CN106427988A - Start coordinative control method of double-planet-row hybrid electric vehicle - Google Patents
Start coordinative control method of double-planet-row hybrid electric vehicle Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 230000001133 acceleration Effects 0.000 claims abstract description 74
- 239000010705 motor oil Substances 0.000 claims abstract description 28
- 239000003921 oil Substances 0.000 claims abstract description 7
- 238000012545 processing Methods 0.000 claims abstract description 5
- 238000002156 mixing Methods 0.000 claims description 64
- 239000002826 coolant Substances 0.000 claims description 34
- 238000012937 correction Methods 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 claims description 14
- 238000001914 filtration Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 11
- 238000013016 damping Methods 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 8
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 claims description 4
- 239000000498 cooling water Substances 0.000 abstract description 2
- 238000005507 spraying Methods 0.000 abstract 2
- 230000006870 function Effects 0.000 description 9
- 238000012360 testing method Methods 0.000 description 7
- 239000006096 absorbing agent Substances 0.000 description 4
- 230000008450 motivation Effects 0.000 description 4
- 239000007921 spray Substances 0.000 description 3
- 239000000446 fuel Substances 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000001629 suppression Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 210000001367 artery Anatomy 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010721 machine oil Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000010349 pulsation Effects 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18027—Drive off, accelerating from standstill
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0638—Engine speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0676—Engine temperature
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/081—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/24—Energy storage means
- B60W2510/242—Energy storage means for electrical energy
- B60W2510/244—Charge state
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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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
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 TWH_MG1Calculate by formula (1)
Obtain, big motor allows wheel side torque TWH_MG2Calculate by formula (2) and obtain, the wheel side expectation torque T after restrictionWH_MG_LIMWith little
Motor allows wheel side torque TWH_MG1Allow wheel side torque T with big motorWH_MG2Between relation be:Max(TWH_MG1_min,
TWH_MG2_min)≤TWH_MG_LIM≤Min(TWH_MG1_max, TWH_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;TENGFor engine actual torque,
TMG1_ is permittedFor small machine torque allowable, TMG2_ is permittedFor the torque allowable of big motor;IENGFor engine moment inertia, IMG1Turn for small machine
Dynamic inertia, IMG2For big motor rotary inertia;Expect engine acceleration for final,Add for wheel corner
Speed setting value;iaFor speed ratio of main reducer.
Small machine driving torque T in described step III, in driving torque calculating sub moduleMG1_DRCalculate by formula (3) and obtain
, big Motor drive torque TMG2_DRCalculate by formula (4) and obtain;Small machine starting torque in starting torque calculating sub module
TMG1_ESCalculate by formula (5) and obtain, caused by big motor starting up torque TMG2_ESCalculate 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;TWH_DESFor the wheel side expectation after limiting
Torque;TENGFor engine actual torque;IENGFor engine moment inertia, IMG1For small machine rotary inertia, IMG2For big motor
Rotary inertia;Expect engine acceleration for final,For wheel corner acceleration setting value;iaBased 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, CTIFor power transmission shaft and tire equivalent damping, kTIFor power transmission shaft and tire equivalent stiffness, s is Laplce's calculation
Son, ILFor 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 TCCalculate 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;ICFor planet carrier rotary inertia, IMG1For small machine rotary inertia, IMG2Rotate used for big motor
Amount;TMG1_ is realFor small machine actual torque, TMG2_ is realFor big actual motor torque.
In described damping torque calculating sub module, small machine compensates torque TMG1_DAMPCalculate by formula (10) and obtain, greatly electricity
Machine compensates torque TMG2_DAMPCalculate 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;ICFor planet carrier rotary inertia, IMG1For small machine rotary inertia, IMG2Rotate used for big motor
Amount;TR_DESFor expectation reference-junction compensation torque, TC_ESTFor 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 TWH_MG1Calculate by formula (1) and obtain
, big motor allows wheel side torque TWH_MG2Calculate by formula (2) and obtain, the wheel side expectation torque T after restrictionWH_MG_LIMWith little electricity
Machine allows wheel side torque TWH_MG1Allow wheel side torque T with big motorWH_MG2Between relation be:Max(TWH_MG1_min,
TWH_MG2_min)≤TWH_MG_LIM≤Min(TWH_MG1_max, TWH_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;TENGFor engine actual torque,
TMG1_ is permittedFor small machine torque allowable, TMG2_ is permittedFor the torque allowable of big motor;IENGFor engine moment inertia, IMG1Turn for small machine
Dynamic inertia, IMG2For big motor rotary inertia;Expect engine acceleration for final,Accelerate for wheel corner
Degree setting value;iaFor speed ratio of main reducer.
Small machine driving torque T in step III, in driving torque calculating sub moduleMG1_DRCalculate by formula (3) and obtain,
Big Motor drive torque TMG2_DRCalculate by formula (4) and obtain;Small machine starting torque in starting torque calculating sub module
TMG1_ESCalculate by formula (5) and obtain, caused by big motor starting up torque TMG2_ESCalculate 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;TWH_DESFor the wheel side expectation after limiting
Torque;TENGFor engine actual torque;IENGFor engine moment inertia, IMG1For small machine rotary inertia, IMG2For big motor
Rotary inertia;Expect engine acceleration for final,For wheel corner acceleration setting value;iaBased 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, CTIFor power transmission shaft and tire equivalent damping, kTIFor power transmission shaft and tire equivalent stiffness, s is Laplce's calculation
Son, ILFor 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 TCCalculate 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;ICFor planet carrier rotary inertia, IMG1For small machine rotary inertia, IMG2Rotate used for big motor
Amount;TMG1_ is realFor small machine actual torque, TMG2_ is realFor big actual motor torque.
In damping torque calculating sub module, small machine compensates torque TMG1_DAMPCalculate by formula (10) and obtain, big motor is mended
Repay torque TMG2_DAMPCalculate 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;ICFor planet carrier rotary inertia, IMG1For small machine rotary inertia, IMG2Rotate used for big motor
Amount;TR_DESFor expectation reference-junction compensation torque, TC_ESTFor 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 TENGFor -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 TMG2For 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 TMG1For
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 IENG
For 0.18kg m2, small machine rotary inertia IMG1For 0.041kg m2, big motor rotary inertia IMG2For 0.072kg m2, wheel
Corner acceleration setting valueFor 0rad/s, speed ratio of main reducer iaFor 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_MG1For -102.7Nm~
660.4Nm;The permission wheel side torque T of big motorWH_MG2For -262.3Nm~398.3Nm;
According to the wheel side expectation torque T after limitingWH_MG_LIMAllow wheel side torque T with small machineWH_MG1Allow with big motor
Wheel side torque TWH_MG2Between relation and step II limited after wheel side expectation torque TWH_MG_LIMFor -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_DRFor 33.82Nm,
Big Motor drive torque TMG2_DRFor 104.2Nm, small machine starting torque TMG1_ESFor 49.56Nm, caused by big motor starting up torque TMG2_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
CTIFor 15Nm/ (rad/s), power transmission shaft and tire equivalent stiffness kTIFor 2864 (Nm/rad), equivalent car load rotary inertia ILFor
12.6033kg·m2, planet carrier rotary inertia ICFor 0.001kg m2, TR_DESFor 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 TC1For
3.68Nm, table look-up 4 obtain correction factor be 0.212, obtain revised planet carrier Assumption torque TC1_ESTFor 0.7801Nm.
Data substituted into respectively formula (10), obtain small machine in (11) and compensate torque TMG1_DAMPFor -4.75Nm, big motor
Compensate torque TMG2_DAMPFor -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 TWH_MG1Calculate by formula (1) and obtain, big motor is permitted
Permitted wheel side torque TWH_MG2Calculate by formula (2) and obtain, the wheel side expectation torque T after restrictionWH_MG_LIMAllow wheel side with small machine
Torque TWH_MG1Allow wheel side torque T with big motorWH_MG2Between relation be:Max(TWH_MG1_min, TWH_MG2_min)≤TWH_MG_LIM
≤Min(TWH_MG1_max, TWH_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;TENGFor engine actual torque, TMG1_ is permittedFor
Small machine torque allowable, TMG2_ is permittedFor the torque allowable of big motor;IENGFor engine moment inertia, IMG1For small machine rotary inertia,
IMG2For big motor rotary inertia;Expect engine acceleration for final,For wheel side set angular acceleration
Value;iaFor 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 moduleMG1_DRCalculate by formula (3) and obtain, big Motor drive
Torque TMG2_DRCalculate by formula (4) and obtain;Small machine starting torque T in starting torque calculating sub moduleMG1_ESBy formula (5)
Calculate and obtain, caused by big motor starting up torque TMG2_ESCalculate 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;TWH_DESTurn for the wheel side expectation after limiting
Square;TENGFor engine actual torque;IENGFor engine moment inertia, IMG1For small machine rotary inertia, IMG2Turn for big motor
Dynamic inertia;Expect engine acceleration for final,For wheel corner acceleration setting value;iaBased 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:
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:
Wherein, cTIFor power transmission shaft and tire equivalent damping, kTIFor power transmission shaft and tire equivalent stiffness, s is Laplace operator, IL
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 TCCalculate 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;ICFor planet carrier rotary inertia, IMG1For small machine rotary inertia, IMG2For big motor rotary inertia;
TMG1_ is realFor small machine actual torque, TMG2_ is realFor 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 TMG1_DAMPCalculate by formula (10) and obtain, big motor compensating
Torque TMG2_DAMPCalculate 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;ICFor planet carrier rotary inertia, IMG1For small machine rotary inertia, IMG2For big motor rotary inertia;
TR_DESFor expectation reference-junction compensation torque, TC_ESTFor revised planet carrier Assumption torque.
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CN108556836A (en) * | 2018-05-30 | 2018-09-21 | 科力远混合动力技术有限公司 | The control method of power dividing hybrid vehicle brake auxiliary starter engine |
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CN109484155A (en) * | 2018-12-17 | 2019-03-19 | 北京航空航天大学 | Double electric machine double row planetary gear multi-mode electromechanical coupling transmission device |
CN109484155B (en) * | 2018-12-17 | 2023-09-05 | 北京航空航天大学 | Double-motor double-planet-row multi-mode electromechanical coupling transmission device |
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