CN106428013B - A kind of distance increasing unit starting active vibration suppression method based on the control of crankshaft stop position - Google Patents
A kind of distance increasing unit starting active vibration suppression method based on the control of crankshaft stop position Download PDFInfo
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- CN106428013B CN106428013B CN201610956304.4A CN201610956304A CN106428013B CN 106428013 B CN106428013 B CN 106428013B CN 201610956304 A CN201610956304 A CN 201610956304A CN 106428013 B CN106428013 B CN 106428013B
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000001629 suppression Effects 0.000 title claims abstract description 16
- 239000000725 suspension Substances 0.000 claims abstract description 13
- 230000005284 excitation Effects 0.000 claims description 14
- 230000000750 progressive effect Effects 0.000 claims description 6
- 230000005764 inhibitory process Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 5
- 208000019901 Anxiety disease Diseases 0.000 description 1
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000036506 anxiety Effects 0.000 description 1
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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
- 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
- B60W30/20—Reducing vibrations in the driveline
-
- 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
- B60W30/20—Reducing vibrations in the driveline
- B60W2030/206—Reducing vibrations in the driveline related or induced by the engine
-
- 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
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vibration Prevention Devices (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The present invention relates to a kind of distance increasing units based on the control of crankshaft stop position to start active vibration suppression method, this method are as follows: (1) establishes so that distance increasing unit suspension system motivates the smallest crankshaft to start target initial angle vehicle body；(2) design is using crankshaft starting target initial angle as the Crankshaft motion aim curve of terminal；(3) crankshaft is controlled in distance increasing unit stopping process to move to terminal according to Crankshaft motion aim curve; so that crankshaft is located at the starting target initial angle of the crankshaft in step (1) when distance increasing unit starts next time; distance increasing unit suspension system motivates minimum, inhibition distance increasing unit starting vibration to vehicle body.Compared with prior art, the present invention has many advantages, such as that control precision is high, inhibition of vibration is good, easy to implement.
Description
Technical field
The present invention relates to a kind of distance increasing unit start vibration suppression method, more particularly, to it is a kind of based on crankshaft stop position control
Distance increasing unit starts active vibration suppression method.
Background technique
Extended-range electric vehicle is caused and increasing engine on the basis of pure electric vehicle to solve battery technology bottleneck
" mileage anxiety problem ".But at the same time, special structure also makes extended-range electric vehicle be faced with unprecedented NVH
(Noise, Vibration and Harshness) challenge.
Compared to traditional vehicle, extended-range electric vehicle can be according to different road conditions, more frequent start and stop distance increasing unit, to subtract
Few oil consumption and discharge.It under distance increasing unit start operating performance, can vibrate, generate uncomfortable driving sense.Therefore needs pair
Distance increasing unit starting vibration is inhibited.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind to be shut down based on crankshaft
The distance increasing unit of position control starts active vibration suppression method.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of distance increasing unit starting active vibration suppression method based on the control of crankshaft stop position, this method are as follows:
(1) it establishes so that distance increasing unit suspension system motivates the smallest crankshaft to start target initial angle vehicle body；
(2) design is using crankshaft starting target initial angle as the Crankshaft motion aim curve of terminal；
(3) crankshaft is controlled in distance increasing unit stopping process to move according to Crankshaft motion aim curve to terminal, so that next time
Crankshaft is located at the starting target initial angle of the crankshaft in step (1) when distance increasing unit starts, and distance increasing unit suspension system motivates most vehicle body
It is small, inhibit distance increasing unit starting vibration.
Step (1) specifically:
(101) distance increasing unit is run in the case where different crankshafts start initial angle, obtains and suspends system under each crankshaft starting initial angle
System motivates peak-to-peak value to vehicle body；
(102) using crankshaft starting initial angle as abscissa, it is that ordinate draws vehicle body excitation peak peak that vehicle body, which motivates peak-to-peak value,
It is worth curve；
(103) it is initial that the corresponding crankshaft starting of vehicle body excitation peak-to-peak value smallest point is obtained from vehicle body excitation peak peak curve
Angle simultaneously starts target initial angle as crankshaft.
Step (2) specifically:
(201) distance increasing unit is started with different initial velocities, records the Crankshaft motion curve under different initial velocities, it is described
Initial velocity be crank angle be 0 ° of corresponding speed of crankshaft, the Crankshaft motion curve using crank angle as abscissa,
Speed of crankshaft is ordinate；
(202) crankshaft is fallen in from selection exercise end in Crankshaft motion curve to start within the scope of positive and negative 5 ° of target initial angle
Curve, which is used as, refers to curve movement, and records with reference to the corresponding crankshaft initial velocity range [Va, Vb] of curve movement；
It (203) is in the corresponding point conduct for being 0 with reference to selection speed of crankshaft in curve movement of Vb from crankshaft initial velocity
Between reference point；
(204) using reference curve movement as references object, at the beginning of different movements in setting speed range [0, Vc]
Beginning speed draws Crankshaft motion aim curve, and Vc is speed of crankshaft threshold value, specifically:
It is 0 ° of corresponding point as starting point using crank angle, each Crankshaft motion aim curve begins to pass through described from starting point
Middle reference point, last terminal falls within the crankshaft starting target initial angle, and originates in each Crankshaft motion aim curve
Point, which is that Vb is corresponding to the progressive crankshaft initial velocity of curve between middle reference point, refers to curve movement, and middle reference point is to eventually
The progressive crankshaft initial velocity of curve between point, which is that Va is corresponding, refers to curve movement.
Step (3) is moved to terminal using cascade control method control crankshaft according to Crankshaft motion aim curve.
The cascade control method specifically:
Using double loop control, inner ring is speed ring, and outer ring is position ring, and the speed ring collecting crankshaft turns in real time
Speed simultaneously feeds back to speed of crankshaft and gives input terminal, the real-time corner of position ring collecting crankshaft and to feed back to crank angle given
Input terminal.
Compared with prior art, the present invention has the advantage that
(1) the gas torque that engine rotates first week when the starting initial position of crankshaft starts distance increasing unit influences very
Greatly, because starting initial position determines the integrated degree of the first second compression of engine, expansion stroke, the present invention is bent by finding
Axis starting target initial angle to motivate minimum to vehicle body by this target initial angle distance increasing unit suspension system, and plans Crankshaft motion
Aim curve, so that crankshaft be by can be stopped at above-mentioned starting target initial angle position after this moving target curvilinear motion, thus
It can make to hang when initial from the target angular movement of this crankshaft since the starting target initial angle when starting next time
It sets system and minimum is motivated to vehicle body, to effectively inhibit vibration when distance increasing unit starting；
(2) acquisition of Crankshaft motion aim curve is using reference curve movement as references object, so that Crankshaft motion not only accords with
It while resultant motion rule, and can be realized regardless of initial velocity magnitude, at the beginning of the final terminal of crankshaft falls within starting target
Beginning Angle Position meets distance increasing unit starting vibration suppression control when different initial velocities；
(3) serials control effect of the present invention is good, and crankshaft is moved according to Crankshaft motion aim curve, controls precision
Height improves the accuracy in Crankshaft motion final position, so that vibration reduces when distance increasing unit starts next time, distance increasing unit starting
Inhibition of vibration is good.
Detailed description of the invention
Fig. 1 is that the distance increasing unit controlled the present invention is based on crankshaft stop position starts the flow diagram of active vibration suppression method；
Fig. 2 is vehicle body excitation peak peak curve；
Fig. 3 is the Crankshaft motion curve graph under frequency domain coordinates system under different initial velocities；
Fig. 4 is Crankshaft motion aim curve schematic diagram under frequency domain coordinates system；
Fig. 5 is the Crankshaft motion aim curve figure under frequency domain coordinates system under different initial velocities；
Fig. 6 is the Crankshaft motion aim curve figure under time domain coordinate system under different initial velocities；
Fig. 7 is serials control structural schematic diagram；
Fig. 8 is that distance increasing unit shuts down moment Crankshaft motion control effect comparison diagram；
Fig. 9 is distance increasing unit startup stage to suspend the control effect comparison diagram motivated to vehicle body.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
As shown in Figure 1, a kind of distance increasing unit based on the control of crankshaft stop position starts active vibration suppression method, this method are as follows:
(1) it establishes so that distance increasing unit suspension system motivates the smallest crankshaft to start target initial angle vehicle body；
(2) design is using crankshaft starting target initial angle as the Crankshaft motion aim curve of terminal；
(3) crankshaft is controlled in distance increasing unit stopping process to move according to Crankshaft motion aim curve to terminal, so that next time
Crankshaft is located at the starting target initial angle of the crankshaft in step (1) when distance increasing unit starts, and distance increasing unit suspension system motivates most vehicle body
It is small, inhibit distance increasing unit starting vibration.
Step (1) specifically:
(101) distance increasing unit is run in the case where different crankshafts start initial angle, obtains and suspends system under each crankshaft starting initial angle
System motivates peak-to-peak value to vehicle body；
(102) using crankshaft starting initial angle as abscissa, it is that ordinate draws vehicle body excitation peak peak that vehicle body, which motivates peak-to-peak value,
It is worth curve；
(103) it is initial that the corresponding crankshaft starting of vehicle body excitation peak-to-peak value smallest point is obtained from vehicle body excitation peak peak curve
Angle simultaneously starts target initial angle as crankshaft.
The vehicle body excitation peak peak curve of drafting is illustrated in figure 2 in the present embodiment, a point is at the beginning of crankshaft starts target in figure
Beginning angle starts target initial angle optimized scope for crankshaft within the scope of circle, i.e., sets one near crankshaft starting target initial angle
Start target initial angle optimized scope as crankshaft in range, it is specially that crankshaft opens that above-mentioned target initial angle, which nearby sets a range,
Within the scope of positive and negative 5 ° of moving-target initial angle.
Step (2) specifically:
(201) distance increasing unit is started with different initial velocities, records the Crankshaft motion curve under different initial velocities, it is described
Initial velocity be crank angle be 0 ° of corresponding speed of crankshaft, the Crankshaft motion curve using crank angle as abscissa,
Speed of crankshaft is ordinate；
(202) crankshaft is fallen in from selection exercise end in Crankshaft motion curve to start within the scope of positive and negative 5 ° of target initial angle
Curve, which is used as, refers to curve movement, and records with reference to the corresponding crankshaft initial velocity range [Va, Vb] of curve movement；
It (203) is in the corresponding point conduct for being 0 with reference to selection speed of crankshaft in curve movement of Vb from crankshaft initial velocity
Between reference point；
(204) using reference curve movement as references object, at the beginning of different movements in setting speed range [0, Vc]
Beginning speed draws Crankshaft motion aim curve, and Vc is speed of crankshaft threshold value, specifically:
It is 0 ° of corresponding point as starting point using crank angle, each Crankshaft motion aim curve begins to pass through described from starting point
Middle reference point, last terminal falls within the crankshaft starting target initial angle, and originates in each Crankshaft motion aim curve
Point, which is that Vb is corresponding to the progressive crankshaft initial velocity of curve between middle reference point, refers to curve movement, and middle reference point is to eventually
The progressive crankshaft initial velocity of curve between point, which is that Va is corresponding, refers to curve movement.
Fig. 3 is the Crankshaft motion curve graph that the present embodiment is drawn according to above-mentioned steps (201), and dotted line b opens in figure for crankshaft
Moving-target initial angle corresponding position nearby takes certain fluctuation range to crankshaft starting target initial angle, obtains above-mentioned crankshaft and open
Moving-target initial angle optimized scope, to obtain optimal stop position range, when shaft initial velocity is higher than Vo, crankshaft is not sent out
Raw reversion, and it is higher than 0 into next 180 initial speed, the Crankshaft motion under the revolving speed can be converted to revolving speed [0, Vo]
Crankshaft motion in range.When carrying out the design of crankshaft target curve movement, there is following rule:
It (1) is the reliability for guaranteeing control, setting speed of crankshaft threshold value Vc is slightly larger than Vo, refering to Fig. 4.
(2) no matter initial velocity is how many, i.e. where be located at 1 point in Fig. 4, all aim curves must all first pass through Fig. 4
In 2 points, 2 points are above-mentioned intermediate reference point in figure, and asymptotic initial speed is the curve of Vb.
(3) target crank target curve movement stops at 3 points, and the asymptotic initial speed in 2 to 3 parts is the curve of Va, bent
Axis stops at crankshaft starting target initial angle position, and control terminates.
Crankshaft motion aim curve of crankshaft when initial speed is V1, V2, V3, V4, V5 is designed, refering to Fig. 5.Other are bent
The curve movement of axis initial speed can carry out interpolation acquisition by the corresponding Crankshaft motion aim curve of V1, V2, V3, V4, V5, just
Beginning revolving speed is subject to V1 curve in V1 or less.By being integrated to curve, can be converted to time-domain curve, ginseng
Read Fig. 6.
Step (3) is moved to terminal using cascade control method control crankshaft according to Crankshaft motion aim curve.Specifically
For control block diagram as shown in fig. 7, using double loop control, inner ring is speed ring, and outer ring is position ring, the speed ring acquisition
The real-time revolving speed of crankshaft simultaneously feeds back to the given input terminal of speed of crankshaft, and the real-time corner of position ring collecting crankshaft simultaneously feeds back to song
Shaft angle gives input terminal.The open-loop transfer function of position control are as follows:
The closed loop transfer function, of position control are as follows:
Disturbing moment TNThe error transfer function exported to position are as follows:
Under step disturbance moment loading, the steady-state error of system are as follows:
So control is stable.
It is controlled to obtain distance increasing unit shutdown moment Crankshaft motion control effect comparison diagram such as Fig. 8 by means of the present invention
Shown, crankshaft stop position when p1 is without control in figure, p2 is to be transported using the stop position after the method for the present invention with crankshaft target
Moving curve terminal is consistent.
Fig. 9 is to suspend the control effect comparison diagram motivated to vehicle body distance increasing unit startup stage, outstanding when y1 is without control in Fig. 9
It sets to vehicle body excitation waveform, y2 is that vehicle body excitation waveform, y3 is song for suspension when controlling starting initial angle using the method for the present invention
Axis speed waveform.It can be seen that suspension is larger to vehicle body excitation fluctuation range when without control, make crankshaft from song using the method for the present invention
Vehicle body excitation fluctuation is obviously reduced in suspension when axis starting target initial angular movement.
Claims (5)
1. a kind of distance increasing unit based on the control of crankshaft stop position starts active vibration suppression method, which is characterized in that this method are as follows:
(1) it establishes so that distance increasing unit suspension system motivates the smallest crankshaft to start target initial angle vehicle body；
(2) design is using crankshaft starting target initial angle as the Crankshaft motion aim curve of terminal；
(3) crankshaft is controlled in distance increasing unit stopping process to move according to Crankshaft motion aim curve to terminal, so that increasing journey next time
Crankshaft is located at the starting target initial angle of the crankshaft in step (1) when device starts, and distance increasing unit suspension system motivates minimum, suppression to vehicle body
Distance increasing unit starting vibration processed.
2. a kind of distance increasing unit based on the control of crankshaft stop position according to claim 1 starts active vibration suppression method,
It is characterized in that, step (1) specifically:
(101) distance increasing unit is run in the case where different crankshafts start initial angle, obtains suspension system pair under each crankshaft starting initial angle
Vehicle body motivates peak-to-peak value；
(102) using crankshaft starting initial angle as abscissa, it is that ordinate drafting vehicle body motivates peak-to-peak value bent that vehicle body, which motivates peak-to-peak value,
Line；
(103) the corresponding crankshaft starting initial angle of vehicle body excitation peak-to-peak value smallest point is obtained from vehicle body excitation peak peak curve simultaneously
Start target initial angle as crankshaft.
3. a kind of distance increasing unit based on the control of crankshaft stop position according to claim 1 starts active vibration suppression method,
It is characterized in that, step (2) specifically:
(201) distance increasing unit is started with different initial velocities, records the Crankshaft motion curve under different initial velocities, described is first
Beginning speed is that crank angle is 0 ° of corresponding speed of crankshaft, and the Crankshaft motion curve is using crank angle as abscissa, crankshaft
Revolving speed is ordinate；
(202) curve within the scope of positive and negative 5 ° of target initial angle of crankshaft starting is fallen in from selection exercise end in Crankshaft motion curve
As reference curve movement, and record with reference to the corresponding crankshaft initial velocity range [Va, Vb] of curve movement；
(203) it is that Vb is corresponding from crankshaft initial velocity to join with reference to the point that selection speed of crankshaft is 0 in curve movement as intermediate
Examination point；
(204), as references object, it is initially fast that different movements is directed in setting speed range [0, Vc] with reference to curve movement
Degree draws Crankshaft motion aim curve, and Vc is speed of crankshaft threshold value, specifically:
It is 0 ° of corresponding point as starting point using crank angle, each Crankshaft motion aim curve is begun to pass through in described from starting point
Between reference point, last terminal falls within the crankshaft starting target initial angle, and starting point arrives in each Crankshaft motion aim curve
The progressive crankshaft initial velocity of curve between middle reference point, which is that Vb is corresponding, refers to curve movement, middle reference point to terminal it
Between the progressive crankshaft initial velocity of curve be Va it is corresponding refer to curve movement.
4. a kind of distance increasing unit based on the control of crankshaft stop position according to claim 1 starts active vibration suppression method,
It is characterized in that, step (3) is moved to terminal using cascade control method control crankshaft according to Crankshaft motion aim curve.
5. a kind of distance increasing unit based on the control of crankshaft stop position according to claim 4 starts active vibration suppression method,
It is characterized in that, the cascade control method specifically:
Using double loop control, inner ring is speed ring, and outer ring is position ring, and the real-time revolving speed of speed ring collecting crankshaft is simultaneously
It feeds back to speed of crankshaft and gives input terminal, the real-time corner of position ring collecting crankshaft simultaneously feeds back to the given input of crank angle
End.
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| CN201610956304.4A CN106428013B (en) | 2016-10-27 | 2016-10-27 | A kind of distance increasing unit starting active vibration suppression method based on the control of crankshaft stop position |
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| CN201610956304.4A CN106428013B (en) | 2016-10-27 | 2016-10-27 | A kind of distance increasing unit starting active vibration suppression method based on the control of crankshaft stop position |
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| CN113619561B (en) * | 2021-08-10 | 2022-10-11 | 合众新能源汽车有限公司 | Start-up and shutdown optimization method and system for range extender and storage medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103097173A (en) * | 2010-06-24 | 2013-05-08 | Fev有限责任公司 | Machine |
| CN103342126A (en) * | 2013-07-12 | 2013-10-09 | 东风汽车公司 | Hybrid electric vehicle engine torque fluctuation compensation method |
| CN103935357A (en) * | 2013-12-23 | 2014-07-23 | 上海大郡动力控制技术有限公司 | Damping method for electric automobile range extender |
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| JP5880067B2 (en) * | 2012-01-19 | 2016-03-08 | いすゞ自動車株式会社 | Internal combustion engine and control method thereof |
| US10473045B2 (en) * | 2013-02-25 | 2019-11-12 | Toyota Jidosha Kabushiki Kaisha | Control apparatus for internal combustion engine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103097173A (en) * | 2010-06-24 | 2013-05-08 | Fev有限责任公司 | Machine |
| CN103342126A (en) * | 2013-07-12 | 2013-10-09 | 东风汽车公司 | Hybrid electric vehicle engine torque fluctuation compensation method |
| CN103935357A (en) * | 2013-12-23 | 2014-07-23 | 上海大郡动力控制技术有限公司 | Damping method for electric automobile range extender |
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