CN106427988A - Start coordinative control method of double-planet-row hybrid electric vehicle - Google Patents

Abstract

The invention provides a start coordinative control method of a double-planet-row hybrid electric vehicle. The method includes the steps of obtaining wheel rim expected torque according to vehicle information, then judging whether a start request exists or not, if yes, judging whether a whole vehicle controller sends out an oil spraying instruction or not according to the expected engine oil spraying rotating speed obtained through the engine cooling water temperature, obtaining the expected engine torque according to the vehicle speed and the accelerator pedal opening degree, inputting the expected engine torque to an engine controller to be executed, obtaining the final expected engine angular acceleration through processing according to the vehicle information, obtaining the limited wheel rim expected torque according to the obtained information and data, and processing the limited wheel rim expected torque, the final expected engine angular acceleration and the vehicle information to obtain large/small motor expected torque, inputting the large/small motor expected torque to the motor controller to be executed, and repeatedly executing the steps till the vehicle is started. The control method is simple and high in practicability and can relieve the starting impact problem.

Description

Double planet wheel rows of mixing hybrid vehicle starts control method for coordinating

Technical field

The present invention relates to a kind of automobile start control method for coordinating, rise particularly to a kind of double planet wheel rows of mixing hybrid vehicle Dynamic control method for coordinating.

Background technology

Double planet wheel rows of mixing hybrid power gearbox is used (to apply for patent of invention on hybrid vehicle in the present invention (patent name is double planet wheel rows of mixing four axle hybrid transmissions, Patent No. 200910194470.5), its critical piece bag Include：Engine, torsional vibration damper, small machine, big motor, double planet wheel rows of mixing, the first brake, second brake, power train and Car load.Engine is connected with the planet carrier of double planet wheel rows of mixing through torsional vibration damper, the small sun gear in double planet wheel rows of mixing and small machine phase Even, big sun gear is connected with big motor, and the first brake is connected with planet carrier, and second brake is connected with small motor rotor, double The gear ring of planet row is connected with power train and car load.

Engine starting modes are the mistakes of linking double planet wheel rows of mixing hybrid vehicle electric-only mode and hybrid mode Cross pattern.Because engine is directly connected with gearbox, power train through torsion vibration absorber, starting-impact is the weight of this systems face Big challenge.This starting-impact is mainly derived from two aspects：In engine startup (before non-oil spout igniting), because pump gas are damaged Lose the low-speed pulse drag torque causing and will be transferred directly to car load, when the frequency of pulsating torque is intrinsic close to torsion vibration absorber During frequency, car load impact aggravation；In engine startup during first oil jetting combustion, due to air input of engine by air and distributive value still It is in the opened loop control stage, the outburst torque of generation has uncertainty, torque disturbance is produced to power train, cause car load to reverse Vibration.

The hybrid vehicle of Toyota Company passes through the motor of integrated form and engine controller gathers motor angle simultaneously Signal and engine tope center signal carry out the calculating of engine crank angle, pulsation resistance in starting process for the estimating engine Power torque is simultaneously compensated (referring to document using small machine torque《Development of Vibration Reduction Motor Control for Series-Parallel Hybrid System》).The hybrid power system of Toyota Company is single Motor participates in the input power shunting system of speed governing, and starting control only relies on small machine and can achieve to engine pulse resistance The observation of torque and compensation are it is impossible to be applied to the hybrid power shunting system that bi-motor participates in speed governing.Toyota's starting control needs Standalone sensor monitor engines in real time top dead centre signal is installed, hardware cost is high, it is complicated to control.

The hybrid vehicle of General Corporation using the method similar with Toyota Company, but because reasons in structure uses pair By bypass mechanism, engine crankshaft and gearbox are directly rigidly connected (referring to document in motor compensating, and compensation process 《Engine automatic start–stop dynamic analysis and vibration reduction for a two-mode hybrid vehicle》).The bimodulus hybrid power system of General Corporation participates in the compound work(of speed governing for bi-motor Rate shunting system (similar with the hybrid power system of the present invention), starting control relies on bi-motor to realize engine pulse is hindered The observation of power torque and compensation, and implement during compensated torque, engine and planet row to be rigidly connected.The mixing of General Corporation Power vehicle also uses band other in starting control in addition to needing to install standalone sensor monitor engines in real time top dead centre signal The torsion vibration absorber that road connects, hardware cost is high, it is complicated to control.

The hybrid power system of Toyota Company and General Corporation all using Special hybrid power engine, in starting process By controlling valve, cylinder is connected with atmospheric environment, greatly reduce the low-speed pulse drag torque in starting process.But it is rich The startup control method for coordinating of the hybrid power system of Tian company and General Corporation is not suitable for the double planet wheel rows of mixing mixing of the present invention How power vehicle, make double planet wheel rows of mixing hybrid vehicle start more and coordinate steadily, be when the previous class be badly in need of and solving Topic.

Content of the invention

The present invention is intended to provide one kind is directed to output shaft of gear-box rotating speed being controlled, by Proper Match engine Oil spout instruction, the expectation torque of restriction wheel side, realize effective to starting-impact on the basis of not increasing any additional hardware cost The double planet wheel rows of mixing hybrid vehicle of suppression starts control method for coordinating.

The present invention is realized by below scheme：

A kind of double planet wheel rows of mixing hybrid vehicle starts control method for coordinating, carries out according to the following steps：

I wheel is expected when demand torque calculation submodule is calculated wheel according to current speed and gas pedal aperture to turn Square；Start Necd decision submodule to be obtained according to current electrokinetic cell electricity, engine coolant temperature and the expectation torque of wheel side Starting demand, if starting demand is yes, carries out step II and step III, and otherwise vehicle maintains electric-only mode to run；

The II current filtered device of actual engine speed obtains filtering rear engine rotating speed it is desirable to engine sprays after processing Oily rotating speed table look-up submodule according to current engine coolant temperature look into engine coolant temperature with expectation engine oil spout rotating speed Corresponding table obtain expect engine oil spout rotating speed, if filtering rear engine rotating speed be more than expectation engine oil spout rotating speed, whole Vehicle controller sends engine oil spout and instructs to engine controller execution, and otherwise entire car controller sends engine not oil spout and refers to Make to engine controller execution；Desired engine speed/torque submodule of tabling look-up is opened according to current speed and gas pedal Degree is looked into speed and gas pedal aperture and is respectively obtained expectation with the corresponding table of desired engine speed and expectation motor torque Motivation rotating speed and expectation motor torque simultaneously will expects that motor torque inputs engine controller and executes it is desirable to engine speed Obtain the first expectation engine with the difference of filtering rear engine rotating speed after PI controller (i.e. pi controller) process Angular acceleration；Expect that engine acceleration submodule of tabling look-up looks into engine coolant temperature according to current engine coolant temperature Obtain the second expectation engine acceleration with the corresponding table of the second expectation engine acceleration；Switching switch submodule according to The size of filtering rear engine rotating speed is entered between the first expectation engine acceleration and the second expectation engine acceleration Engine acceleration is finally expected in row switching；Wheel side torque limit submodule is according to the current actual work(of electrokinetic cell Rate, electrokinetic cell maximum allowable power, the torque allowable of big motor, small machine torque allowable, big motor actual speed, small machine are real The wheel side expectation torque calculation obtaining in border rotating speed, engine actual torque, final expectation engine acceleration and step I obtains Wheel side expectation torque to after limit；

III driving torque calculating sub module calculates respectively according to the wheel side expectation torque after the restriction obtaining in step II To big Motor drive torque and small machine driving torque；Starting torque calculating sub module is according to the final expectation obtaining in step II Engine acceleration is calculated caused by big motor starting up torque and small machine starting torque respectively；Planet carrier torque estimation submodule Gone according to current big motor actual speed, big actual motor torque, small machine actual speed and small machine actual torque Carrier Assumption torque, correction factor submodule of tabling look-up looks into actual engine speed and correction according to current actual engine speed The corresponding table of coefficient obtains correction factor, and correction factor is obtained revised planet carrier and estimates after being multiplied with planet carrier Assumption torque Torque；Output end rotating speed calculating sub module is calculated output end rotating speed according to current motor actual speed, and output end is turned Speed obtains desired output end compensating with the difference of output end reference rotation velocity after PD control device (i.e. proportional plus derivative controller) process Torque；Damping torque calculating sub module calculates respectively according to desired output end compensating torque and revised planet carrier Assumption torque Obtain big motor compensating torque and small machine compensates torque；Big Motor drive torque, caused by big motor starting up torque and big motor compensating Torque obtains big motor expectation torque after adding up, small machine driving torque, small machine starting torque and small machine compensate torque and tire out Plus after obtain small machine expectation torque, by big motor expect torque and small machine expectation torque input electric machine controller execution；

IV circulation step I is to step III until automobile start completes.

During actually used, it is desirable to engine oil spout rotating speed is tabled look-up, submodule, desired engine speed/torque are tabled look-up son Module, expectation engine acceleration table look-up submodule and correction factor is tabled look-up, and submodule is all to be tabled look-up by interpolated value external boundary Method is tabled look-up.Engine coolant temperature is sent out with expectation with the corresponding table expecting engine oil spout rotating speed, speed and gas pedal aperture The corresponding table of motivation rotating speed and expectation motor torque, engine coolant temperature are corresponding with the second expectation engine acceleration Table and actual engine speed can be obtained by test data with the corresponding table of correction factor, and its acquisition methods is also simpler Single.

Engine coolant temperature is generally with the acquisition methods of the corresponding table of expectation engine oil spout rotating speed：Start in difference Under machine coolant water temperature, when concern starts, gear ring rate of angular acceleration value and corresponding engine oil spout rotating speed, take gear ring angle to add Engine oil spout rotating speed corresponding to percentage speed variation minimum of a value is as the expectation engine spray under corresponding engine coolant temperature Oily rotating speed.For the selection of engine coolant temperature, can be determined according to actual conditions.

The acquisition methods of speed and gas pedal aperture and desired engine speed and the corresponding table of expectation motor torque Generally：First determine a speed, then under different gas pedal apertures, monitor car load fuel consumption and electrokinetic cell Power, engine speed during selecting system efficiency highest and torque are as the expectation under gas pedal apertures different under this speed Engine speed and expectation motor torque；In the same manner, can obtain corresponding under different gas pedal apertures under other speeds successively Desired engine speed and expectation motor torque.For the selection of speed and gas pedal aperture, can be true according to actual conditions Fixed.

Engine coolant temperature is generally with the acquisition methods of the corresponding table of the second expectation engine acceleration：In difference Under engine coolant temperature, when concern starts, gear ring rate of angular acceleration value and corresponding engine acceleration, take gear ring Engine acceleration corresponding to rate of angular acceleration minimum of a value is as the second expectation under corresponding engine coolant temperature Engine acceleration.For the selection of engine coolant temperature, can be determined according to actual conditions.

Actual engine speed is generally with the acquisition methods of the corresponding table of correction factor：In actual turn different of engines Under speed, gear ring rate of angular acceleration value when concern starts, a correction is set in gear ring rate of angular acceleration minimum of a value Coefficient as corresponding correction factor under corresponding actual engine speed, correction factor between 0～1, according to result of the test Determine.For the selection of actual engine speed, can be determined according to actual conditions.

Output end reference rotation velocity in described step III estimates what submodule obtained according to output end turn count by wheel speed Estimate that wheel speed obtains divided by speed ratio of main reducer.

In described step I, take turns in the torque limit submodule of side, small machine allows wheel side torque T_{WH_MG1}Calculate by formula (1) Obtain, big motor allows wheel side torque T_{WH_MG2}Calculate by formula (2) and obtain, the wheel side expectation torque T after restriction_{WH_MG_LIM}With little Motor allows wheel side torque T_{WH_MG1}Allow wheel side torque T with big motor_{WH_MG2}Between relation be：Max(T_{WH_MG1_min}, T_{WH_MG2_min})≤T_{WH_MG_LIM}≤Min(T_{WH_MG1_max}, T_{WH_MG2_max})；

Wherein, ρ₁For double planet wheel rows of mixing front row speed ratio, ρ₂For double planet wheel rows of mixing heel row speed ratio；T_ENGFor engine actual torque, T_{MG1_ is permitted}For small machine torque allowable, T_{MG2_ is permitted}For the torque allowable of big motor；I_ENGFor engine moment inertia, I_MG1Turn for small machine Dynamic inertia, I_MG2For big motor rotary inertia；Expect engine acceleration for final,Add for wheel corner Speed setting value；i_aFor speed ratio of main reducer.

Small machine driving torque T in described step III, in driving torque calculating sub module_{MG1_DR}Calculate by formula (3) and obtain , big Motor drive torque T_{MG2_DR}Calculate by formula (4) and obtain；Small machine starting torque in starting torque calculating sub module T_{MG1_ES}Calculate by formula (5) and obtain, caused by big motor starting up torque T_{MG2_ES}Calculate by formula (6) and obtain：

Wherein, ρ₁For double planet wheel rows of mixing front row speed ratio, ρ₂For double planet wheel rows of mixing heel row speed ratio；T_{WH_DES}For the wheel side expectation after limiting Torque；T_ENGFor engine actual torque；I_ENGFor engine moment inertia, I_MG1For small machine rotary inertia, I_MG2For big motor Rotary inertia；Expect engine acceleration for final,For wheel corner acceleration setting value；i_aBased on subtract Fast device speed ratio.

In described output end rotating speed calculating sub module, output end rotating speedCalculate by formula (7) and obtain：

Wherein, ρ₁For double planet wheel rows of mixing front row speed ratio, ρ₂For double planet wheel rows of mixing heel row speed ratio；For small machine angular speed,For big motor angular velocity.

Described wheel speed is estimated in submodule, the transmission function to equivalent wheel speed for the output end torqueFor formula (a),

The transmission function to output end rotating speed for the output end torqueFor formula (b),

The transmission function to equivalent wheel speed for the output end rotating speed is released according to formula (a), (b)For formula (c),

Drawn according to formula (c), estimate wheel speedFunctionCalculate by formula (8) and obtain：

Wherein, C_TIFor power transmission shaft and tire equivalent damping, k_TIFor power transmission shaft and tire equivalent stiffness, s is Laplce's calculation Son, I_LFor equivalent car load rotary inertia,For output end rotating speedFunction.The function of output end rotating speedBy Output end rotating speedIt is converted to through Laplce, estimate wheel speedValue by the function estimating wheel speedThrough La Pula This inverse transform obtains.

In described planet carrier torque estimation submodule, planet carrier Assumption torque T_CCalculate by formula (9) and obtain：

Wherein, ρ₁For double planet wheel rows of mixing front row speed ratio, ρ₂For double planet wheel rows of mixing heel row speed ratio；For small machine angular acceleration,For big motor angular acceleration；I_CFor planet carrier rotary inertia, I_MG1For small machine rotary inertia, I_MG2Rotate used for big motor Amount；T_{MG1_ is real}For small machine actual torque, T_{MG2_ is real}For big actual motor torque.

In described damping torque calculating sub module, small machine compensates torque T_{MG1_DAMP}Calculate by formula (10) and obtain, greatly electricity Machine compensates torque T_{MG2_DAMP}Calculate by formula (11) and obtain：

Wherein, ρ₁For double planet wheel rows of mixing front row speed ratio, ρ₂For double planet wheel rows of mixing heel row speed ratio；For small machine angular acceleration,For big motor angular acceleration；I_CFor planet carrier rotary inertia, I_MG1For small machine rotary inertia, I_MG2Rotate used for big motor Amount；T_{R_DES}For expectation reference-junction compensation torque, T_{C_EST}For revised planet carrier Assumption torque.

Generally, engine controller provides engine coolant temperature, actual engine speed, gas pedal in real time Aperture and engine actual torque, brake monitor provides speed in real time, and electrokinetic cell controller provides electrokinetic cell electricity in real time Amount, electrokinetic cell actual power and electrokinetic cell maximum allowable power, the offer big motor torque allowable in real time of big electric machine controller, Big motor actual speed and big actual motor torque, small machine controller provides small machine torque allowable, small machine actual in real time Rotating speed and small machine actual torque.

The double planet wheel rows of mixing hybrid vehicle of the present invention starts control method for coordinating, has advantages below：

(1) directly pass through to compensate wheel side torque suppression starting-impact problem, two-way Hall-type crank position need not be changed and pass Sensor, accurately to calculate engine crank angle estimating engine resistance arteries and veins without using two-way Hall-type crankshaft-position signal Dynamic torque.Hardware cost is low, can continue to use existing supply chain residue；

(2) it is not required to adopt with the rigidly connected torsion vibration absorber of bypass to the engine pulse drag torque in starting process Accurately compensated, saved hardware cost；

(3) only control using for the big motor on wheel side, small machine compensated torque, and when rationally controlling engine oil spout Machine, limits wheel side demand torque, you can alleviate starting-impact problem；

(4) control method is simple, practical.

Brief description

The double planet wheel rows of mixing hybrid power gearbox structural representation using on hybrid vehicle in Fig. 1 present invention

Fig. 2 double planet wheel rows of mixing hybrid vehicle starts coordinates control flow chart

Specific embodiment

The invention will be further described with reference to embodiments, but the invention is not limited in the statement of embodiment.

The double planet wheel rows of mixing hybrid power gearbox using on hybrid vehicle in the present invention is as shown in figure 1, it is main Part includes：Engine ENG, torsional vibration damper 1, small machine MG1, big motor MG2, double planet wheel rows of mixing 2, the first brake 3, second Brake 4, power transmission shaft and tire 5 and vehicle body 6.The planet carrier C1 phase through torsional vibration damper 1 and double planet wheel rows of mixing 2 for the engine ENG Even, the small sun gear S1 in double planet wheel rows of mixing 2 is connected with small machine MG1, and big sun gear S2 is connected with big motor MG2, the first braking Device 3 is connected with planet carrier C, and second brake 4 is connected with small machine MG1 rotor, the gear ring R of double planet wheel rows of mixing and power transmission shaft and tire 5 and vehicle body 6 be connected.

Embodiment 1

Fig. 2 starts for double planet wheel rows of mixing hybrid vehicle and coordinates control flow chart.

A kind of double planet wheel rows of mixing hybrid vehicle starts control method for coordinating, carries out according to the following steps：

I wheel is expected when demand torque calculation submodule is calculated wheel according to current speed and gas pedal aperture to turn Square；Start Necd decision submodule to be obtained according to current electrokinetic cell electricity, engine coolant temperature and the expectation torque of wheel side Starting demand, if starting demand is yes, carries out step II and step III, and otherwise vehicle maintains electric-only mode to run；

The II current filtered device of actual engine speed obtains filtering rear engine rotating speed it is desirable to engine sprays after processing Oily rotating speed submodule of tabling look-up looks into engine cooling water according to current engine coolant temperature by interpolated value external boundary look-up table Temperature obtains expecting engine oil spout rotating speed with the corresponding table table 1 of expectation engine oil spout rotating speed, if filtering rear engine rotating speed is big In expecting engine oil spout rotating speed, then entire car controller sends engine oil spout and instructs to engine controller execution, otherwise whole Vehicle controller sends engine not oil spout and instructs to engine controller execution；Desired engine speed/torque is tabled look-up submodule Speed and gas pedal aperture and expectation are looked into by interpolated value external boundary look-up table according to current speed and gas pedal aperture The corresponding table table 2-1 of engine speed and speed and gas pedal aperture table table 2-2 difference corresponding with expectation motor torque Obtain desired engine speed and expectation motor torque and will expect motor torque input engine controller execute it is desirable to Engine speed obtains the first expectation engine acceleration with the difference of filtering rear engine rotating speed after the process of PI controller； Expect that engine acceleration submodule of tabling look-up is looked into by interpolated value external boundary look-up table according to current engine coolant temperature Engine coolant temperature obtains the second expectation engine acceleration with the corresponding table table 3 of the second expectation engine acceleration； Switching switch submodule is sent out in the first expectation engine acceleration and the second expectation according to the size of filtering rear engine rotating speed Switch between motivation angular acceleration and finally expected engine acceleration；Wheel side torque limit submodule is according to current Electrokinetic cell actual power, electrokinetic cell maximum allowable power, the torque allowable of big motor, small machine torque allowable, big motor Obtain in actual speed, small machine actual speed, engine actual torque, final expectation engine acceleration and step I Torque is expected when taking turns the wheel after expectation torque calculation is limited；

III driving torque calculating sub module calculates respectively according to the wheel side expectation torque after the restriction obtaining in step II To big Motor drive torque and small machine driving torque；Starting torque calculating sub module is according to the final expectation obtaining in step II Engine acceleration is calculated caused by big motor starting up torque and small machine starting torque respectively；Planet carrier torque estimation submodule Gone according to current big motor actual speed, big actual motor torque, small machine actual speed and small machine actual torque Carrier Assumption torque, planet carrier Assumption torque is multiplied by correction factor submodule of tabling look-up to be passed through according to current actual engine speed Interpolated value external boundary look-up table is repaiied after looking into the correction factor that actual engine speed table table 4 corresponding with correction factor obtains Planet carrier Assumption torque after just；Output end rotating speed calculating sub module is calculated output end according to current motor actual speed Rotating speed, the difference of output end rotating speed and output end reference rotation velocity is obtained desired output end compensating after the process of PD control device and turns Square, and output end reference rotation velocity estimates estimation wheel speed that submodule obtains according to output end turn count divided by main deceleration by wheel speed Device speed ratio obtains；Damping torque calculating sub module is divided according to desired output end compensating torque and revised planet carrier Assumption torque It is not calculated big motor compensating torque and small machine compensates torque；Big Motor drive torque, caused by big motor starting up torque and electricity greatly Machine compensates and obtains big motor expectation torque after torque adds up, and small machine driving torque, small machine starting torque and small machine compensate Torque obtains small machine expectation torque after adding up, big motor is expected that torque and small machine expectation torque input electric machine controller are held OK；

IV circulation step I is to step III until automobile start completes.

Respectively engine coolant temperature be -40 DEG C, -20 DEG C, 0 DEG C, 20 DEG C, 40 DEG C, at 60 DEG C and 80 DEG C, concern starts When gear ring rate of angular acceleration value and corresponding engine oil spout rotating speed, take corresponding to gear ring rate of angular acceleration minimum of a value Engine oil spout rotating speed as the expectation engine oil spout rotating speed under corresponding engine coolant temperature.Obtained according to test data Engine coolant temperature and the corresponding table expecting engine oil spout rotating speed, as shown in table 1.

Table 1 engine coolant temperature and the corresponding table expecting engine oil spout rotating speed

First determine that speed is 2km/h, then respectively gas pedal aperture be 0%, 2%, 8%, 12%, 13%, 15%th, under 17%, 22%, 33%, 34%, 43%, 54%, 65%, 76%, 87%, 91%, 96% and 100%, monitor car load Fuel consumption and electrokinetic cell power, engine speed during selecting system efficiency highest and torque are as different under this speed Desired engine speed under gas pedal aperture and expectation motor torque；In the same manner, can obtain successively speed be 7km/h, Under 17km/h, 33km/h, 50km/h, 66km/h, 83km/h, 99km/h, 116km/h, 136km/h, 166km/h and 199km/h Gas pedal aperture be 0%, 2%, 8%, 12%, 13%, 15%, 17%, 22%, 33%, 34%, 43%, 54%, 65%, 76%th, corresponding desired engine speed and expectation motor torque under 87%, 91%, 96% and 100%.According to test data Obtain speed and gas pedal aperture table corresponding with desired engine speed and speed and gas pedal aperture is started with expectation The corresponding table of machine torque, respectively as shown in table 2-1, table 2-2.

The corresponding table of table 2-1 speed and gas pedal aperture and desired engine speed

Table 2-2 speed and gas pedal aperture and the corresponding table expecting motor torque

It is -40 DEG C, -20 DEG C, 0 DEG C, 20 DEG C, 40 DEG C and 60 DEG C in engine coolant temperature respectively, gear ring when concern starts Rate of angular acceleration value and corresponding engine acceleration, take starting corresponding to gear ring rate of angular acceleration minimum of a value Machine angular acceleration is as the second expectation engine acceleration under corresponding engine coolant temperature.Sent out according to test data The corresponding table that motivation coolant water temperature expects engine acceleration with second, as shown in table 3.

The corresponding table that table 3 engine coolant temperature expects engine acceleration with second

Respectively under actual engine speed is for 0rpm, 200rpm, 400rpm, 600rpm, 800rpm and 1000rpm, close Gear ring rate of angular acceleration value when note starts, sets a correction factor and makees in gear ring rate of angular acceleration minimum of a value For corresponding to corresponding correction factor under actual engine speed, correction factor, between 0～1, determines according to result of the test.According to Test data obtains the corresponding table of actual engine speed and correction factor, as shown in table 4.

The corresponding table of table 4 actual engine speed and correction factor

In step I, take turns in the torque limit submodule of side, small machine allows wheel side torque T_{WH_MG1}Calculate by formula (1) and obtain , big motor allows wheel side torque T_{WH_MG2}Calculate by formula (2) and obtain, the wheel side expectation torque T after restriction_{WH_MG_LIM}With little electricity Machine allows wheel side torque T_{WH_MG1}Allow wheel side torque T with big motor_{WH_MG2}Between relation be：Max(T_{WH_MG1_min}, T_{WH_MG2_min})≤T_{WH_MG_LIM}≤Min(T_{WH_MG1_max}, T_{WH_MG2_max})；

Wherein, ρ₁For double planet wheel rows of mixing front row speed ratio, ρ₂For double planet wheel rows of mixing heel row speed ratio；T_ENGFor engine actual torque, T_{MG1_ is permitted}For small machine torque allowable, T_{MG2_ is permitted}For the torque allowable of big motor；I_ENGFor engine moment inertia, I_MG1Turn for small machine Dynamic inertia, I_MG2For big motor rotary inertia；Expect engine acceleration for final,Accelerate for wheel corner Degree setting value；i_aFor speed ratio of main reducer.

Small machine driving torque T in step III, in driving torque calculating sub module_{MG1_DR}Calculate by formula (3) and obtain, Big Motor drive torque T_{MG2_DR}Calculate by formula (4) and obtain；Small machine starting torque in starting torque calculating sub module T_{MG1_ES}Calculate by formula (5) and obtain, caused by big motor starting up torque T_{MG2_ES}Calculate by formula (6) and obtain：

Wherein, ρ₁For double planet wheel rows of mixing front row speed ratio, ρ₂For double planet wheel rows of mixing heel row speed ratio；T_{WH_DES}For the wheel side expectation after limiting Torque；T_ENGFor engine actual torque；I_ENGFor engine moment inertia, I_MG1For small machine rotary inertia, I_MG2For big motor Rotary inertia；Expect engine acceleration for final,For wheel corner acceleration setting value；i_aBased on subtract Fast device speed ratio.

In output end rotating speed calculating sub module, output end rotating speedCalculate by formula (7) and obtain：

Wherein, ρ₁For double planet wheel rows of mixing front row speed ratio, ρ₂For double planet wheel rows of mixing heel row speed ratio；For small machine angular speed,For big motor angular velocity.

Wheel speed is estimated, in submodule, to estimate wheel speedFunctionCalculate by formula (8) and obtain：

Wherein, C_TIFor power transmission shaft and tire equivalent damping, k_TIFor power transmission shaft and tire equivalent stiffness, s is Laplce's calculation Son, I_LFor equivalent car load rotary inertia,For output end rotating speedFunction.The function of output end rotating speedBy defeated Go out to hold rotating speedIt is converted to through Laplce, estimate wheel speedValue by the function estimating wheel speedAnti- through Laplce It is converted to.

In planet carrier torque estimation submodule, planet carrier Assumption torque T_CCalculate by formula (9) and obtain：

Wherein, ρ₁For double planet wheel rows of mixing front row speed ratio, ρ₂For double planet wheel rows of mixing heel row speed ratio；For small machine angular acceleration,For big motor angular acceleration；I_CFor planet carrier rotary inertia, I_MG1For small machine rotary inertia, I_MG2Rotate used for big motor Amount；T_{MG1_ is real}For small machine actual torque, T_{MG2_ is real}For big actual motor torque.

In damping torque calculating sub module, small machine compensates torque T_{MG1_DAMP}Calculate by formula (10) and obtain, big motor is mended Repay torque T_{MG2_DAMP}Calculate by formula (11) and obtain：

Wherein, ρ₁For double planet wheel rows of mixing front row speed ratio, ρ₂For double planet wheel rows of mixing heel row speed ratio；For small machine angular acceleration,For big motor angular acceleration；I_CFor planet carrier rotary inertia, I_MG1For small machine rotary inertia, I_MG2Rotate used for big motor Amount；T_{R_DES}For expectation reference-junction compensation torque, T_{C_EST}For revised planet carrier Assumption torque.

Concrete example explanation below：

Assume that current engine coolant temperature is 80 degree, actual engine speed is 409r/min, gas pedal aperture For 30%, engine actual torque T_ENGFor -40Nm (now engine also non-oil spout work, so being negative value, i.e. towing astern resistance Torque), speed is 9.2km/h, and electrokinetic cell electricity is 60%, and electrokinetic cell actual power is 10850w, and electrokinetic cell is maximum Allow power 35000w, in the torque allowable of big motor positive torque allowable be 247.7Nm, negative sense torque allowable be -251Nm, greatly Motor actual speed is 364.4r/min, big actual motor torque T_MG2For 91.09Nm, in small machine torque allowable, forward direction is allowable Torque is 92Nm, negative sense torque allowable is -95Nm, and small machine actual speed is 375.1r/min, small machine actual torque T_MG1For 79.12Nm, double planet wheel rows of mixing front row speed ratio ρ₁For 3.174, double planet wheel rows of mixing heel row speed ratio ρ₂For 2.355, engine moment inertia I_ENG For 0.18kg m², small machine rotary inertia I_MG1For 0.041kg m², big motor rotary inertia I_MG2For 0.072kg m², wheel Corner acceleration setting valueFor 0rad/s, speed ratio of main reducer i_aFor 3.529.

Obtaining taking turns side expectation torque according to step I is -138Nm；

Table look-up 1 obtain expect engine oil spout rotating speed be 850r/min；Table look-up 2 obtain desired engine speed be 1525r/ Min and expectation motor torque are 107.6Nm；Table look-up 3 obtain the second expectation engine acceleration be 200rad/s；

Compare and expect that the size of engine oil spout rotating speed and filtering rear engine rotating speed judges that entire car controller sends and starts Machine oil spout instructs；

Engine acceleration is finally expected according to step IIFor 200rad/s；

Data is substituted into formula (1), respectively obtains the permission wheel side torque T of small machine in (2)_{WH_MG1}For -102.7Nm～ 660.4Nm；The permission wheel side torque T of big motor_{WH_MG2}For -262.3Nm～398.3Nm；

According to the wheel side expectation torque T after limiting_{WH_MG_LIM}Allow wheel side torque T with small machine_{WH_MG1}Allow with big motor Wheel side torque T_{WH_MG2}Between relation and step II limited after wheel side expectation torque T_{WH_MG_LIM}For -138Nm (explanation： Because expectation wheel side torque is in the range of torque-limiting, so reality is not limited.)

Data is substituted into formula (3), (4), (5), respectively obtains small machine driving torque T in (6)_{MG1_DR}For 33.82Nm, Big Motor drive torque T_{MG2_DR}For 104.2Nm, small machine starting torque T_{MG1_ES}For 49.56Nm, caused by big motor starting up torque T_{MG2_ES} For 1.15Nm.

Actual measurement small machine angular speedFor 39.28rad/s, big motor angular velocityFor 38.16rad/s；Small machine Angular accelerationFor 10670rad/s², big motor angular accelerationFor -1856rad/s²；Power transmission shaft and the equivalent resistance of tire C_TIFor 15Nm/ (rad/s), power transmission shaft and tire equivalent stiffness k_TIFor 2864 (Nm/rad), equivalent car load rotary inertia I_LFor 12.6033kg·m², planet carrier rotary inertia I_CFor 0.001kg m², T_{R_DES}For 20Nm.

Data is substituted into formula (7) and obtains output end rotating speedFor 38.43rad/s, by output end rotating speedGeneral through drawing Lars is converted to the function of output end rotating speedAnd data is substituted into the function that formula (8) obtains estimation wheel speed And obtain through Laplce's inverse transformFor 101.88rad/s, it is 28.87rad/s that measuring and calculating obtains output end reference rotation velocity；Root Obtaining desired output end compensating torque according to step III is 20Nm；Data is substituted into formula (9) and obtains planet carrier Assumption torque T_C1For 3.68Nm, table look-up 4 obtain correction factor be 0.212, obtain revised planet carrier Assumption torque T_{C1_EST}For 0.7801Nm.

Data substituted into respectively formula (10), obtain small machine in (11) and compensate torque T_{MG1_DAMP}For -4.75Nm, big motor Compensate torque T_{MG2_DAMP}For -14.9Nm.

Big Motor drive torque, caused by big motor starting up torque and big motor compensating torque obtain big motor expectation torque after adding up For 90.43Nm, small machine driving torque, small machine starting torque and small machine compensate and obtain small machine expectation turn after torque adds up Square is 78.63Nm.

Claims (8)

1. a kind of double planet wheel rows of mixing hybrid vehicle start control method for coordinating it is characterised in that：Carry out according to the following steps：

I wheel expects torque when demand torque calculation submodule is calculated wheel according to current speed and gas pedal aperture； Start Necd decision submodule to obtain and start according to current electrokinetic cell electricity, engine coolant temperature and the expectation torque of wheel side Demand, if starting demand is yes, carries out step II and step III, and otherwise vehicle maintains electric-only mode to run；

The II current filtered device of actual engine speed obtains after processing filtering rear engine rotating speed it is desirable to engine oil spout turns Zoom table submodule is looked into engine coolant temperature according to current engine coolant temperature and is expected the right of engine oil spout rotating speed Table is answered to obtain expecting engine oil spout rotating speed, if filtering rear engine rotating speed is more than expectation engine oil spout rotating speed, car load control Device processed send engine oil spout instruct to engine controller execution, otherwise entire car controller send engine not oil spout instruct to Engine controller executes；Desired engine speed/torque submodule of tabling look-up is looked into according to current speed and gas pedal aperture Speed and gas pedal aperture respectively obtain expectation engine with the corresponding table of desired engine speed and expectation motor torque Rotating speed and expectation motor torque simultaneously will expects that motor torque inputs engine controller and executes it is desirable to engine speed and filter The difference of ripple rear engine rotating speed obtains the first expectation engine acceleration after the process of PI controller；Expect that engine angle adds Speed table look-up submodule according to current engine coolant temperature look into engine coolant temperature with second expectation engine angle accelerate The corresponding table of degree obtains the second expectation engine acceleration；Switching switch submodule is according to the size of filtering rear engine rotating speed Switch between the first expectation engine acceleration and the second expectation engine acceleration and finally expected to start Machine angular acceleration；Wheel side torque limit submodule according to current electrokinetic cell actual power, electrokinetic cell maximum allowable power, Big motor torque allowable, small machine torque allowable, big motor actual speed, small machine actual speed, engine actual torque, Final period expects torque when hoping wheel after expectation torque calculation is limited for the wheel obtaining in engine acceleration and step I；

III driving torque calculating sub module is calculated greatly respectively according to the wheel side expectation torque after the restriction obtaining in step II Motor drive torque and small machine driving torque；Starting torque calculating sub module is started according to the final expectation obtaining in step II Machine angular acceleration is calculated caused by big motor starting up torque and small machine starting torque respectively；Planet carrier torque estimation submodule according to Big motor actual speed currently, big actual motor torque, small machine actual speed and small machine actual torque obtain planet carrier Assumption torque, correction factor submodule of tabling look-up looks into actual engine speed and correction factor according to current actual engine speed Corresponding table obtain correction factor, correction factor is obtained revised planet carrier and estimates to turn after being multiplied with planet carrier Assumption torque Square；Output end rotating speed calculating sub module is calculated output end rotating speed according to current motor actual speed, by output end rotating speed Obtain desired output end compensating torque with the difference of output end reference rotation velocity after the process of PD control device；Damping torque calculates submodule Root tuber according to desired output end compensating torque and revised planet carrier Assumption torque be calculated respectively big motor compensating torque and Small machine compensates torque；Big Motor drive torque, caused by big motor starting up torque and big motor compensating torque obtain big motor after adding up Expect torque, small machine driving torque, small machine starting torque and small machine compensate and obtain small machine expectation turn after torque adds up Square, big motor is expected torque and small machine expectation torque input electric machine controller execution；

IV circulation step I is to step III until automobile start completes.

2. double planet wheel rows of mixing hybrid vehicle as claimed in claim 1 start control method for coordinating it is characterised in that：Described step Output end reference rotation velocity in rapid III estimates estimation wheel speed that submodule obtains according to output end turn count divided by master by wheel speed Decelerator speed ratio obtains.

3. double planet wheel rows of mixing hybrid vehicle as claimed in claim 1 start control method for coordinating it is characterised in that：Described step In rapid I, take turns in the torque limit submodule of side, small machine allows wheel side torque T_{WH_MG1}Calculate by formula (1) and obtain, big motor is permitted Permitted wheel side torque T_{WH_MG2}Calculate by formula (2) and obtain, the wheel side expectation torque T after restriction_{WH_MG_LIM}Allow wheel side with small machine Torque T_{WH_MG1}Allow wheel side torque T with big motor_{WH_MG2}Between relation be：Max(T_{WH_MG1_min}, T_{WH_MG2_min})≤T_{WH_MG_LIM} ≤Min(T_{WH_MG1_max}, T_{WH_MG2_max})；

Wherein, ρ₁For double planet wheel rows of mixing front row speed ratio, ρ₂For double planet wheel rows of mixing heel row speed ratio；T_ENGFor engine actual torque, T_{MG1_ is permitted}For Small machine torque allowable, T_{MG2_ is permitted}For the torque allowable of big motor；I_ENGFor engine moment inertia, I_MG1For small machine rotary inertia, I_MG2For big motor rotary inertia；Expect engine acceleration for final,For wheel side set angular acceleration Value；i_aFor speed ratio of main reducer.

4. double planet wheel rows of mixing hybrid vehicle as claimed in claim 1 start control method for coordinating it is characterised in that：Described step Small machine driving torque T in rapid III, in driving torque calculating sub module_{MG1_DR}Calculate by formula (3) and obtain, big Motor drive Torque T_{MG2_DR}Calculate by formula (4) and obtain；Small machine starting torque T in starting torque calculating sub module_{MG1_ES}By formula (5) Calculate and obtain, caused by big motor starting up torque T_{MG2_ES}Calculate by formula (6) and obtain：

$T_{MG1\_DR}=\frac{T_{WH\_DES}({\mathrm{\ρ}}_2-1)}{-i_a({\mathrm{\ρ}}_2+{\mathrm{\ρ}}_1)}+\frac{{\mathrm{\ρ}}_2{T}_{ENG}}{-({\mathrm{\ρ}}_2+{\mathrm{\ρ}}_1)}-I_{MG1}{\mathrm{\ρ}}_1{i}_a{\stackrel{\·\·}{\mathrm{\θ}}}_{WH\_DES}\mathrm{...}\left(3\right)$

$T_{MG2\_DR}=\frac{T_{WH\_DES}({\mathrm{\ρ}}_1+1)}{-i_a({\mathrm{\ρ}}_2+{\mathrm{\ρ}}_1)}+\frac{{\mathrm{\ρ}}_1{T}_{ENG}}{-({\mathrm{\ρ}}_2+{\mathrm{\ρ}}_1)}+I_{MG2}{\mathrm{\ρ}}_2{i}_a{\stackrel{\·\·}{\mathrm{\θ}}}_{WH\_DES}\mathrm{...}\left(4\right)$

$T_{MG1\_ES}=\frac{{\mathrm{\ρ}}_2(T_{ENG}-I_{ENG}{\stackrel{\·\·}{\mathrm{\θ}}}_{ENG\_DES})}{-({\mathrm{\ρ}}_2+{\mathrm{\ρ}}_1)}+I_{MG1}{\stackrel{\·\·}{\mathrm{\θ}}}_{ENG\_DES}(1+{\mathrm{\ρ}}_1)\mathrm{...}\left(5\right)$

$T_{MG2\_ES}=\frac{{\mathrm{\ρ}}_1(T_{ENG}-I_{ENG}{\stackrel{\·\·}{\mathrm{\θ}}}_{ENG\_DES})}{-({\mathrm{\ρ}}_2+{\mathrm{\ρ}}_1)}+I_{MG2}{\stackrel{\·\·}{\mathrm{\θ}}}_{ENG\_DES}(1-{\mathrm{\ρ}}_2)\mathrm{...}\left(6\right)$

Wherein, ρ₁For double planet wheel rows of mixing front row speed ratio, ρ₂For double planet wheel rows of mixing heel row speed ratio；T_{WH_DES}Turn for the wheel side expectation after limiting Square；T_ENGFor engine actual torque；I_ENGFor engine moment inertia, I_MG1For small machine rotary inertia, I_MG2Turn for big motor Dynamic inertia；Expect engine acceleration for final,For wheel corner acceleration setting value；i_aBased on slow down Device speed ratio.

5. double planet wheel rows of mixing hybrid vehicle as claimed in claim 2 start control method for coordinating it is characterised in that：Described defeated Go out to hold in rotating speed calculating sub module, output end rotating speedCalculate by formula (7) and obtain：

${\stackrel{\·}{\mathrm{\θ}}}_R=\frac{(1+{\mathrm{\ρ}}_1){\stackrel{\·}{\mathrm{\θ}}}_{MG2}-(1-{\mathrm{\ρ}}_2){\stackrel{\·}{\mathrm{\θ}}}_{MG1}}{({\mathrm{\ρ}}_1+{\mathrm{\ρ}}_2)}\mathrm{...}\left(7\right)$

Wherein, ρ₁For double planet wheel rows of mixing front row speed ratio, ρ₂For double planet wheel rows of mixing heel row speed ratio；For small machine angular speed,For big Motor angular velocity.

6. double planet wheel rows of mixing hybrid vehicle as claimed in claim 2 start control method for coordinating it is characterised in that：Described wheel Speed is estimated, in submodule, to estimate wheel speedFunctionCalculate by formula (8) and obtain：

${\stackrel{\·}{\mathrm{\θ}}}_L\left(s\right)=\frac{c_{TI}s+k_{TI}}{I_L{s}^2+c_{TI}s+k_{TI}}{\stackrel{\·}{\mathrm{\θ}}}_R\left(s\right)\mathrm{...}\left(8\right)$

Wherein, c_TIFor power transmission shaft and tire equivalent damping, k_TIFor power transmission shaft and tire equivalent stiffness, s is Laplace operator, I_L For equivalent car load rotary inertia,For output end rotating speedFunction.

7. described double planet wheel rows of mixing hybrid vehicle as arbitrary in claim 1～6 starts control method for coordinating, and its feature exists In：In described planet carrier torque estimation submodule, planet carrier Assumption torque T_CCalculate by formula (9) and obtain：

Wherein, ρ₁For double planet wheel rows of mixing front row speed ratio, ρ₂For double planet wheel rows of mixing heel row speed ratio；For small machine angular acceleration, For big motor angular acceleration；I_CFor planet carrier rotary inertia, I_MG1For small machine rotary inertia, I_MG2For big motor rotary inertia； T_{MG1_ is real}For small machine actual torque, T_{MG2_ is real}For big actual motor torque.

8. described double planet wheel rows of mixing hybrid vehicle as arbitrary in claim 1～6 starts control method for coordinating, and its feature exists In：In described damping torque calculating sub module, small machine compensates torque T_{MG1_DAMP}Calculate by formula (10) and obtain, big motor compensating Torque T_{MG2_DAMP}Calculate by formula (11) and obtain：

$\begin{array}{c}{T}_{MG1\_DAMP}=\frac{({\mathrm{\ρ}}_2-1)}{-({\mathrm{\ρ}}_2+{\mathrm{\ρ}}_1)}{T}_{R\_DES}\\ +\frac{{\mathrm{\ρ}}_2}{-({\mathrm{\ρ}}_2+{\mathrm{\ρ}}_1)}(T_{C\_EST}-I_C\frac{{\mathrm{\ρ}}_2{\stackrel{\·\·}{\mathrm{\θ}}}_{MG1}+{\mathrm{\ρ}}_1{\stackrel{\·\·}{\mathrm{\θ}}}_{MG2}}{({\mathrm{\ρ}}_1+{\mathrm{\ρ}}_2)})+I_{MG1}{\stackrel{\·\·}{\mathrm{\θ}}}_{MG1}\end{array}\mathrm{...}\left(10\right)$

$\begin{array}{c}{T}_{MG2\_DAMP}=\frac{({\mathrm{\ρ}}_1+1)}{-({\mathrm{\ρ}}_2+{\mathrm{\ρ}}_1)}{T}_{R\_DES}\\ +\frac{{\mathrm{\ρ}}_1}{-({\mathrm{\ρ}}_2+{\mathrm{\ρ}}_1)}(T_{C\_EST}-I_C\frac{{\mathrm{\ρ}}_2{\stackrel{\·\·}{\mathrm{\θ}}}_{MG1}+{\mathrm{\ρ}}_1{\stackrel{\·\·}{\mathrm{\θ}}}_{MG2}}{({\mathrm{\ρ}}_1+{\mathrm{\ρ}}_2)})+I_{MG2}{\stackrel{\·\·}{\mathrm{\θ}}}_{MG2}\end{array}\mathrm{...}\left(11\right)$

Wherein, ρ₁For double planet wheel rows of mixing front row speed ratio, ρ₂For double planet wheel rows of mixing heel row speed ratio；For small machine angular acceleration, For big motor angular acceleration；I_CFor planet carrier rotary inertia, I_MG1For small machine rotary inertia, I_MG2For big motor rotary inertia； T_{R_DES}For expectation reference-junction compensation torque, T_{C_EST}For revised planet carrier Assumption torque.