feedback braking pattern, feedback braking pattern switching to zero torque mode to power generation mode, zero torque mode：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the value of the filter factor of second motor
Ranging from 0.01-0.05；
When speed is between the High Speed Threshold and low velocity threshold, the value model of the filter factor of second motor
It encloses for 0.05-0.2；
When torque is more than torque threshold, the value range of the filter factor of second motor is 0.01-0.05；
When torque is less than torque threshold, the value range of the filter factor of second motor is 0.05-0.2.
When speed is higher or speed is relatively low, the change in torque of engine, the first motor and the second motor compared with
Slowly, therefore its corresponding filter factor is also smaller, meanwhile, the every threshold value referred in the present embodiment, those skilled in the art can be with
It goes to select according to actual conditions, therefore is not described in detail herein.
Step S3：Obtain the higher value in the first motor filter factor and the second motor filter factor, and should be compared with
Big value takes the smaller value in the two compared with engine filter factor, and as final torque filter factor, this kind of obtaining value method fills
The problem of dividing the torque responsive precision for considering engine to be less than the torque responsive precision of motor.I.e.：If engine filtering system
Number is a, and the first motor filter factor is b, and the second motor filter factor is c, then final torque filter factor z=Min [a,
Max(b,c)]。
Engine filter factor, the first motor filter factor, the second motor filter factor in the present embodiment with most
The value range of whole torque filter factor all can be 0.01-0.2.
It is provided in this embodiment obtain for hybrid electric vehicle filtering filter factor method, by obtain engine,
First motor and the current regime mode of the second motor, and it is current according to engine, the first motor and the second motor
Regime mode determines engine filter factor, the first motor filter factor and the second motor filter factor；Obtain first
Higher value in motor filter factor and the second motor filter factor, and by the higher value compared with engine filter factor
The smaller value in the two is taken, as final torque filter factor, it is contemplated that the torque responsive precision of engine is less than motor
Torque responsive precision.Filter factor for hybrid electric vehicle filtering is obtained using this method, has considered engine, first
Motor and the second motor determine final torque filter factor as engine, first after the filter factor under current working
The filter factor of motor and the second motor ensure that vehicle current output torque can in time, accurately follow driver to need
Torque is sought, and meets hybrid vehicle under different operating modes to the filtering demands of torque, avoids the mutation pair because of torque
Power assembly component and vehicle cause serious impact.
Embodiment 2
The present embodiment provides a kind of torque filtering methods of hybrid electric vehicle, include the following steps：
First, the method using acquisition described in embodiment 1 for the filter factor of hybrid electric vehicle one order inertia filtering,
Obtain the final torque filter factor of hybrid electric vehicle；
Secondly, one order inertia filtering is carried out according to the final torque filter factor.
It is adopted in the step of the progress one order inertia filtering of final torque filter factor as a kind of specific implementation
Filtering Formula can be：Y (n)=z*x (n)+(1-z) * y (n-1), wherein y (n)：Filtered torque value；z:Finally
Torque filter factor；x(n):Currently practical torque value；y(n-1)：The previous filtered torque value of sampling instant.
The torque filtering method of hybrid electric vehicle provided in this embodiment, by obtaining engine, the first motor and the
The current regime mode of two motor, and determined and sent out according to engine, the first motor and the second motor current working pattern
Motivation filter factor, the first motor filter factor and the second motor filter factor；Obtain the first motor filter factor
With the higher value in the second motor filter factor, and the higher value taken compared with engine filter factor smaller in the two
Value, as final torque filter factor, it is contemplated that the torque responsive precision of engine is less than the torque responsive precision of motor；Most
Afterwards, one order inertia filtering is carried out according to final torque filter factor.Torque filtering is carried out to hybrid electric vehicle using this method, it is comprehensive
Conjunction considers engine, the first motor and the second motor and determines final torque filtering after the filter factor under current working
Coefficient as engine, the filter factor of the first motor and the second motor, ensure that vehicle current output torque can in time,
Operator demand's torque accurately is followed, and meets hybrid vehicle under different operating modes to the filtering demands of torque, is kept away
Serious impact caused by having exempted from the mutation because of torque to power assembly component and vehicle.
Embodiment 3
As shown in figure 3, the present embodiment provides a kind of system obtaining the filter factor for hybrid electric vehicle filtering, it is described
Hybrid electric vehicle includes engine, the first motor and the second motor, including：
Obtain engine operating condition mode module 1, the regime mode current for obtaining engine.Wherein, the work of engine
Condition pattern includes：Switch mode between drive mode, zero torque mode and drive mode and zero torque mode.
Engine filter factor module 2 is determined, for starting machine filter according to the current regime mode determination of engine
Wave system number.Specially：If when switch mode of the current regime mode of engine between drive mode and zero torque mode,
It obtains starting under current regime mode in pre-stored engine speed torque meter according to current vehicle speed value and torque value
The filter factor of machine；If the current regime mode of engine is drive mode or zero torque mode, according to current vehicle speed value
Engine under current regime mode is obtained in pre-stored engine speed torque gradient table with torque gradient
Filter factor.
The first motor working condition mode module 3 is obtained, for obtaining the current regime mode of the first motor.Wherein,
The regime mode of one motor includes：Drive mode, power generation mode, feedback braking pattern, zero torque mode and these four
Switch mode in pattern between arbitrary both of which, the switch mode wherein in these four patterns between arbitrary both of which specifically wrap
It includes：Drive mode switches to power generation mode, drive mode switches to feedback braking pattern, drive mode switches to zero torque mould
Formula, power generation mode switch to drive mode, power generation mode switches to feedback braking pattern, power generation mode switches to zero torque mould
Formula, zero torque mode switch to drive mode, zero torque mode switches to power generation mode, zero torque mode switches to feedback braking
Pattern, feedback braking pattern switching to drive mode, feedback braking pattern switching to power generation mode, feedback braking pattern switching are extremely
Zero torque mode.
The first motor filter factor module 4 is determined, for being determined according to the current regime mode of the first motor
First motor filter factor.Specially：If the current regime mode of the first motor, which is power generation mode, switches to feedback braking
When pattern, feedback braking pattern switching to power generation mode, drive mode, power generation mode, feedback braking pattern or zero torque mode,
Then obtained in pre-stored first motor speed torque gradient table currently according to current vehicle speed value and torque gradient
The filter factor of first motor under regime mode；If the current regime mode of the first motor is other patterns, basis
Current vehicle speed value and torque value, which are looked into pre-stored first motor speed torque meter, to be obtained first under current working pattern
The filter factor of motor.Other regime modes include：Drive mode switches to power generation mode, drive mode to feedback braking mould
Formula, drive mode switch to zero torque mode, power generation mode switches to drive mode, power generation mode switches to zero torque mode,
Zero torque mode switches to drive mode, zero torque mode switches to power generation mode, zero torque mode switches to feedback braking mould
Formula, feedback braking pattern switching to drive mode, feedback braking pattern switching to zero torque mode.
The second motor working condition mode module 5 is obtained, for obtaining the current regime mode of the second motor.Wherein,
The regime mode of two motor includes：Drive mode, power generation mode, feedback braking pattern, zero torque mode and these four
Switch mode in pattern between arbitrary both of which, the switch mode wherein in these four patterns between arbitrary both of which specifically wrap
It includes：Drive mode switches to power generation mode, drive mode switches to feedback braking pattern, drive mode switches to zero torque mould
Formula, power generation mode switch to drive mode, power generation mode switches to feedback braking pattern, power generation mode switches to zero torque mould
Formula, zero torque mode switch to drive mode, zero torque mode switches to power generation mode, zero torque mode switches to feedback braking
Pattern, feedback braking pattern switching to drive mode, feedback braking pattern switching to power generation mode, feedback braking pattern switching are extremely
Zero torque mode.
The second motor filter factor module 6 is determined, for being determined according to the current regime mode of the second motor
Second motor filter factor.Specially：If the current regime mode of the second motor, which is power generation mode, switches to feedback braking
When pattern, feedback braking pattern switching to power generation mode, drive mode, power generation mode, feedback braking pattern or zero torque mode,
Then obtained in pre-stored second motor speed torque gradient table currently according to current vehicle speed value and torque gradient
The filter factor of second motor under regime mode；If the current regime mode of the second motor is other patterns, basis
Current vehicle speed value and torque value, which are looked into pre-stored second motor speed torque meter, to be obtained second under current working pattern
The filter factor of motor.
Final torque filter factor module 7 is determined, for obtaining the first motor filter factor and second electricity
Higher value in motivation filter factor, and the higher value is taken compared with the engine filter factor to the smaller value in the two,
As final torque filter factor, this kind of obtaining value method has fully considered that the torque responsive precision of engine is less than the torsion of motor
The problem of square response accuracy.I.e.：If engine filter factor is a, the first motor filter factor is b, the filtering of the second motor
Coefficient is c, then final torque filter factor z=Min [a, Max (b, c)].
It is provided in this embodiment obtain for hybrid electric vehicle filtering filter factor system, by obtain engine,
First motor and the current regime mode of the second motor, and it is current according to engine, the first motor and the second motor
Regime mode determines engine filter factor, the first motor filter factor and the second motor filter factor；Obtain first
Higher value in motor filter factor and the second motor filter factor, and by the higher value compared with engine filter factor
The smaller value in the two is taken, as final torque filter factor, it is contemplated that the torque responsive precision of engine is less than motor
Torque responsive precision.Filter factor for hybrid electric vehicle filtering is obtained using the system, has considered engine, first
Motor and the second motor determine final torque filter factor as engine, first after the filter factor under current working
The filter factor of motor and the second motor ensure that vehicle current output torque can in time, accurately follow driver to need
Torque is sought, and meets hybrid vehicle under different operating modes to the filtering demands of torque, avoids the mutation pair because of torque
Power assembly component and vehicle cause serious impact.
Embodiment 4
The present embodiment provides a kind of torque filtering systems of hybrid electric vehicle, include the following steps：
Final torque filter factor module is obtained, for being used for hybrid electric vehicle single order using described in embodiment 3 obtain
The system of the filter factor of digital filter obtains the final torque filter factor of hybrid electric vehicle；
One order inertia filter module, for carrying out one order inertia filtering according to the final torque filter factor.
Single order is carried out as a kind of specific implementation, in one order inertia filter module according to final torque filter factor to be used to
Property filtering, the Filtering Formula used can be for：Y (n)=z*x (n)+(1-z) * y (n-1), wherein y (n)：Filtered torque
Value；z:Final torque filter factor；x(n):Currently practical torque value；y(n-1)：The previous filtered torque value of sampling instant.
The torque filtering system of hybrid electric vehicle provided in this embodiment, by obtaining engine, the first motor and the
The current regime mode of two motor, and determined and sent out according to engine, the first motor and the second motor current working pattern
Motivation filter factor, the first motor filter factor and the second motor filter factor；Obtain the first motor filter factor
With the higher value in the second motor filter factor, and the higher value taken compared with engine filter factor smaller in the two
Value, as final torque filter factor, it is contemplated that the torque responsive precision of engine is less than the torque responsive precision of motor；Most
Afterwards, one order inertia filtering is carried out according to final torque filter factor.Torque filtering is carried out to hybrid electric vehicle using the system, it is comprehensive
Conjunction considers engine, the first motor and the second motor and determines final torque filtering after the filter factor under current working
Coefficient as engine, the filter factor of the first motor and the second motor, ensure that vehicle current output torque can in time,
Operator demand's torque accurately is followed, and meets hybrid vehicle under different operating modes to the filtering demands of torque, is kept away
Serious impact caused by having exempted from the mutation because of torque to power assembly component and vehicle.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes still within the protection scope of the invention.
Claims (12)
1. a kind of method obtaining the filter factor for hybrid electric vehicle filtering, the hybrid electric vehicle include engine, the
One motor and the second motor, which is characterized in that include the following steps：
Obtain the current regime mode of engine；
According to engine, the current regime mode determines engine filter factor；
Obtain the current regime mode of the first motor；
According to the first motor, the current regime mode determines the first motor filter factor；
Obtain the current regime mode of the second motor；
According to the second motor, the current regime mode determines the second motor filter factor；
Obtain the higher value in the first motor filter factor and the second motor filter factor, and by the higher value
The smaller value in the two is taken compared with the engine filter factor, as final torque filter factor.
2. according to the method described in claim 1, it is characterized in that, the engine filter factor, the first electronic machine filter
The value range of wave system number, the second motor filter factor and the final torque filter factor is 0.01-0.2.
3. method according to claim 1 or 2, which is characterized in that the regime mode of engine includes：Drive mode, zero
Switch mode between torque mode and drive mode and zero torque mode.
4. according to the method described in claim 3, it is characterized in that, being started according to the current regime mode determination of engine
The step of machine filter factor is：
If when switch mode of the current regime mode of engine between drive mode and zero torque mode, according to current vehicle
Fast value and torque value obtain the filtering system of engine under current regime mode in pre-stored engine speed torque meter
Number；
If the current regime mode of engine is drive mode or zero torque mode, according to current vehicle speed value and change in torque
The filter factor of engine under rate obtains current regime mode in pre-stored engine speed torque gradient table.
5. according to the method described in claim 4, it is characterized in that, the step of establishing engine speed torque meter includes：
When the current regime mode of engine is in the switch mode between drive mode and zero torque mode：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the value range of the filter factor of the engine is
0.01-0.05；
When speed is between the High Speed Threshold and low velocity threshold, the value range of the filter factor of the engine is
0.05-0.2；
When torque is more than torque threshold, the value range of the filter factor of the engine is 0.05-0.2；
When torque is less than torque threshold, the value range of the filter factor of the engine is 0.01-0.05；
The step of establishing engine speed torque gradient table include：
When the current regime mode of engine is in drive mode or zero torque mode：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the value range of the filter factor of the engine is
0.01-0.05；
When speed is between the High Speed Threshold and low velocity threshold, the value range of the filter factor of the engine is
0.05-0.2；
When torque gradient is more than torque gradient threshold value, the value range of the filter factor of the engine is 0.05-
0.2；
When torque gradient is less than torque gradient threshold value, the value range of the filter factor of the engine is 0.01-
0.05。
6. according to the method described in claim 1, it is characterized in that, the regime mode of first motor includes：Drive mould
Switch mode in formula, power generation mode, feedback braking pattern, zero torque mode and these four patterns between arbitrary both of which；
The regime mode of second motor includes：Drive mode, power generation mode, feedback braking pattern, zero torque mode with
And the switch mode in these four patterns between arbitrary both of which.
7. according to the method described in claim 6, it is characterized in that, being determined according to the current regime mode of the first motor
The step of first motor filter factor is：
If the current regime mode of the first motor, which is power generation mode, switches to feedback braking pattern, feedback braking pattern switching extremely
When power generation mode, drive mode, power generation mode, feedback braking pattern or zero torque mode, then according to current vehicle speed value and torque
Change rate obtains the first motor under current working pattern in pre-stored first motor speed torque gradient table
Filter factor；
If the current regime mode of the first motor is other patterns, is looked into according to current vehicle speed value and torque value and deposited in advance
The filter factor of the first motor under current working pattern is obtained in first motor speed torque meter of storage.
8. the method according to the description of claim 7 is characterized in that the step of establishing the first motor speed torque gradient table
Including：
It is in the current regime mode of the first motor as power generation mode switches to feedback braking pattern, feedback braking pattern is cut
When shifting to power generation mode, drive mode, power generation mode, feedback braking pattern or zero torque mode：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the value range of the filter factor of first motor
For 0.01-0.05；
When speed is between the High Speed Threshold and low velocity threshold, the value range of the filter factor of first motor is
0.05-0.2；
When torque gradient is more than torque gradient threshold value, the value range of the filter factor of first motor is
0.05-0.2；
When torque gradient is less than torque gradient threshold value, the value range of the filter factor of first motor is
0.01-0.05；
The step of establishing the first motor speed torque meter include：
It is in that drive mode switches to power generation mode, drive mode is switched to and braked back in the current regime mode of the first motor
When feedback pattern, power generation mode switch to drive mode, feedback braking pattern switching to drive mode：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the value range of the filter factor of first motor
For 0.01-0.05；
When speed is between the High Speed Threshold and low velocity threshold, the value range of the filter factor of first motor is
0.05-0.2；
When torque is closer from zero, the value range of the filter factor of first motor is 0.01-0.05；
When torque is remoter from zero, the value range of the filter factor of first motor is 0.05-0.2；
It is in that drive mode switches to zero torque mode, zero torque mode switches to drive in the current regime mode of the first motor
When dynamic model formula：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the value range of the filter factor of first motor
For 0.01-0.05；
When speed is between the High Speed Threshold and low velocity threshold, the value range of the filter factor of first motor is
0.05-0.2；
When torque is less than torque threshold, the value range of the filter factor of first motor is 0.01-0.05；
When torque is more than torque threshold, the value range of the filter factor of first motor is 0.05-0.2；
It is in that power generation mode switches to zero torque mode, zero torque mode switches to hair in the current regime mode of the first motor
When power mode, zero torque mode switch to feedback braking pattern, feedback braking pattern switching to zero torque mode：
When speed is more than High Speed Threshold or speed is less than low velocity threshold, the value range of the filter factor of first motor
For 0.01-0.05；
When speed is between the High Speed Threshold and low velocity threshold, the value range of the filter factor of first motor is
0.05-0.2；
When torque is more than torque threshold, the value range of the filter factor of first motor is 0.01-0.05；
When torque is less than torque threshold, the value range of the filter factor of first motor is 0.05-0.2.
9. a kind of torque filtering method of hybrid electric vehicle, which is characterized in that include the following steps：
The method of filter factor using any acquisitions of claim 1-8 for hybrid electric vehicle filtering, obtains mixing
The final torque filter factor of power car；
One order inertia filtering is carried out according to the final torque filter factor.
10. the torque filtering method of hybrid electric vehicle according to claim 9, which is characterized in that according to the final torsion
Square filter factor carried out in the step of one order inertia filtering, the Filtering Formula that uses for：Y (n)=z*x (n)+(1-z) * y (n-
1), wherein
y(n)：Filtered torque value；
z:Final torque filter factor；
x(n):Currently practical torque value；
y(n-1)：The previous filtered torque value of sampling instant.
11. a kind of system obtaining the filter factor for hybrid electric vehicle filtering, the hybrid electric vehicle include engine, the
One motor and the second motor, which is characterized in that including：
Obtain engine operating condition mode module (1), the regime mode current for obtaining engine；
Engine filter factor module (2) is determined, for determining that engine filters according to the current regime mode of engine
Coefficient；
The first motor working condition mode module (3) is obtained, for obtaining the current regime mode of the first motor；
The first motor filter factor module (4) is determined, for determining the according to the current regime mode of the first motor
One motor filter factor；
The second motor working condition mode module (5) is obtained, for obtaining the current regime mode of the second motor；
The second motor filter factor module (6) is determined, for determining the according to the current regime mode of the second motor
Two motor filter factors；
Final torque filter factor module (7) is determined, for obtaining the first motor filter factor and described second electronic
Higher value in machine filter factor, and the higher value is taken compared with the engine filter factor to the smaller value in the two, make
For final torque filter factor.
12. a kind of torque filtering system of hybrid electric vehicle, which is characterized in that include the following steps：
Final torque filter factor module is obtained, for what is filtered for hybrid electric vehicle using the acquisition described in claim 11
The system of filter factor obtains the final torque filter factor of hybrid electric vehicle；
One order inertia filter module, for carrying out one order inertia filtering according to the final torque filter factor.
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| CN103587431A (en) * | 2012-08-15 | 2014-02-19 | 北汽福田汽车股份有限公司 | Torque filtering control method for electric automobile |
| CN104627022A (en) * | 2013-11-07 | 2015-05-20 | 北汽福田汽车股份有限公司 | Control method for torque filtering of electric automobile |
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| CN110126829A (en) * | 2019-03-29 | 2019-08-16 | 北京车和家信息技术有限公司 | Torque filter factor determines method, car-mounted terminal and vehicle |
| CN110126829B (en) * | 2019-03-29 | 2021-11-26 | 北京车和家信息技术有限公司 | Torque filter coefficient determining method, vehicle-mounted terminal and vehicle |
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