CN106427988B - Double planet wheel rows of mixing hybrid vehicle starts control method for coordinating - Google Patents
Double planet wheel rows of mixing hybrid vehicle starts control method for coordinating Download PDFInfo
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- CN106427988B CN106427988B CN201610969142.8A CN201610969142A CN106427988B CN 106427988 B CN106427988 B CN 106427988B CN 201610969142 A CN201610969142 A CN 201610969142A CN 106427988 B CN106427988 B CN 106427988B
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- 239000010705 motor oil Substances 0.000 claims abstract description 27
- 239000003921 oil Substances 0.000 claims abstract description 8
- 238000012545 processing Methods 0.000 claims abstract description 7
- 238000012937 correction Methods 0.000 claims description 21
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- 238000013016 damping Methods 0.000 claims description 9
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- 239000006096 absorbing agent Substances 0.000 description 4
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- 239000000446 fuel Substances 0.000 description 2
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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Abstract
The present invention provides a kind of double planet wheel rows of mixing hybrid vehicles to start control method for coordinating, the expectation torque of wheel side is obtained according to information of vehicles first, determine whether there is starting demand again later, determine whether entire car controller issues oil spout instruction if any the expectation engine oil spout revolving speed then obtained according to engine coolant temperature, expectation motor torque is obtained according to speed and gas pedal aperture and inputs engine controller execution, it obtains according to information of vehicles and after processing finally it is expected engine acceleration, and torque it is expected on the wheel side after being limited according to acquired information and data, torque it is expected on wheel side after limitation, final expectation engine acceleration and information of vehicles handle to obtain big/small machine expectation torque and input electric machine controller execution, iterative cycles are until automobile start is completed.The method of the present invention, control method is simple, practical, can be relieved starting-impact problem.
Description
Technical field
The present invention relates to a kind of automobile start control method for coordinating, in particular to a kind of double planet wheel rows of mixing hybrid vehicle rises
Dynamic control method for coordinating.
Background technique
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 four axis hybrid transmissions of double planet wheel rows of mixing, Patent No. 200910194470.5), main component packet
Include: engine, torsional vibration damper, small machine, big motor, double planet wheel rows of mixing, the first brake, second brake, power train and
Vehicle.Engine is connected through torsional vibration damper with the planet carrier of double planet wheel rows of mixing, small sun gear and small machine phase in double planet wheel rows of mixing
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 vehicle.
Engine starting modes are the mistakes for being connected double planet wheel rows of mixing hybrid vehicle electric-only mode and hybrid mode
Cross mode.Since engine is directly connected with gearbox, power train through torsion vibration absorber, starting-impact is the weight of the systems face
Big challenge.The starting-impact is mainly derived from two aspects: in engine startup (before non-oil spout igniting), due to pump gas damage
Low-speed pulse drag torque caused by losing will be transferred directly to vehicle, when the frequency of pulsating torque is close to the intrinsic of torsion vibration absorber
When frequency, vehicle impact aggravation；In engine startup when first oil jetting combustion, still due to air input of engine by air and distributive value
It is in the opened loop control stage, the outburst torque of generation has uncertainty, generates torque disturbance to power train, vehicle is caused to reverse
Vibration.
The hybrid vehicle of Toyota Company acquires motor angle by the motor and engine controller of integrated form simultaneously
Signal and engine tope center signal carry out the calculating of engine crank angle, pulsation resistance of the estimating engine in starting process
Power torque is simultaneously compensated using small machine torque (referring to document " 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 shunt system of speed regulation, and starting control only relies on small machine and can be realized to engine pulse resistance
The observation and compensation of torque can not be suitable for the hybrid power shunt system that bi-motor participates in speed regulation.Toyota's starting control needs
Standalone sensor monitor engines in real time top dead centre signal is installed, hardware cost is high, control is complicated.
The hybrid vehicle of General Corporation uses the method similar with Toyota Company, but because reasons in structure use it is double
Motor compensating, and engine crankshaft and gearbox are directly rigidly connected (referring to document by bypass mechanism in 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 is the compound function that bi-motor participates in speed regulation
Rate shunt system (similar with hybrid power system of the invention), starting control is realized by bi-motor hinders engine pulse
The observation and compensation of power torque, and implement that engine and planet row are rigidly connected when compensated torque.The mixing of General Corporation
In addition to needing to install standalone sensor monitor engines in real time top dead centre signal, it is other to also use band in starting control for power vehicle
The torsion vibration absorber of road connection, hardware cost is high, control is complicated.
The hybrid power system of Toyota Company and General Corporation is all made of Special hybrid power engine, in starting process
Cylinder is connected to atmospheric environment by control valve, greatly reduces the low-speed pulse drag torque in starting process.But it is rich
The starting control method for coordinating of the hybrid power system of Tian company and General Corporation is not suitable for double planet wheel rows of mixing mixing of the invention
Power vehicle starts double planet wheel rows of mixing hybrid vehicle and more coordinates steadily, is when previous class urgently to be solved
Topic.
Summary of the invention
The present invention is intended to provide a kind of controlled directly against output shaft of gear-box revolving speed, pass through Proper Match engine
Torque it is expected on oil spout instruction, limitation wheel side, realizes on the basis of not increasing any additional hardware cost effective to starting-impact
The double planet wheel rows of mixing hybrid vehicle of inhibition starts control method for coordinating.
The present invention is realized by the following scheme:
A kind of double planet wheel rows of mixing hybrid vehicle starting control method for coordinating, sequentially includes the following steps:
I wheel it is expected to turn when wheel is calculated according to current speed and gas pedal aperture in demand torque calculation submodule
Square；Necd decision submodule is started to be obtained according to current power battery electricity, engine coolant temperature and the expectation torque of wheel side
Starting demand, if start demand be it is yes, carry out step II and step III, otherwise vehicle maintain electric-only mode run；
Engine speed after II current actual engine speed is filtered after filter process, it is expected that engine sprays
Oily revolving speed submodule of tabling look-up according to current engine coolant temperature looks into engine coolant temperature and desired engine oil spout revolving speed
Correspondence table obtain expectation engine oil spout revolving speed, if filtering after engine speed be greater than desired engine oil spout revolving speed, it is whole
Vehicle controller issues engine oil spout and instructs to engine controller execution, and otherwise entire car controller issues engine not oil spout and refers to
It enables to engine controller and executing；
Desired engine speed/torque submodule of tabling look-up according to current speed and gas pedal aperture looks into speed and throttle
Pedal opening respectively obtains desired engine speed and expectation with the corresponding table of desired engine speed and expectation motor torque
Motor torque simultaneously executes desired motor torque input engine controller, engine after desired engine speed and filtering
The difference of revolving speed obtains the first expectation engine acceleration after PI controller (i.e. pi controller) processing；It is expected that sending out
Motivation angular acceleration table look-up submodule according to current engine coolant temperature look into engine coolant temperature with second expectation start
The correspondence table of machine angular acceleration obtains the second expectation engine acceleration；Switching switch submodule turns according to engine after filtering
The size of speed switches over to obtain final between the first expectation engine acceleration and the second expectation engine acceleration
It is expected that engine acceleration；It is maximum according to current power battery actual power, power battery to take turns side torque limit submodule
Allow power, the torque allowable of big motor, small machine torque allowable, big motor actual speed, small machine actual speed, engine real
Wheel obtained in border torque, final expectation engine acceleration and step I is in the wheel after desired torque calculation is limited
It is expected that torque；
Wheel side expectation torque after III driving torque computational submodule is limited according to obtained in step II calculates separately
To big motor driven torque and small machine driving torque；Starting torque computational submodule finally it is expected according to obtained in step II
Engine acceleration calculates separately to obtain caused by big motor starting up torque and small machine starting torque；Planet carrier torque estimation submodule
It is 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 table look-up submodule according to current actual engine speed look into actual engine speed and amendment
The correspondence table of coefficient obtains correction factor, and correction factor obtains revised planet carrier estimation after being multiplied with planet carrier Assumption torque
Torque；Output end revolving speed is calculated according to current motor actual speed in output end revolving speed computational submodule, and output end is turned
The difference of speed and output end reference rotation velocity obtains desired output end compensating after PD control device (i.e. proportional plus derivative controller) processing
Torque；Damping torque computational submodule is calculated separately according to the torque of desired output end compensating and revised planet carrier Assumption torque
Obtain big motor compensating torque and small machine compensation torque；Big motor driven torque, caused by big motor starting up torque and big motor compensating
Big motor expectation torque is obtained after torque is cumulative, small machine driving torque, small machine starting torque and small machine compensation torque are tired
Small machine expectation torque is obtained after adding, and big motor it is expected that torque and small machine expectation torque input electric machine controller execute；
IV circulation step I is to step III until automobile start is completed.
In actual use, it is expected that engine oil spout revolving 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 tabled look-up by interpolated value outer boundary
Method is tabled look-up.Engine coolant temperature is sent out with the corresponding table of desired engine oil spout revolving speed, speed and gas pedal aperture and expectation
The correspondence table of motivation revolving speed and expectation motor torque, engine coolant temperature are corresponding with the second expectation engine acceleration
Table and actual engine speed can be obtained with the corresponding table of correction factor by test data, and acquisition methods are also simpler
It is single.
Engine coolant temperature and the acquisition methods of the corresponding table of desired engine oil spout revolving speed are general are as follows: start in difference
Under machine coolant water temperature, gear ring rate of angular acceleration value and corresponding engine oil spout revolving speed, take gear ring angle to add when concern starts
Engine oil spout revolving speed corresponding to percentage speed variation minimum value is as the expectation engine spray under corresponding engine coolant temperature
Oily revolving speed.Selection for engine coolant temperature, can be determines according to actual conditions.
The acquisition methods of speed and gas pedal aperture and desired engine speed and the corresponding table for it is expected motor torque
Generally are as follows: first determine a speed, then under different gas pedal apertures, monitor vehicle fuel consumption and power battery
Power, the engine speed and torque when selecting system efficiency highest are as the expectation under gas pedal apertures different under the speed
Engine speed and desired motor torque；Similarly, it can successively obtain corresponding under different gas pedal apertures under other speeds
Desired engine speed and desired motor torque.Selection for speed and gas pedal aperture, can according to the actual situation really
It is fixed.
Engine coolant temperature and the acquisition methods of the corresponding table of the second expectation engine acceleration are general are as follows: in difference
Under engine coolant temperature, gear ring rate of angular acceleration value and corresponding engine acceleration, take gear ring when concern starts
Engine acceleration corresponding to rate of angular acceleration minimum value is as the second expectation under corresponding engine coolant temperature
Engine acceleration.Selection for engine coolant temperature, can be determines according to actual conditions.
Actual engine speed and the acquisition methods of the corresponding table of correction factor are general are as follows: at practical turn of different engines
Under speed, gear ring rate of angular acceleration value when concern starts, one amendment of setting in gear ring rate of angular acceleration minimum value
Coefficient and as corresponding correction factor under corresponding actual engine speed, correction factor is between 0~1, according to test result
It determines.Selection for actual engine speed, can be determines according to actual conditions.
What the output end reference rotation velocity in the step III was obtained by wheel speed estimation submodule according to output end turn count
Estimation wheel speed is obtained divided by speed ratio of main reducer.
It in the step II, takes turns in side torque limit submodule, small machine allows to take turns side torque TWH_MG1Based on formula (1)
It calculates and obtains, big motor allows to take turns side torque TWH_MG2It calculates and obtains by formula (2), torque T it is expected on the wheel side after limitationWH_MG_LIMWith
Small machine allows to take turns side torque TWH_MG1Allow to take turns side torque T with big motorWH_MG2Between relationship are as follows: 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；Finally it is expected engine acceleration,To take turns corner
Acceleration setting value；iaFor speed ratio of main reducer.
Small machine driving torque T in the step III, in driving torque computational submoduleMG1_DRIt calculates and obtains by formula (3)
, big motor driven torque TMG2_DRIt calculates and obtains by formula (4)；Small machine starting torque in starting torque computational submodule
TMG1_ESIt calculates and obtains by formula (5), caused by big motor starting up torque TMG2_ESIt calculates and obtains by formula (6):
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 limitation
Torque；TENGFor engine actual torque；IENGFor engine moment inertia, IMG1For small machine rotary inertia, IMG2For big motor
Rotary inertia；Finally it is expected engine acceleration,To take turns corner acceleration setting value；iaBased on
Retarder speed ratio.
In the output end revolving speed computational submodule, output end revolving speedIt calculates and obtains by formula (7):
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.
In the wheel speed estimation submodule, transmission function of the output end torque to equivalent wheel speedFor formula (a),
Transmission function of the output end torque to output end revolving speedFor formula (b),
Output end revolving speed is released to the transmission function of equivalent wheel speed according to formula (a), (b)For formula (c),
It is obtained according to formula (c), estimates wheel speedFunctionIt calculates and obtains by formula (8):
Wherein, cTIFor transmission shaft and tire equivalent damping, kTIFor transmission shaft and tire equivalent stiffness, s is Laplce's calculation
Son, ILFor equivalent vehicle rotary inertia,For output end revolving speedFunction.The function of output end revolving speedBy
Output end revolving speedIt is converted to through Laplce, estimates wheel speedValue by estimation wheel speed functionThrough La Pula
This inverse transform obtains.
In the planet carrier torque estimation submodule, planet carrier Assumption torque TCIt calculates and obtains by formula (9):
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 the rotation of big motor
Inertia；TMG1_ is realFor small machine actual torque, TMG2_ is realFor big actual motor torque.
In the damping torque computational submodule, small machine compensates torque TMG1_DAMPIt calculates and obtains by formula (10), big electricity
Machine compensates torque TMG2_DAMPIt calculates and obtains by formula (11):
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 the rotation of big motor
Inertia；TR_DESIt is expected reference-junction compensation torque, TC_ESTFor revised planet carrier Assumption torque.
Under normal circumstances, engine controller provides engine coolant temperature, actual engine speed, gas pedal in real time
Aperture and engine actual torque, brake monitor provide speed in real time, and power battery controller provides power battery electricity in real time
Amount, power battery actual power and power battery maximum allowable power, big electric machine controller provide in real time the torque allowable of big motor,
Big motor actual speed and big actual motor torque, small machine controller provide small machine torque allowable, small machine reality in real time
Revolving speed and small machine actual torque.
Double planet wheel rows of mixing hybrid vehicle of the invention starts control method for coordinating, has the advantage that
(1) starting-impact problem is directly inhibited by compensation wheel side torque, no replacement is required, and two-way Hall-type crank position passes
Sensor accurately calculates engine crank angle and 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 use with the rigidly connected torsion vibration absorber of bypass to the engine pulse drag torque in starting process
It is accurately compensated, saves hardware cost；
(3) when the big motor for wheel side, the control of small machine compensated torque is used only, and rationally controlling engine oil spout
Machine, limitation wheel side demand torque, that is, can be relieved starting-impact problem；
(4) control method is simple, practical.
Detailed description of the invention
The double planet wheel rows of mixing hybrid power gearbox structural schematic diagram used on hybrid vehicle in Fig. 1 present invention
Fig. 2 double planet wheel rows of mixing hybrid vehicle starts coordinated control flow chart
Specific embodiment
The invention will be further described with reference to embodiments, but the invention is not limited to the statements of embodiment.
The double planet wheel rows of mixing hybrid power gearbox used on hybrid vehicle in the present invention is as shown in Figure 1, it is main
Component 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, transmission shaft and tire 5 and vehicle body 6.Planet carrier C1 phase of the engine ENG through torsional vibration damper 1 with double planet wheel rows of mixing 2
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 and transmission shaft and tire of double planet wheel rows of mixing
5 and vehicle body 6 be connected.
Embodiment 1
Fig. 2 is that double planet wheel rows of mixing hybrid vehicle starts coordinated control flow chart.
A kind of double planet wheel rows of mixing hybrid vehicle starting control method for coordinating, sequentially includes the following steps:
I wheel it is expected to turn when wheel is calculated according to current speed and gas pedal aperture in demand torque calculation submodule
Square；Necd decision submodule is started to be obtained according to current power battery electricity, engine coolant temperature and the expectation torque of wheel side
Starting demand, if start demand be it is yes, carry out step II and step III, otherwise vehicle maintain electric-only mode run；
Engine speed after II current actual engine speed is filtered after filter process, it is expected that engine sprays
Oily revolving speed submodule of tabling look-up according to current engine coolant temperature looks into engine cooling water by interpolated value outer boundary look-up table
Temperature obtains expectation engine oil spout revolving speed with the corresponding table table 1 of desired engine oil spout revolving speed, if engine speed is big after filtering
In desired engine oil spout revolving speed, then entire car controller issues engine oil spout and instructs to engine controller execution, otherwise whole
Vehicle controller issues 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 by interpolated value outer boundary look-up table according to current speed and gas pedal aperture
The correspondence table table 2-1 and speed and gas pedal aperture of engine speed table table 2-2 difference corresponding with desired motor torque
It obtains desired engine speed and desired motor torque and executes desired motor torque input engine controller, it is expected that
The difference of engine speed obtains the first expectation engine acceleration after the processing of PI controller after engine speed and filtering；
It is expected that engine acceleration is tabled look-up, submodule is looked into according to current engine coolant temperature by interpolated value outer boundary look-up table
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 according to the size of engine speed after filtering in the first expectation engine acceleration and the second expectation
It switches over to obtain final expectation engine acceleration between motivation angular acceleration；Side torque limit submodule is taken turns according to current
Power battery actual power, power battery maximum allowable power, the torque allowable of big motor, small machine torque allowable, big motor
Obtained in actual speed, small machine actual speed, engine actual torque, final expectation engine acceleration and step I
Wheel it is expected torque in the wheel after desired torque calculation is limited；
Wheel side expectation torque after III driving torque computational submodule is limited according to obtained in step II calculates separately
To big motor driven torque and small machine driving torque；Starting torque computational submodule finally it is expected according to obtained in step II
Engine acceleration calculates separately to obtain caused by big motor starting up torque and small machine starting torque；Planet carrier torque estimation submodule
It is 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 pass through multiplied by correction factor submodule of tabling look-up according to current actual engine speed
Interpolated value outer boundary look-up table is repaired 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 is calculated according to current motor actual speed in output end revolving speed computational submodule
The difference of output end revolving speed and output end reference rotation velocity is obtained desired output end compensating after the processing of PD control device and turned by revolving speed
Square, and the estimation wheel speed that output end reference rotation velocity is obtained by wheel speed estimation submodule according to output end turn count is divided by main deceleration
Device speed ratio obtains；Damping torque computational submodule is according to the torque of desired output end compensating and revised planet carrier Assumption torque point
Big motor compensating torque and small machine compensation torque are not calculated；Big motor driven torque, caused by big motor starting up torque and big electricity
Big motor expectation torque, small machine driving torque, small machine starting torque and small machine compensation are obtained after machine compensation torque is cumulative
Small machine expectation torque is obtained after torque is cumulative, and big motor it is expected that torque and small machine expectation torque input electric machine controller are held
Row；
IV circulation step I is to step III until automobile start is completed.
Respectively in the case where engine coolant temperature is -40 DEG C, -20 DEG C, 0 DEG C, 20 DEG C, 40 DEG C, 60 DEG C and 80 DEG C, concern is started
When gear ring rate of angular acceleration value and corresponding engine oil spout revolving speed, take corresponding to gear ring rate of angular acceleration minimum value
Engine oil spout revolving speed as the expectation engine oil spout revolving speed under corresponding engine coolant temperature.It is obtained according to test data
The corresponding table of engine coolant temperature and desired engine oil spout revolving speed, as shown in table 1.
The corresponding table of 1 engine coolant temperature of table and desired engine oil spout revolving speed
First determine that speed is 2km/h, then respectively gas pedal aperture be 0%, 2%, 8%, 12%, 13%,
15%, under 17%, 22%, 33%, 34%, 43%, 54%, 65%, 76%, 87%, 91%, 96% and 100%, vehicle is monitored
Fuel consumption and power battery power, the engine speed and torque when selecting system efficiency highest are as different under the speed
Desired engine speed and desired motor torque under gas pedal aperture；Similarly, can successively obtain 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%, corresponding desired engine speed and expectation motor torque under 87%, 91%, 96% and 100%.According to test data
It obtains speed and gas pedal aperture table corresponding with desired engine speed and speed and gas pedal aperture is started with expectation
The correspondence 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
The corresponding table of table 2-2 speed and gas pedal aperture and desired motor torque
The gear ring when engine coolant temperature is -40 DEG C, -20 DEG C, 0 DEG C, 20 DEG C, 40 DEG C and 60 DEG C, and concern starts respectively
Rate of angular acceleration value and corresponding engine acceleration take and start corresponding to gear ring rate of angular acceleration minimum value
Machine angular acceleration is as the second expectation engine acceleration under corresponding engine coolant temperature.It is sent out according to test data
The corresponding table of motivation coolant water temperature and the second expectation engine acceleration, as shown in table 3.
The corresponding table of 3 engine coolant temperature of table and the second expectation engine acceleration
Respectively in the case where actual engine speed is 0rpm, 200rpm, 400rpm, 600rpm, 800rpm and 1000rpm, close
Gear ring rate of angular acceleration value when note starts sets a correction factor in gear ring rate of angular acceleration minimum value and makees
For corresponding correction factor under corresponding actual engine speed, correction factor is determined between 0~1 according to test result.According to
Test data obtains corresponding table of the actual engine speed with correction factor, as shown in table 4.
The corresponding table of 4 actual engine speed of table and correction factor
It in step II, takes turns in side torque limit submodule, small machine allows to take turns side torque TWH_MG1It calculates and obtains by formula (1)
, big motor allows to take turns side torque TWH_MG2It calculates and obtains by formula (2), torque T it is expected on the wheel side after limitationWH_MG_LIMWith small electricity
Machine allows to take turns side torque TWH_MG1Allow to take turns side torque T with big motorWH_MG2Between relationship are as follows: 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；Finally it is expected engine acceleration,To take turns corner
Acceleration setting value；iaFor speed ratio of main reducer.
Small machine driving torque T in step III, in driving torque computational submoduleMG1_DRIt calculates and obtains by formula (3),
Big motor driven torque TMG2_DRIt calculates and obtains by formula (4)；Small machine starting torque in starting torque computational submodule
TMG1_ESIt calculates and obtains by formula (5), caused by big motor starting up torque TMG2_ESIt calculates and obtains by formula (6):
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 limitation
Torque；TENGFor engine actual torque；IENGFor engine moment inertia, IMG1For small machine rotary inertia, IMG2For big motor
Rotary inertia；Finally it is expected engine acceleration,To take turns corner acceleration setting value；iaBased on
Retarder speed ratio.
In output end revolving speed computational submodule, output end revolving speedIt calculates and obtains by formula (7):
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, estimates wheel speedFunctionIt calculates and obtains by formula (8):
Wherein, cTIFor transmission shaft and tire equivalent damping, kTIFor transmission shaft and tire equivalent stiffness, s is Laplce's calculation
Son, ILFor equivalent vehicle rotary inertia,For output end revolving speedFunction.The function of output end revolving speedBy
Output end revolving speedIt is converted to through Laplce, estimates wheel speedValue by estimation wheel speed functionThrough La Pula
This inverse transform obtains.
In planet carrier torque estimation submodule, planet carrier Assumption torque TCIt calculates and obtains by formula (9):
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 the rotation of big motor
Inertia；TMG1_ is realFor small machine actual torque, TMG2_ is realFor big actual motor torque.
In damping torque computational submodule, small machine compensates torque TMG1_DAMPIt calculates and obtains by formula (10), big motor is mended
Repay torque TMG2_DAMPIt calculates and obtains by formula (11):
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 the rotation of big motor
Inertia；TR_DESIt is expected reference-junction compensation torque, TC_ESTFor revised planet carrier Assumption torque.
Concrete example illustrates below:
Assuming that current engine coolant temperature is 80 degree, actual engine speed 409r/min, gas pedal aperture
It is 30%, engine actual torque TENGFor -40Nm (the also non-oil spout work of engine at this time, so being negative value, i.e. towing astern resistance
Torque), speed 9.2km/h, power battery electricity is 60%, and power battery actual power is 10850w, and power battery is maximum
Allow power 35000w, positive torque allowable is 247.7Nm in big motor torque allowable, negative sense torque allowable is -251Nm, greatly
Motor actual speed is 364.4r/min, big actual motor torque TMG2It is positive allowable in small machine torque allowable for 91.09Nm
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 ρ1It is 3.174, double planet wheel rows of mixing heel row speed ratio ρ2It is 2.355, engine moment inertia IENG
For 0.18kgm2, small machine rotary inertia IMG1For 0.041kgm2, big motor rotary inertia IMG2For 0.072kgm2, wheel
Corner acceleration setting valueFor 0rad/s, speed ratio of main reducer iaIt is 3.529.
Obtaining the expectation torque of wheel side according to step I is -138Nm；
Table look-up 1 obtain expectation engine oil spout revolving speed be 850r/min；Table look-up 2 obtain desired engine speed be 1525r/
Min and desired motor torque are 107.6Nm；Table look-up 3 obtain the second expectation engine acceleration be 200rad/s；
The size for comparing desired engine oil spout revolving speed and engine speed after filtering determines that entire car controller starts
Machine oil spout instruction；
It is obtained finally it is expected engine acceleration according to step IIFor 200rad/s；
Data are substituted into formula (1), small machine is respectively obtained in (2) allows to take turns side torque TWH_MG1For -102.7Nm~
660.4Nm；Big motor allows to take turns side torque TWH_MG2For -262.3Nm~398.3Nm；
Torque T it is expected according to the wheel side after limitationWH_MG_LIMAllow to take turns side torque T with small machineWH_MG1Allow with big motor
Take turns side torque TWH_MG2Between relationship and step II limited after wheel side expectation torque TWH_MG_LIMFor -138Nm (explanation:
Since expectation takes turns side torque in the range of torque-limiting, so practical be not limited.)
Small machine driving torque T will be respectively obtained in data substitution formula (3), (4), (5), (6)MG1_DRFor 33.82Nm,
Big motor driven 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.
Survey small machine angular speedFor 39.28rad/s, big motor angular velocityFor 38.16rad/s；Small electricity
Machine angular accelerationFor 10670rad/s2, big motor angular accelerationFor -1856rad/s2；Transmission shaft and tire etc.
Effect resistance cTIFor 15Nm/ (rad/s), transmission shaft and tire equivalent stiffness kTIFor 2864 (Nm/rad), equivalent vehicle rotary inertia IL
For 12.6033kgm2, planet carrier rotary inertia ICFor 0.001kgm2, TR_DESFor 20Nm.
Data substitution formula (7) is obtained into output end revolving speedFor 38.43rad/s, by output end revolving speedThrough La Pula
This is converted to the function of output end revolving speedAnd data substitution formula (8) is obtained into the function of estimation wheel speed
And it is obtained through Laplce's inverse transformFor 101.88rad/s, it is 28.87rad/s that measuring and calculating, which obtains output end reference rotation velocity,；Root
Obtaining desired output end compensating torque according to step III is 20Nm；Data substitution formula (9) is obtained into 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 are substituted into formula (10) respectively, obtain small machine compensation torque T in (11)MG1_DAMPFor -4.75Nm, big motor
Compensate torque TMG2_DAMPFor -14.9Nm.
Big motor expectation torque is obtained after big motor driven torque, caused by big motor starting up torque and big motor compensating torque are cumulative
For 90.43Nm, small machine driving torque, small machine starting torque and small machine compensation torque obtain small machine expectation after adding up and turn
Square is 78.63Nm.
Claims (8)
1. a kind of double planet wheel rows of mixing hybrid vehicle starts control method for coordinating, it is characterised in that: sequentially include the following steps:
I wheel it is expected torque when wheel is calculated according to current speed and gas pedal aperture in demand torque calculation submodule；
Necd decision submodule is started to be started according to current power battery electricity, engine coolant temperature and the expectation torque of wheel side
Demand, if start demand be it is yes, carry out step II and step III, otherwise vehicle maintain electric-only mode run；
Engine speed after II current actual engine speed is filtered after filter process, it is expected that engine oil spout turns
Zoom table submodule looks into pair of engine coolant temperature Yu desired engine oil spout revolving speed according to current engine coolant temperature
Table is answered to obtain expectation engine oil spout revolving speed, if engine speed is greater than desired engine oil spout revolving speed, vehicle control after filtering
Device processed, which issues engine oil spout and instructs to engine controller, to be executed, otherwise entire car controller issue 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 and desired engine speed and it is expected that the corresponding table of motor torque respectively obtains desired engine
Revolving speed and desired motor torque simultaneously execute desired motor torque input engine controller, desired engine speed and filter
The difference of engine speed obtains the first expectation engine acceleration after the processing of PI controller after wave；It is expected 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 correspondence table of degree obtains the second expectation engine acceleration；Switching switchs submodule according to the size of engine speed after filtering
It switches over to obtain finally expectation between the first expectation engine acceleration and the second expectation engine acceleration to start
Machine angular acceleration；Take turns side torque limit submodule according to current power battery actual power, power battery maximum allowable power,
Big motor torque allowable, small machine torque allowable, big motor actual speed, small machine actual speed, engine actual torque, most
Final period hopes wheel obtained in engine acceleration and step I it is expected torque in the wheel after desired torque calculation is limited；
Wheel side expectation torque after III driving torque computational submodule is limited according to obtained in step II calculates separately to obtain greatly
Motor driven torque and small machine driving torque；Starting torque computational submodule according to obtained in step II finally start by expectation
Machine angular acceleration calculates separately to obtain caused by big motor starting up torque and small machine starting torque；Planet carrier torque estimation submodule according to
Current big motor actual speed, big actual motor torque, small machine actual speed and small machine actual torque obtains planet carrier
Assumption torque, correction factor submodule of tabling look-up according to current actual engine speed look into actual engine speed and correction factor
Correspondence table obtain correction factor, correction factor obtains revised planet carrier estimation and turns after being multiplied with planet carrier Assumption torque
Square；Output end revolving speed is calculated according to current motor actual speed in output end revolving speed computational submodule, by output end revolving speed
Desired output end compensating torque is obtained after the processing of PD control device with the difference of output end reference rotation velocity；Damping torque calculates submodule
Root tuber according to the torque of desired output end compensating and revised planet carrier Assumption torque calculate separately to obtain big motor compensating torque and
Small machine compensates torque；Big motor is obtained after big motor driven torque, caused by big motor starting up torque and big motor compensating torque are cumulative
It is expected that torque, small machine driving torque, small machine starting torque and small machine compensation torque obtain small machine expectation after adding up and turn
Big motor it is expected that torque and small machine expectation torque input electric machine controller execute by square；
IV circulation step I is to step III until automobile start is completed.
2. double planet wheel rows of mixing hybrid vehicle as described in claim 1 starts control method for coordinating, it is characterised in that: the step
The estimation wheel speed that output end reference rotation velocity in rapid III is obtained by wheel speed estimation submodule according to output end turn count is divided by master
Retarder speed ratio obtains.
3. double planet wheel rows of mixing hybrid vehicle as described in claim 1 starts control method for coordinating, it is characterised in that: the step
It in rapid II, takes turns in side torque limit submodule, small machine allows to take turns side torque TWH_MG1It calculates and obtains by formula (1), big motor is permitted
Perhaps side torque T is taken turnsWH_MG2It calculates and obtains by formula (2), torque T it is expected on the wheel side after limitationWH_MG_LIMAllow to take turns side with small machine
Torque TWH_MG1Allow to take turns side torque T with big motorWH_MG2Between relationship are as follows: 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；Finally it is expected engine acceleration,To take turns corner acceleration
Setting value；iaFor speed ratio of main reducer.
4. double planet wheel rows of mixing hybrid vehicle as described in claim 1 starts control method for coordinating, it is characterised in that: the step
Small machine driving torque T in rapid III, in driving torque computational submoduleMG1_DRIt calculates and obtains by formula (3), big motor driven
Torque TMG2_DRIt calculates and obtains by formula (4)；Small machine starting torque T in starting torque computational submoduleMG1_ESBy formula (5)
It calculates and obtains, caused by big motor starting up torque TMG2_ESIt calculates and obtains by formula (6):
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 limitation
Square；TENGFor engine actual torque；IENGFor engine moment inertia, IMG1For small machine rotary inertia, IMG2Turn for big motor
Dynamic inertia；Finally it is expected engine acceleration,To take turns corner acceleration setting value；iaBased on subtract
Fast device speed ratio.
5. double planet wheel rows of mixing hybrid vehicle as claimed in claim 2 starts control method for coordinating, it is characterised in that: described defeated
In outlet revolving speed computational submodule, output end revolving speedIt calculates and obtains by formula (7):
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 starts control method for coordinating, it is characterised in that: the wheel
In speed estimation submodule, wheel speed is estimatedFunctionIt calculates and obtains by formula (8):
Wherein, CTIFor transmission shaft and tire equivalent damping, kTIFor transmission shaft and tire equivalent stiffness, s is Laplace operator, IL
For equivalent vehicle rotary inertia,For output end revolving speedFunction.
7. the double planet wheel rows of mixing hybrid vehicle as described in claim 1~6 is any starts control method for coordinating, feature exists
In: in the planet carrier torque estimation submodule, planet carrier Assumption torque TCIt calculates and obtains by formula (9):
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 the rotation of big motor
Inertia；TMG1_ is realFor small machine actual torque, TMG2_ is realFor big actual motor torque.
8. the double planet wheel rows of mixing hybrid vehicle as described in claim 1~6 is any starts control method for coordinating, feature exists
In: in the damping torque computational submodule, small machine compensates torque TMG1_DAMPIt calculates and obtains by formula (10), big motor compensating
Torque TMG2_DAMPIt calculates and obtains by formula (11):
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 the rotation of big motor
Inertia；TR_DESIt is expected reference-junction compensation torque, TC_ESTFor revised planet carrier Assumption torque.
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| CN107878447B (en) * | 2017-11-06 | 2019-07-19 | 科力远混合动力技术有限公司 | Sliding rub of hybrid vehicle starts the control method of engine and shift coordination |
| CN108725427B (en) * | 2018-05-30 | 2020-06-09 | 科力远混合动力技术有限公司 | Control method for auxiliary engine stop of clutch-free hybrid electric vehicle brake |
| CN108556836B (en) * | 2018-05-30 | 2020-06-09 | 科力远混合动力技术有限公司 | Control method for auxiliary starting engine of power-split hybrid electric vehicle brake |
| CN110943667B (en) * | 2018-09-25 | 2023-06-09 | 欧姆龙(上海)有限公司 | Control device and control method for induction motor |
| 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 |
| CN111572531B (en) * | 2020-05-01 | 2021-09-14 | 东风汽车集团有限公司 | Self-learning method for torque deviation of full transmission part of hybrid vehicle |
| CN112977462B (en) * | 2021-03-23 | 2022-08-05 | 东风汽车集团股份有限公司 | New energy automobile accelerator pedal torque calculation method and system and readable storage medium |
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