CN106574564B - 用于估算热力发动机的力矩的方法 - Google Patents

用于估算热力发动机的力矩的方法 Download PDF

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CN106574564B
CN106574564B CN201580039182.6A CN201580039182A CN106574564B CN 106574564 B CN106574564 B CN 106574564B CN 201580039182 A CN201580039182 A CN 201580039182A CN 106574564 B CN106574564 B CN 106574564B
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A·马卢姆
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Renault SAS
Nissan Motor Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/24—Devices for determining the value of power, e.g. by measuring and simultaneously multiplying the values of torque and revolutions per unit of time, by multiplying the values of tractive or propulsive force and velocity
    • G01L3/242—Devices for determining the value of power, e.g. by measuring and simultaneously multiplying the values of torque and revolutions per unit of time, by multiplying the values of tractive or propulsive force and velocity by measuring and simultaneously multiplying torque and velocity
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W2510/00—Input parameters relating to a particular sub-units
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W2510/00—Input parameters relating to a particular sub-units
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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
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    • 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
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2200/00—Input parameters for engine control
    • F02D2200/02—Input parameters for engine control the parameters being related to the engine
    • F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
    • F02D2200/1002—Output torque
    • F02D2200/1004—Estimation of the output torque
    • 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
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Abstract

本发明涉及一种用于估算车辆混合变速器中热力发动机的力矩的方法，所述混合变速器包括共同地或单独地朝所述车辆的车轮提供热力矩(T热)和电动力矩(T电动)的至少一个热力发动机和一个电机，其特征在于，所述热力发动机的估算力矩(T热)是由所述变速器向车轮提供的总力矩(总热)的估算与所述变速器的总体阻力矩的估算之和。

Description

用于估算热力发动机的力矩的方法
技术领域
本发明涉及热力发动机控制领域。
更确切地，其主题是一种用于估算车辆混合变速器中热力发动机的力矩的方法，所述混合变速器至少包括一起或单独地提供旨在用于所述车辆的车轮的热力发动机力矩和电动力矩的热力发动机和电机。
这种方法可以施加到具有两个旋转轴(或小齿轮)的任何热力发动机或混合动力传动系，这两个旋转轴需要同步从而保证传动比。
背景技术
对混合或非混合型车辆的热力发动机的力矩控制对于改善车辆的总体性能及其驾驶性能是至关重要的。
当与发动机相关联的变速箱是平行轴式变速箱(至少包括连接至电源的主轴以及被所述主轴驱动以便向车轮传输驱动力矩的副轴)时，需要对(热力发动机和/电动)力矩的良好控制从而避免当在传动比变化之后重新施加力矩时力矩曲线的潜在抖动。在传动比变化过程中对驱动力矩的控制在在某些混合架构中特别重要，在所述混合架构中，在接合传动比之前向热力发动机分配两个变速箱轴的同步。
然而，在向前移动的车辆中，热力发动机的力矩的测量结果不是直接可以获得的。一种用于获得所述力矩的值的手段是间接从曲轴的角转速的测量结果中对其进行估算(重构)。
公开FR 2 681 425披露了一种用于使用与发动机飞轮环形齿轮相关联的传感器所产生的信号来测量内燃热力发动机的力矩的方法。这种方法使得可以计算发动机的每个气缸中的气体混合物的每次燃烧所产生的平均力矩。所计算的值可以用于连续改进发动机运行并监测其缺陷。发动机管理计算机能够适配从飞轮环形齿轮中所得到的经验测量结果。对燃烧性能的连续改进是通过对燃烧参数的循环控制来执行的，这均假定了非常了解燃烧系统的动力学及其时间响应。
由于动力传动系内的惯性与摩擦的组合效果，这种方法在如混合架构等复杂环境中有点不能令人满意。每个动力电源(热力发动机和电机)实际上具有其自己的动力学及其特定于控制指令的响应水平。
当通过热力发动机使有待耦合的这两个轴(小齿轮)同步时，热力发动机另外需要满足驾驶员对力矩的需求。因此，控制系统需要关于热力发动机力矩的瞬时值的非常准确的信息。尤其有必要的是，使有待同步的轴之间的速度差异非常快速地收敛至30转每分钟的范围，从而使得伴随越小越好的速度差变速杆是可接受的。继这两个轴的耦合(重新施加力矩)之后的阶段也需要是透明的，这意味着伴随最小可能抖动而发生。
发明内容
本发明的目的是重构热力发动机所产生的力矩信号，考虑其对换挡控制构件以及对车轮的传动。
具体地，当同步由热力发动机执行时，本发明力图允许在保证传动比之前在此同步阶段过程中对发动机速度的鲁棒控制。所估算的力矩信号需要足够地准确，使得可以通过对用户透明的方式进行变速。
为此目的，本发明提出了将热力发动机力矩估算为变速器向车轮提供总力矩的估算与变速器的总体阻力矩的估算之和。
为了方便参考，这种方法使用对热力发动机速度的测量结果、热力发动机力矩参考的值、以及电机力矩的值。
附图说明
通过阅读本发明的一个非限制性实施例并通过参考展示了所述方法的关键步骤的附图，将更好地理解本发明。
具体实施方式
通过对包含热力发动机和电机的混合动力传动系应用基本机械学原理，获得了以下动力学模型：
-对于热力发动机：
-对于电动机：
-对于车轮：
其中：
-ω热：热力发动机的速度，
-T热：热力发动机的力矩，
-热力发动机的阻力矩，
-J热：热力发动机的惯性，
-ω电机：电动机的速度，
-T电机：电动机力矩，
-电动机的阻力矩，
-电动机的惯性，
-ωr：车轮的速度，
-Tr：施加到车轮的力矩，
-施加到车轮的阻力矩(外部来源的未知输入)，
-Jr：车轮的惯性。
热力发动机的力矩T热一直是对驾驶员的力矩需求(参考)的响应。如果τ是用于热力发动机的时间常量的符号(τ(包括在τ最小与τ最大)之间)，所述时间常量指示热力发动机对实现其力矩参考的响应能力，这可以被写作：
不管变速器的动态模式是什么，可以通过引入“等效惯性”或“相对于热力发动机的惯性”J等效-电机的概念以及等效阻力矩的概念向热力发动机引用动力传动系的总体惯性。
施加到变速器的驱动力矩和阻力矩之和的基本动态学原理可以被写作如下：
其中，(α)和(β)取决于热力发动机轴与车轮之间的减速传动比。β具体取决于变速箱的减速传动比并取决于车辆的车轴组件。
从这种类型的关系式中，可以确定相对于热力发动机J等效-热变速器的等效惯性的值。所述等效阻力矩可以是施加到车轮的阻力矩或发动机或电动机的阻力矩。从这个方程，本发明提出构造使得可以建立对热力发动机速度的估算热力发动机所施加的力矩Th的估算以及等效阻力矩的估算的“观测器”，从而保证的“鲁棒性”。
在图1中展示了所述方法。使得可以估算车辆混合变速器中热力发动机的力矩的方法，所述车辆混合变速器至少包括一起或单独地提供旨在用于所述车辆的车轮的热力发动机力矩T热和电动力矩T电动的热力发动机和电机。图1中可见输出信号连同总力矩的估算所估算的热力发动机的力矩是与的代数和。这些估算仅是从观测器所使用的三个输入产生的：热力发动机的速度ω热的测量结果、热力发动机力矩参考的值、以及电机力矩T电机的值。
M0、M1、k1和k2是需要被校准的增益。第一增益M0或“漂移补偿”被分配了待与乘积α.T电机相加的差的符号。这个和被积分，从而通过积分与等效惯性J等效-热的倒数的乘积以循环校正给出发动机速度的估算被分配了符号的项M0乘以增益k1的倒数。对这个乘积进行积分，然后用积分的结果x1对该乘积进行校正。总之，对发动机速度的估算是通过对乘积α.T电机与被分配了差的符号的经校准增益M0之和进行积分而从其测量结果ω电动中获得的。
符号x1被加于第二增益M1上，用于在后续步骤中计算力矩估算 与将项M1.sign(x1)与力矩参考相加，从而通过积分给出总力矩的估算在连续乘以增益k2的倒数并乘以发动机时间常量τ的倒数之后这个估算经历双重积分。通过将结果乘以上文所提到的参数β的倒数获得等效阻力矩的估算。如图中所指示的，热力发动机力矩的估算是总力矩的估算与等效阻力矩的估算之和。
所提出的用于估算力矩的方法因此分成两个主要阶段：
-第一阶段，所述第一阶段涉及估算所述热力发动机的速度总施加力矩和等效阻力矩以及
-第二阶段，所述第二阶段涉及从总施加力矩并从等效阻力矩估算所述热力发动机的施加力矩
为了估算热力发动机的速度总施加力矩和等效阻力矩观测器仅可用热力发动机速度测量结果ω热、力矩参考和电机力矩T电机。
在第二步中，将等效阻力矩乘以参数β。
综上所述，本发明提出了一种用于估算配备有热力发动机或混合动力传动系的车辆的力矩的鲁棒方法观测器允许对热力发动机的施加力矩总施加力矩和等效阻力矩进行估算。这种估算使得可以使将两个轴耦合(力矩的重新应用或力矩转换)的下一步骤透明，由此显著地减小力矩曲线的抖动。所述方法明显地允许通过热力发动机更好的控制将两个轴同步时遵循力矩曲线的程度。最终，所估算速度向测量速度ω热的收敛在某种程度上对系统参数(比如致动器的惯性和响应时间、或可能存在的任何延迟)的变化不敏感，从而使得这个观测器特别具有鲁棒性。

Claims (6)

1.一种用于估算车辆混合变速器中热力发动机的力矩的方法，所述混合变速器至少包括一起或单独地提供旨在用于所述车辆的车轮的力矩的用于提供热力发动机力矩T热的热力发动机和用于提供电动力矩T电机的电机，其特征在于，所述方法使用所述热力发动机的速度ω热的测量结果、热力发动机力矩参考的值、以及电机力矩T电机的值，并且在于，所述热力发动机力矩T热的估算值是由所述变速器为所述车轮所提供的总力矩的估算值与所述变速器的等效阻力矩的估算值之和。
2.如权利要求1所述的方法，其特征在于，从关系式中确定相对于所述热力发动机的变速器等效惯性J等效-热的值，其中，α和β为取决于热力发动机轴与所述车轮之间的减速传动比的参数。
3.如权利要求2所述的方法，其特征在于，为经校准增益M0分配差值的符号，即当ω热大于时符号为正，当ω热小于时为符号为负，其中ω热为热力发动机速度的测量结果并且为热力发动机速度的估算值，对通过对乘积αT电机与具有符号的经校准增益之和进行积分而获得热力发动机速度的估算值。
4.如权利要求3所述的方法，其特征在于，所述积分的结果通过热力发动机速度的估算值与所述热力发动机的变速器等效惯性J等效-热的倒数的乘积在循环中进行校正。
5.如以上权利要求之一所述的方法，其特征在于，所述方法包括：
-第一阶段，所述第一阶段在于估算所述热力发动机速度的估算值总力矩的估算值和变速器的等效阻力矩的估算值以及
-第二阶段，所述第二阶段在于从所述总力矩的估算值以及所述变速器的等效阻力矩的估算值估算所述热力发动机力矩的估算值。
6.如权利要求2所述的方法，其特征在于，所述参数β取决于变速箱与所述车辆的车轴组件的减速传动比。
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