CN106585609B - The torque filtering method of electric car - Google Patents
The torque filtering method of electric car Download PDFInfo
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- CN106585609B CN106585609B CN201510674301.7A CN201510674301A CN106585609B CN 106585609 B CN106585609 B CN 106585609B CN 201510674301 A CN201510674301 A CN 201510674301A CN 106585609 B CN106585609 B CN 106585609B
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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
- 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
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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
- 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
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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
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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
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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
- B60W2510/0657—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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0657—Engine torque
- B60W2510/0661—Torque change rate
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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
- B60W2510/08—Electric propulsion units
- B60W2510/083—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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/083—Torque
- B60W2510/084—Torque change rate
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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
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
- B60W2710/0672—Torque change rate
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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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- 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
- B60W2710/085—Torque change rate
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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
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Abstract
The invention discloses a kind of torque filtering methods of electric car, this method comprises: the current torque of the engine of acquisition electric car and the current torque of motor, calculate the target torque for obtaining the aggregate demand torque of the electric car and the target torque of the engine and the motor；Judge the variation tendency of the change in torque trend of engine, the change in torque trend of motor and aggregate demand torque；The aggregate demand change in torque amount within the unit time is obtained, change in torque amount and institute motor change in torque amount during unit time of the engine within the unit time is calculated；And engine is filtered according to the change in torque amount of the current torque of engine, target torque and the engine within the unit time, and motor is filtered according to the change in torque amount of the current torque and target torque, motor of motor within the unit time.Torque filtering method of the invention, can to avoid engine and Motor torque fluctuation it is excessive components are damaged, improve the comfort of vehicle.
Description
Technical field
The invention belongs to technical field of vehicle more particularly to a kind of torque filtering methods of electric car.
Background technique
The motor of vehicle, the torque of engine are filtered, the method generally used is: calculating separately out motor
Then the filter factor of filter factor and engine is compared the filter factor for obtaining needs, then the filter factor with needs
It is filtered.In the related technology it is also proposed that a kind of control method of torque filtering, formula used are as follows: T=rate*t+
Tq-old, wherein T is the current torque of electric car, and rate is slope, and t is time threshold, and Tq-old is the torsion of last moment
Square.
As can be seen that the filtering method of the relevant technologies does not account for the change rate of vehicle torque, only to single power
The filtering in source, be easy so that engine and Motor torque fluctuation it is excessive components are damaged, influence the comfort of vehicle.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, the present invention needs
It is proposed that a kind of torque filtering method of electric car, the filtering method can be excessive right to avoid engine and Motor torque fluctuation
Components damage, and improve the comfort of vehicle.
To solve the above problems, the present invention proposes a kind of torque filtering method of electric car, this method includes following step
It is rapid: to acquire the current torque of the current torque and motor of the engine of electric car, calculate the total need for obtaining the electric car
Ask the target torque of torque and the engine and the target torque of the motor；Judge the change in torque of the engine
The variation tendency of trend, the change in torque trend of the motor and the aggregate demand torque；Obtain the institute within the unit time
Aggregate demand change in torque amount is stated, and is become according to the torque of the aggregate demand change in torque amount described within the unit time, the engine
The variation tendency of change trend, the change in torque trend of the motor and the aggregate demand torque calculates separately the engine and exists
The change in torque amount of change in torque amount and the motor within the unit time in unit time；And according to the engine
The change in torque amount of current torque, the target torque and the engine within the unit time is filtered the engine
Processing, and the change in torque amount pair according to the current torque and target torque, the motor of the motor within the unit time
The motor is filtered.
The torque filtering method of electric car according to the present invention, according within the unit time aggregate demand change in torque amount,
The variation tendency of the change in torque trend of engine, the change in torque trend of motor and aggregate demand torque calculates separately engine
The change in torque amount of change in torque amount and motor within the unit time within the unit time, and according to the current torsion of engine
The change in torque amount of square, target torque and engine within the unit time is filtered engine, and according to motor
Change in torque amount within the unit time of current torque and target torque motor motor is filtered, i.e., for multiple
Power source is filtered, and under the premise of considering that aggregate demand torque ripple should not be too large, is filtered respectively to engine and motor
Wave processing had not only been avoided that engine and Motor torque fluctuation is excessive damages to components, and but also can improve electric automobile whole
Comfort.
Further, change in torque amount of the aggregate demand torque within the unit time is obtained, and according to the aggregate demand
Change in torque amount, the change in torque trend of the engine, the change in torque trend of the motor of the torque within the unit time
And the variation tendency of the aggregate demand torque calculates separately change in torque amount of the engine within the unit time and described
Change in torque amount of the motor within the unit time, specifically includes: according to the variable quantity of speed and the aggregate demand torque with first
Principle of tabling look-up, which is tabled look-up, obtains aggregate demand torque permission variation delta T in the unit time；When the variation tendency of the aggregate demand torque
For rise and the engine change in torque trend be rise and the motor change in torque trend be rise when, if institute
The torque of motor is stated without zero demand is crossed, is then tabled look-up original according to the demand torque variable quantity of the speed and the engine with second
Then table look-up the torque conversion amount Δ Teng for obtaining the engine within the unit time, wherein Δ Teng < Δ T；Calculate the electricity
Change in torque amount of the machine within the unit time is Δ Tmot=Δ T- Δ Teng；If the torque of the motor had zero demand,
Then tabled look-up the change in torque for obtaining the motor within the unit time according to the current torque of the motor with third principle of tabling look-up
Measure Δ Tmot, wherein Δ Tmot < Δ T；It is tabled look-up original according to the demand torque variable quantity of the speed and the engine with the 4th
It then tables look-up and obtains engine maximum permissible torque variation delta Teng' within the unit time；And calculate the engine
Change in torque amount within the unit time is Δ Teng=min (Δ Teng', Δ T- Δ Tmot).
Further, the above method further include: when the variation tendency of the aggregate demand torque is decline and the engine
Change in torque trend be decline and the motor change in torque trend be decline when, if the torque of the motor is without zero passage
Demand is then tabled look-up with the 5th principle of tabling look-up according to the speed and the engine demand change in torque amount and is obtained the engine
Change in torque amount Δ Teng within the unit time, wherein Δ Teng > Δ T；Calculate torque of the motor within the unit time
Variable quantity is Δ Tmot=Δ T- Δ Teng；
If the torque of the motor had zero demand, looked into according to the current torque of the motor with the 6th principle of tabling look-up
Table obtains the motor in unit time internal torque variation delta Tmot, wherein Δ Tmot > Δ T；According to the speed and described
Engine demand change in torque amount is tabled look-up with the 7th principle of tabling look-up and is obtained engine maximum permissible torque within the unit time
Variation delta Teng'；And calculating change in torque amount of the engine within the unit time is Δ Teng=max (Δ
Teng', Δ T- Δ Tmot).
Alternatively, the above method further include: when the torque that the aggregate demand change in torque trend is rising and the engine
Variation tendency be rise and the motor change in torque trend be decline when, if the torque of the motor without cross zero demand,
Then tables look-up with the 8th principle of tabling look-up according to the speed and the engine demand change in torque amount and obtain the engine in list
Change in torque amount Δ Teng in the time of position；Calculating change in torque amount of the motor within the unit time is Δ Tmot=min
(0, Δ T- Δ Teng)；
If the torque of the motor had zero demand, looked into according to the current torque of the motor with the 9th principle of tabling look-up
Table obtains the motor allows variation delta Tmot' within the unit time；According to the speed and the engine demand torque
Variable quantity is tabled look-up with the tenth principle of tabling look-up and is obtained engine maximum permissible torque variation delta Teng' within the unit time；
Calculate change in torque amount Δ Teng=min (Δ Teng', Δ T- Δ Tmot') of the engine within the unit time；If full
Sufficient Δ Teng+ Δ Tmot' < 0, then the motor within the unit time change in torque amount Δ Tmot=min (0, Δ T- Δ
Teng)；And if meeting Δ Teng+ Δ Tmot' > 0, change in torque amount Δ Tmot=of the motor within the unit time
ΔTmot'。
Alternatively, the above method further include: when the torque that the aggregate demand change in torque trend is rising and the engine
Variation tendency be decline and the motor change in torque trend be rise when, if the torque of the motor without cross zero demand,
Then tables look-up with the 11st principle of tabling look-up according to the speed and the engine demand change in torque amount and obtain the engine and exist
Change in torque amount Δ Teng in unit time；Calculate change in torque amount Δ Tmot=Δ T- of the motor within the unit time
ΔTeng；
If the torque of the motor had zero demand, tabled look-up principle according to the current torque of the motor with the 12nd
It tables look-up and obtains the motor and allow lower variation delta Tmot' within the unit time；According to the speed and the transmitter demand
Change in torque amount is tabled look-up with the 13rd principle of tabling look-up and is obtained the engine maximum allowable variation delta within the unit time
Teng'；Calculate change in torque amount Δ Teng=max (min (0, Δ T- Δ Tmot'), Δ of the engine within the unit time
Teng')；If Δ Teng+ Δ Tmot' > Δ T, change in torque amount Δ Tmot=Δ T- of the motor within the unit time
ΔTeng；If Δ Teng+ Δ Tmot' < Δ T, change in torque amount Δ Tmot=Δ of the motor within the unit time
Tmot'。
Alternatively, the above method further include: when the aggregate demand change in torque trend is decline and the variation of the engine
Trend is to rise and the change in torque trend of the motor is decline, if the torque of the motor is without crossing zero demand, basis
The speed and the engine demand change in torque amount are tabled look-up with the 14th principle of tabling look-up and are obtained the engine in unit
Interior change in torque amount Δ Teng；Calculate change in torque amount Δ Tmot=Δ T- Δ of the motor within the unit time
Teng；
If the torque of the motor had zero demand, tabled look-up principle according to the current torque of the motor with the 15th
It tables look-up and obtains the motor and allow change in torque amount Δ Tmot' within the unit time；According to the speed and the engine need
Change in torque amount is asked to table look-up with the 16th principle of tabling look-up and obtain engine maximum permissible torque variable quantity within the unit time
ΔTeng'；Calculate the engine within the unit time change in torque amount Δ Teng=min (max (0, Δ T- Δ Tmot'),
ΔTeng')；If Δ Teng+ Δ Tmot' < Δ T, change in torque amount Δ Tmot=Δ of the motor within the unit time
T-ΔTeng；And if Δ Teng+ Δ Tmot' > Δ T, change in torque amount Δ Tmot of the motor within the unit time
=Δ Tmot'.
Alternatively, the above method further include: when the torque that the aggregate demand change in torque trend is decline and the engine
Variation tendency be decline and the motor change in torque trend be rise when, if the torque of the motor without cross zero demand,
Then tables look-up with the 17th principle of tabling look-up according to the speed and the engine demand change in torque amount and obtain the engine and exist
Change in torque amount Δ Teng in unit time；Calculate change in torque amount Δ Tmot=max of the motor within the unit time
(0, Δ T- Δ Teng)；
If the torque of the motor had zero demand, tabled look-up principle according to the current torque of the motor with the 18th
It tables look-up and obtains the motor and allow change in torque amount Δ Tmot' within the unit time；According to the speed and the engine need
Change in torque amount is asked to table look-up with the 19th principle of tabling look-up and obtain engine maximum permissible torque variable quantity within the unit time
ΔTeng'；Calculate change in torque amount Δ Teng=max (Δ Teng', Δ T- Δ of the engine within the unit time
Tmot')；If meeting Δ Teng+ Δ Tmot' > 0, change in torque amount Δ Tmot=Δ of the motor within the unit time
T-ΔTeng；And if meeting Δ Teng+ Δ Tmot' < 0, change in torque amount Δ of the motor within the unit time
Tmot=Δ Tmot'.
Specifically, the engine and the motor are filtered respectively using variable quantity limit value filtering method；
Or the engine and the motor are filtered respectively using one order inertia filtering method.
Further, the engine and the motor are filtered respectively using variable quantity limit value filtering method
It specifically includes: the engine being filtered according to the following formula:
Wherein, Yeng (k) is the torque of the kth moment filtered engine, and X0 (k) is to start described in the kth moment
The current torque of machine, Δ Teng are change in torque amount of the engine within the unit time, and Xeng (k) is the engine
Target torque；And
The motor is filtered according to the following formula:
Wherein, Ymot (k) is the torque of the kth moment filtered motor, and X1 (k) is motor described in the kth moment
Current torque, Δ Tmot are change in torque amount of the motor within the unit time, and Xmot (k) is that the target of the motor is turned round
Square.
Further, tool is filtered to the engine and the motor respectively using one order inertia filtering method
Body includes: to be filtered respectively to the engine according to the following formula:
Yeng (k)=aXeng (k)+(1-a) Yeng (k-1), wherein
Wherein, Yeng (k) is the torque of the kth moment filtered engine, and Xeng (k) is the mesh of the engine
Torque is marked, Yeng (k-1) is the torque of -1 moment of the kth filtered engine, and a is filter factor, and Δ Teng is described
Change in torque amount of the engine within the unit time；And
The motor is filtered by following formula:
Ymot (k)=bXmot (k)+(1-b) Ymot (k-1), wherein
Wherein, Ymot (k) is the torque of the kth moment filtered motor, and Xmot (k) is that the target of the motor is turned round
Square, Ymot (k-1) are the torque of -1 moment of the kth filtered motor, and b is filter factor, and Δ Tmot is that the motor exists
Change in torque amount in unit time.
Detailed description of the invention
Fig. 1 is the flow chart of the torque filtering method of electric car according to an embodiment of the invention；And
Fig. 2 is the flow chart of the torque filtering method of electric car according to another embodiment of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
The torque filtering method of the electric car proposed according to embodiments of the present invention is described with reference to the accompanying drawings.
Fig. 1 is according to the flow chart of the torque filtering method of the electric car of one embodiment of the present of invention, such as Fig. 1 institute
Show, the torque filtering method the following steps are included:
S1 acquires the current torque of the engine of electric car and the current torque of motor, calculates and obtains the electronic vapour
The target torque of the aggregate demand torque of vehicle and the target torque of engine and motor.
Wherein, aggregate demand torque can be understood as the demand torque (i.e. vehicle final goal torque) of driver, the torque
It can be calculated and be obtained according to information such as pedal state, speed, transmitter revolving speed, motor speeds.According to the battery SOC of electric car
The information such as state, engine speed, motor speed are allocated aggregate demand torque, obtain the target torque and motor of engine
Target torque.Guarantee that the sum of the target torque of engine and the target torque of motor are aggregate demand torque.
S2 judges that the variation of the change in torque trend of engine, the change in torque trend of motor and aggregate demand torque becomes
Gesture.
For example, judging that engine torque is in rising trend, instead when engine target torque-engine current torque > 0
It, then judge that engine is on a declining curve.Similarly, when motor target torque-motor current torque > 0, then judge Motor torque
It is in rising trend, it is on the contrary then judge that Motor torque is on a declining curve；When aggregate demand torque-transmitter current torque-motor is current
When torque > 0, then judge that aggregate demand torque is in rising trend, it is on the contrary then judge that aggregate demand torque is on a declining curve.
S3 obtains the aggregate demand change in torque amount within the unit time, and according to the aggregate demand torque within the unit time
Variable quantity, the change in torque trend of engine, the variation tendency of the change in torque trend of motor and aggregate demand torque are counted respectively
Calculate change in torque amount and motor change in torque amount during unit time of the engine within the unit time.
Wherein, aggregate demand change in torque amount=aggregate demand torque-engine current torque-motor current torque, for example, hair
Motivation current torque is 100Nm, and motor current torque is 500Nm, and aggregate demand torque is 2000Nm, then the current total torque of vehicle is
800Nm, aggregate demand change in torque amount are 1200Nm, and the aggregate demand torque of vehicle increases to 2000Nm from 800Nm, but cannot
2000Nm is directly reached in one cycle, needs the process changed by one, otherwise vehicle torque ripple is excessive will affect
Driving.
In one embodiment of the invention, it is tabled look-up according to the variable quantity of speed and aggregate demand torque with the first principle of tabling look-up
Obtaining aggregate demand torque in the unit time allows variation delta T, wherein aggregate demand torque allows variable quantity can be in the unit time
Vehicle is interpreted as in the state of certain, the vehicle change in torque allowed in the unit time, vehicle torque ripple is within this range
It will not influence driving, specifically, which may include speed, the variable quantity of aggregate demand torque and aggregate demand in the unit time
Torque allows the corresponding relationship of variable quantity, and first tables look-up principle can be for for example: when speed is low high with speed, Δ T is smaller,
Δ T is larger when speed is moderate；When aggregate demand change in torque amount is larger, Δ T is larger, when aggregate demand change in torque amount is smaller Δ T compared with
It is small.
Wherein, for example risen or fallen according to the change in torque trend of engine and the change in torque trend of motor and
The variation tendency of aggregate demand torque is classified as a variety of situations, calculates engine in unit using different algorithms for different situations
The change in torque amount of change in torque amount and motor within the unit time in time.For example, first calculating aggregate demand torque in unit
Variable quantity in time, then calculate engine torque variable quantity, then aggregate demand change in torque amount and engine torque variable quantity
As Motor torque variable quantity, it can be considered to the change in torque amounts to electric automobile whole and components.
For change in torque amount and motor torsion during unit time of the engine under different situations within the unit time
The calculating process of square variable quantity will be described in detail in specific embodiment below.
S4, according to the change in torque amount of the current torque of engine, target torque and engine within the unit time to hair
Motivation is filtered, and the change in torque according to the current torque and target torque, motor of motor within the unit time
Amount is filtered motor.
It in one embodiment of the invention, can be using change for the filtering processing of the engine of electric car and motor
The method of change amount limit value filtering is specifically according to the following formula filtered engine:
Wherein, Yeng (k) is the torque of kth moment filtered engine, and X0 (k) is the current of kth moment engine
Torque, Δ Teng are change in torque amount of the engine within the unit time, and Xeng (k) is the target torque of engine.
Motor is filtered according to the following formula:
Wherein, Ymot (k) is the torque of kth moment filtered motor, and X1 (k) is the current torque of kth moment motor,
Δ Tmot is change in torque amount of the motor within the unit time, and Xmot (k) is the target torque of motor.
Alternatively, in another embodiment of the present invention, using one order inertia filtering method respectively to engine and motor
It is filtered, specifically, engine is filtered respectively according to the following formula:
Yeng (k)=aXeng (k)+(1-a) Yeng (k-1), wherein
Wherein, Yeng (k) is the torque of kth moment filtered engine, and Xeng (k) is the target torque of engine,
Yeng (k-1) is the torque of engine after the filtering of -1 moment of kth, and a is filter factor, and Δ Teng is engine within the unit time
Change in torque amount；And
The motor is filtered by following formula:
Ymot (k)=bXmot (k)+(1-b) Ymot (k-1), wherein
Wherein, Ymot (k) is the torque of kth moment filtered motor, and Xmot (k) is the target torque of motor, Ymot
It (k-1) is the torque of -1 moment of kth filtered motor, b is filter factor, and Δ Tmot is torque of the motor within the unit time
Variable quantity.
As can be seen that the torque filtering method of the electric car of the embodiment of the present invention, according to the aggregate demand within the unit time
Change in torque amount, the change in torque trend of engine, the variation tendency of the change in torque trend of motor and aggregate demand torque point
Not Ji Suan change in torque amount of change in torque amount and motor of the engine within the unit time within the unit time, and according to starting
Change in torque amount of current torque, target torque and the engine of machine within the unit time is filtered engine, with
And motor is filtered according to the change in torque amount of the current torque and target torque motor of motor within the unit time,
Be filtered for multiple power sources, under the premise of considering that aggregate demand torque ripple should not be too large, respectively to engine and
Motor is filtered, and has not only been avoided that engine and Motor torque fluctuation is excessive damages to components, but also can improve electricity
The comfort of electrical automobile vehicle.
Change in torque amount and motor to engine in varied situations within the unit time in different embodiments below
The calculating process of change in torque amount within the unit time is described in detail.
Embodiment 1, when the variation tendency of aggregate demand torque be rise and engine change in torque trend be rise and electricity
It is as follows for the calculation method of Δ Teng and Δ Tmot when the change in torque trend of machine is rising:
If the torque of motor is tabled look-up without zero demand is crossed according to the demand torque variable quantity of speed and engine with second
Principle is tabled look-up the torque conversion amount Δ Teng for obtaining engine within the unit time, wherein Δ Teng < Δ T, specifically, second
Principle of tabling look-up can be for for example: when speed is low high with speed, Δ Teng is smaller, and when speed is moderate, Δ Teng is larger, engine
Δ Teng is larger when demand torque variable quantity is big, and Δ Teng is smaller when engine demand change in torque amount is smaller.Further, it counts
Calculating change in torque amount of the motor within the unit time is Δ Tmot=Δ T- Δ Teng.
As specific embodiment, as shown in table 1, in the identical situation of engine demand change in torque amount, speed is less than
50 and speed be greater than 100 after engine the change in torque amount in the unit time be less than torsion of the speed between 50 to 100
Square variable quantity.In the identical situation of speed, engine demand change in torque amount is bigger, then the transmitter torque within the unit time
Variable quantity is bigger.
Table 1
If the torque of motor had zero demand, tables look-up with third principle of tabling look-up according to the current torque of motor and obtain electricity
Change in torque amount Δ Tmot of the machine within the unit time, wherein Δ Tmot < Δ T, specifically, third tables look-up principle can be for
Such as: motor current torque zero torque point of distance is closer, and Δ Tmot is smaller, and zero torque point of current torque distance of motor is remoter, Δ
Tmot is bigger.It tables look-up with the 4th principle of tabling look-up according to the demand torque variable quantity of speed and engine and obtains engine in unit
Interior maximum permissible torque variation delta Teng', wherein the 4th tables look-up principle can be for for example: Δ when speed is low and speed is high
Teng' is smaller, and Δ Teng' is larger when speed is moderate, and Δ Teng' is larger when engine demand change in torque amount is big, and engine needs
Ask change in torque amount hour Δ Teng' smaller.Further, calculating change in torque amount of the engine within the unit time is Δ
Teng=min (Δ Teng', Δ T- Δ Tmot).
Embodiment 2, when the variation tendency of aggregate demand torque be decline and engine change in torque trend be decline and electricity
It is as follows for the calculation method of Δ Teng and Δ Tmot when the change in torque trend of machine is decline:
If the torque of motor is tabled look-up original without zero demand is crossed, according to speed and engine demand change in torque amount with the 5th
Then table look-up the change in torque amount Δ Teng for obtaining engine within the unit time, wherein Δ Teng > Δ T, specifically, the 5th looks into
Table principle can be for for example: the absolute value of Δ Teng is smaller when speed is low and speed is high, the absolute value of Δ Teng when speed is moderate
Larger, the absolute value of Δ Teng is larger when engine torque variable quantity is big, engine demand change in torque amount hour Δ Teng's
Absolute value is smaller.Further, calculating change in torque amount of the motor within the unit time is Δ Tmot=Δ T- Δ Teng.
If the torque of motor had zero demand, tables look-up with the 6th principle of tabling look-up according to the current torque of motor and obtain electricity
Machine is in unit time internal torque variation delta Tmot, wherein Δ Tmot > Δ T, specifically, the 6th tables look-up principle can be for for example:
Zero torque point of current torque distance of motor is closer, and the absolute value of Δ Tmot is smaller, zero torque point of current torque distance of motor
Remoter, the absolute value of Δ Tmot is bigger.As specific embodiment, as shown in table 2, the current torque of motor is corresponding near 0 point
Δ Tmot absolute value it is smaller i.e. variation it is slower.
Table 2
| The current torque of motor | -200 | -50 | -20 | 0 | 20 | 50 | 200 |
| ΔTmot | -300 | -300 | -10 | -2 | -10 | -300 | -300 |
It tables look-up with the 7th principle of tabling look-up according to speed and engine demand change in torque amount and obtains engine in the unit time
Interior maximum permissible torque variation delta Teng', wherein the 7th tables look-up principle can be for for example: Δ when speed is low and speed is high
The absolute value of Teng' is smaller, and the absolute value of Δ Teng' is larger when speed is moderate, Δ when engine demand change in torque amount is big
Teng' absolute value is larger, and the absolute value of engine demand change in torque amount hour Δ Teng' is smaller, and further, calculating is started
Change in torque amount of the machine within the unit time is Δ Teng=max (Δ Teng', Δ T- Δ Tmot).
Embodiment 3, when aggregate demand change in torque trend be rise and engine change in torque trend be rise and motor
Change in torque trend be decline when, it is as follows for the calculation method of Δ Teng and Δ Tmot:
If the torque of motor is tabled look-up original without zero demand is crossed, according to speed and engine demand change in torque amount with the 8th
Then table look-up the change in torque amount Δ Teng for obtaining engine within the unit time, and specifically, the 8th tables look-up principle can be for for example:
The absolute value of Δ Teng is smaller when speed is low and speed is high, and the absolute value of Δ Teng is smaller when speed is moderate, and engine demand is turned round
The absolute value of Δ Teng is larger when square variable quantity is big, and the absolute value of the demand torque variable quantity hour Δ Teng of engine is smaller.
Further, calculating change in torque amount of the motor within the unit time is Δ Tmot=min (0, Δ T- Δ Teng).
If the torque of motor had zero demand, tables look-up with the 9th principle of tabling look-up according to the current torque of motor and obtain electricity
Machine allows variation delta Tmot' within the unit time, wherein the 9th tables look-up principle can be for for example: the current torque of motor away from
Remoter from zero torque point, the absolute value of Δ Tmot' is smaller, and zero torque point of current torque distance of motor is remoter, and Δ Tmot''s is exhausted
It is bigger to being worth.It tables look-up with the tenth principle of tabling look-up according to speed and engine demand change in torque amount and obtains engine in the unit time
Interior maximum permissible torque variation delta Teng', wherein the tenth tables look-up principle can be for for example: Δ when speed is low and speed is high
The absolute value of Teng' is smaller, and the absolute value of Δ Teng' is larger when speed is moderate, Δ when engine demand change in torque amount is big
The absolute value of Teng' is larger, and the absolute value of Δ Teng' is smaller when engine demand change in torque amount is smaller.Further, it calculates
Change in torque amount Δ Teng=min (Δ Teng', Δ T- Δ Tmot') of the engine within the unit time.Wherein, if met
Δ Teng+ Δ Tmot' < 0, illustrates that motor decrease speed is too fast, then change in torque amount Δ Tmot=of the motor within the unit time
Min (0, Δ T- Δ Teng)；If meeting Δ Teng+ Δ Tmot' > 0, change in torque amount Δ of the motor within the unit time
Tmot=Δ Tmot'.
Embodiment 4, when aggregate demand change in torque trend be rise and engine change in torque trend be decline and motor
Change in torque trend be rise when, it is as follows for the calculation method of Δ Teng and Δ Tmot:
If the torque of motor is tabled look-up without zero demand is crossed according to speed and engine demand change in torque amount with the 11st
Principle is tabled look-up the change in torque amount Δ Teng for obtaining engine within the unit time, wherein the 11st tables look-up principle can be for
Such as: when speed is low high with speed, the absolute value of Δ Teng is smaller, and when speed is moderate, the absolute value of Δ Teng is larger, engine
The absolute value of Δ Teng is larger when demand torque variable quantity is big, engine demand change in torque amount is small be Δ Teng absolute value compared with
It is small.Further, change in torque amount Δ Tmot=Δ T- Δ Teng of the motor within the unit time is calculated.
If the torque of motor had zero demand, tabled look-up acquisition according to the current torque of motor with the 12nd principle of tabling look-up
Motor allows lower variation delta Tmot' within the unit time, wherein the 12nd tables look-up principle can be for for example: motor it is current
Zero torque point of torque distance is closer, and the absolute value of Δ Tmot' is smaller, and zero torque point of current torque distance of motor is remoter, Δ
The absolute value of Tmot' is bigger.It tables look-up and is started with the 13rd principle of tabling look-up according to speed and transmitter demand torque variable quantity
Machine maximum allowable variation delta Teng' within the unit time, wherein the 13rd tables look-up principle can be for for example: speed it is low and
The absolute value of Δ Teng' is smaller when speed is high, and when speed is moderate, the absolute value of Δ Teng' is larger, and engine demand torque becomes
The absolute value of Δ Teng' is larger when change measures big, and the absolute value of engine demand change in torque amount hour Δ Teng' is smaller.Into one
Step ground calculates change in torque amount Δ Teng=max (min (0, Δ T- Δ Tmot'), Δ of the engine within the unit time
Teng').Wherein, if Δ Teng+ Δ Tmot' > Δ T, it is too fast to illustrate that Motor torque rises, then motor is within the unit time
Change in torque amount Δ Tmot=Δ T- Δ Teng, if Δ Teng+ Δ Tmot' < Δ T, torque of the motor within the unit time
Variation delta Tmot=Δ Tmot'.
Embodiment 5, when aggregate demand change in torque trend be decline and engine variation tendency be rise and motor torsion
Square variation tendency is decline, as follows for the calculation method of Δ Teng and Δ Tmot:
If the torque of motor is tabled look-up without zero demand is crossed according to speed and engine demand change in torque amount with the 14th
Principle is tabled look-up the change in torque amount Δ Teng for obtaining engine within the unit time, wherein the 14th tables look-up principle can be for
Such as: when speed is low high with speed, the absolute value of Δ Teng is smaller, and when speed is moderate, the absolute value of Δ Teng is larger；Engine
The absolute value of Δ Teng is larger when demand torque variable quantity is big, the absolute value of engine demand change in torque amount hour Δ Teng compared with
It is small.Further, change in torque amount Δ Tmot=Δ T- Δ Teng of the motor within the unit time is calculated.
If the torque of motor had zero demand, tabled look-up acquisition according to the current torque of motor with the 15th principle of tabling look-up
Motor allows change in torque amount Δ Tmot' within the unit time, wherein the 15th tables look-up principle can be for for example: motor is worked as
Preceding zero torque point of torque distance is closer, and the absolute value of Δ Tmot' is smaller, and motor current torque zero torque point of distance is remoter, Δ
The absolute value of Tmot' is bigger.It tables look-up and is started with the 16th principle of tabling look-up according to speed and engine demand change in torque amount
Machine maximum permissible torque variation delta Teng' within the unit time, wherein the 16th tables look-up principle can be for for example: in speed
The absolute value of Δ Teng' is small when low and speed is high, and when speed is moderate, the absolute value of Δ Teng' is larger；Engine demand torque
The absolute value of Δ Teng' is larger when variable quantity is big, and the absolute value of engine demand change in torque amount hour Δ Teng' is smaller.Into
One step, calculate change in torque amount Δ Teng=min (max (0, Δ T- Δ Tmot'), Δ of the engine within the unit time
Teng').Wherein, if Δ Teng+ Δ Tmot' < Δ T, illustrate that Motor torque decline is too fast, then motor is within the unit time
Change in torque amount Δ Tmot=Δ T- Δ Teng；If Δ Teng+ Δ Tmot' > Δ T, torque of the motor within the unit time
Variation delta Tmot=Δ Tmot'.
Embodiment 6, when aggregate demand change in torque trend be decline and engine change in torque trend be decline and motor
Change in torque trend be rise when, it is as follows for the calculation method of Δ Teng and Δ Tmot:
If the torque of motor is tabled look-up without zero demand is crossed according to speed and engine demand change in torque amount with the 17th
Principle is tabled look-up the change in torque amount Δ Teng for obtaining engine within the unit time, wherein the 17th tables look-up principle can be for
Such as: when speed is low high with speed, the absolute value of Δ Teng is smaller, and when speed is moderate, the absolute value of Δ Teng is larger, engine
The absolute value of Δ Teng is larger when demand torque variable quantity is big, the absolute value of engine demand change in torque amount hour Δ Teng compared with
It is small.Further, change in torque amount Δ Tmot=max (0, Δ T- Δ Teng) of the motor within the unit time is calculated.
If the torque of motor had zero demand, tabled look-up acquisition according to the current torque of motor with the 18th principle of tabling look-up
Motor allows change in torque amount Δ Tmot' within the unit time, wherein the 18th tables look-up principle can be for for example: motor is worked as
The absolute value of the nearlyr Δ Tmot' of preceding zero torque point of torque distance is smaller, and zero torque point of current torque distance of motor is remoter, Δ
The absolute value of Tmot' is bigger.It tables look-up and is started with the 19th principle of tabling look-up according to speed and engine demand change in torque amount
Machine maximum permissible torque variation delta Teng' within the unit time, wherein the 19th tables look-up principle can be for for example: in speed
The absolute value of Δ Teng' is smaller when low and speed is high, and when speed is moderate, the absolute value of Δ Teng' is bigger, in engine demand
The absolute value of Δ Teng' is bigger when change in torque amount is big, engine demand change in torque amount hour Δ Teng' absolute value compared with
It is small.Further, change in torque amount Δ Teng=max (Δ Teng', Δ T- Δ of the engine within the unit time are calculated
Tmot').Wherein, if meeting Δ Teng+ Δ Tmot' > 0, illustrate that Motor torque decline is too fast, then motor is within the unit time
Change in torque amount Δ Tmot=Δ T- Δ Teng, if meeting Δ Teng+ Δ Tmot' < 0, motor is within the unit time
Change in torque amount Δ Tmot=Δ Tmot'.
Based on six kinds of calculation methods to Δ Teng and Δ Tmot in above-mentioned six embodiments, in practice, such as Fig. 2 institute
Show, is the flow chart for carrying out torque filtering to motor and engine of a specific embodiment according to the present invention, such as Fig. 2 institute
Show, filtering includes:
S10 calculates Δ Teng and Δ Tmot.
Specifically, as shown in Fig. 2, being turned round according to engine demand change in torque amount, motor demand torque variable quantity, aggregate demand
Square variable quantity, the current torque of motor and speed become for different aggregate demand change in torque trend, different engine torques
Change trend and the change in torque trend of motor can respectively correspond the method in above-described embodiment and calculate Δ Teng and Δ Tmot, example
Such as, it is respectively for the Δ Teng and Δ Tmot of the situation acquisition in above-mentioned six kinds of embodiments；Δ TAeng and Δ TAmot, Δ
TBeng and Δ TBmot, Δ TCeng and Δ TCmot, Δ TDeng and Δ TDmot, Δ TEeng and Δ TEmot, Δ TFeng and Δ
TFmot。
S20 is arbitrated.
To Δ TAeng, Δ TBeng, Δ TCeng, Δ TDeng, Δ TEeng and the Δ TFeng in above-mentioned six kinds of embodiments
It is arbitrated, obtains the Δ Teng of corresponding present case；And to Δ TAmot, the Δ TBmot, Δ in above-mentioned six kinds of embodiments
TCmot, Δ TDmot, Δ TEmot and Δ TFmot are arbitrated, and the Δ Tmot of corresponding present case is obtained.
S30 carries out torque filtering to engine and motor according to Δ TFmot and Δ Tmot respectively, and exports filtered
Engine torque command and Motor torque instruction, to control corresponding execution unit movement.
The torque filtering method of the electric car of the embodiment of the present invention can carry out rate wave to single execution unit, reach
The purpose of components is protected, while can also guarantee that the change in torque amount of vehicle will not be too fast, reaches and improves vehicle driving
Purpose.
In the description of this specification, any process described otherwise above in flow chart or herein or method description can
To be understood to, indicate to include the steps that one or more for realizing the executable instruction of specific logical function or process
Module, segment or the part of code, and the range of the preferred embodiment of the present invention includes other realization, wherein can not
By sequence shown or discussed, including according to related function by it is basic simultaneously in the way of or in the opposite order, to hold
Row function, this should be understood by the embodiment of the present invention person of ordinary skill in the field.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (9)
1. a kind of torque filtering method of electric car, which comprises the following steps:
The current torque of the engine of electric car and the current torque of motor are acquired, the total need for obtaining the electric car are calculated
Ask the target torque of torque and the engine and the target torque of the motor；
Judge the change of the change in torque trend of the engine, the change in torque trend of the motor and the aggregate demand torque
Change trend；
The aggregate demand change in torque amount within the unit time is obtained, and is become according to the aggregate demand torque described within the unit time
The variation of change amount, the change in torque trend of the engine, the change in torque trend of the motor and the aggregate demand torque
Trend calculates separately torque of change in torque amount and the motor of the engine within the unit time within the unit time and becomes
Change amount, specifically includes: being tabled look-up with the first principle of tabling look-up according to the variable quantity of speed and the aggregate demand torque and is obtained the unit time
Interior aggregate demand torque allows variation delta T, when the torque that the variation tendency of the aggregate demand torque is rising and the engine
Variation tendency be rise and the motor change in torque trend be rise when, if the torque of the motor without cross zero demand,
Then tables look-up with the second principle of tabling look-up according to the demand torque variable quantity of the speed and the engine and obtain the engine and exist
Torque conversion amount Δ Teng in unit time, wherein Δ Teng < Δ T calculates torque of the motor within the unit time and becomes
Change amount is Δ Tmot=Δ T- Δ Teng, if the torque of the motor had zero demand, according to the current torsion of the motor
Square is tabled look-up the change in torque amount Δ Tmot for obtaining the motor within the unit time with third principle of tabling look-up, wherein Δ Tmot < Δ
T is tabled look-up with the 4th principle of tabling look-up according to the demand torque variable quantity of the speed and the engine and is obtained the engine and exist
Maximum permissible torque variation delta Teng' in unit time, and, calculate change in torque of the engine within the unit time
Amount is Δ Teng=min (Δ Teng', Δ T- Δ Tmot)；And
According to the change in torque amount of the current torque of the engine, the target torque and the engine within the unit time
The engine is filtered, and according to the current torque and target torque of the motor, the motor in unit
Change in torque amount in time is filtered the motor.
2. the torque filtering method of electric car as described in claim 1, which is characterized in that further include:
When the variation tendency of the aggregate demand torque be decline and the engine change in torque trend be decline and the electricity
The change in torque trend of machine be decline when, if the torque of the motor without cross zero demand, according to the speed and the hair
Motivation demand torque variable quantity is tabled look-up the change in torque amount Δ for obtaining the engine within the unit time with the 5th principle of tabling look-up
Teng, wherein Δ Teng > Δ T；
Calculating change in torque amount of the motor within the unit time is Δ Tmot=Δ T- Δ Teng；
If the torque of the motor had zero demand, tables look-up and obtain with the 6th principle of tabling look-up according to the current torque of the motor
The motor is obtained in unit time internal torque variation delta Tmot, wherein Δ Tmot > Δ T；
It tables look-up with the 7th principle of tabling look-up according to the speed and the engine demand change in torque amount and obtains the engine and exist
Maximum permissible torque variation delta Teng' in unit time；And
Calculating change in torque amount of the engine within the unit time is Δ Teng=max (Δ Teng', Δ T- Δ Tmot).
3. the torque filtering method of electric car as described in claim 1, which is characterized in that further include:
When the aggregate demand change in torque trend be rise and the engine change in torque trend be rise and the motor
Change in torque trend when being decline, if the torque of the motor according to the speed and described starts without zero demand is crossed
Machine demand torque variable quantity is tabled look-up the change in torque amount Δ for obtaining the engine within the unit time with the 8th principle of tabling look-up
Teng；
Calculating change in torque amount of the motor within the unit time is Δ Tmot=min (0, Δ T- Δ Teng)；
If the torque of the motor had zero demand, tables look-up and obtain with the 9th principle of tabling look-up according to the current torque of the motor
Obtain the motor allows variation delta Tmot' within the unit time；
It tables look-up with the tenth principle of tabling look-up according to the speed and the engine demand change in torque amount and obtains the engine and exist
Maximum permissible torque variation delta Teng' in unit time；
Calculate change in torque amount Δ Teng=min (Δ Teng', Δ T- Δ Tmot') of the engine within the unit time；
If meeting Δ Teng+ Δ Tmot' < 0, the motor within the unit time change in torque amount Δ Tmot=min (0,
ΔT-ΔTeng)；And
If meeting Δ Teng+ Δ Tmot' > 0, change in torque amount Δ Tmot=Δ of the motor within the unit time
Tmot'。
4. the torque filtering method of electric car as claimed in claim 3, which is characterized in that further include:
When the aggregate demand change in torque trend be rise and the engine change in torque trend be decline and the motor
Change in torque trend be when rising, if the torque of the motor according to the speed and described starts without zero demand is crossed
Machine demand torque variable quantity is tabled look-up the change in torque amount Δ for obtaining the engine within the unit time with the 11st principle of tabling look-up
Teng；
Calculate change in torque amount Δ Tmot=Δ T- Δ Teng of the motor within the unit time；
If the torque of the motor had zero demand, tabled look-up according to the current torque of the motor with the 12nd principle of tabling look-up
Obtain the motor allows lower variation delta Tmot' within the unit time；
It tables look-up with the 13rd principle of tabling look-up according to the speed and the engine demand change in torque amount and obtains the engine
The maximum allowable variation delta Teng' within the unit time；
Calculate change in torque amount Δ Teng=max (min (0, Δ T- Δ Tmot'), Δ of the engine within the unit time
Teng')；
If Δ Teng+ Δ Tmot' > Δ T, change in torque amount Δ Tmot=Δ T- Δ of the motor within the unit time
Teng；
If Δ Teng+ Δ Tmot' < Δ T, change in torque amount Δ Tmot=Δ Tmot' of the motor within the unit time.
5. the torque filtering method of electric car as claimed in claim 4, which is characterized in that further include:
When the aggregate demand change in torque trend be decline and the engine variation tendency be rise and the motor torsion
Square variation tendency be decline, if the torque of the motor without cross zero demand, according to the speed and the engine demand
Change in torque amount is tabled look-up the change in torque amount Δ Teng for obtaining the engine within the unit time with the 14th principle of tabling look-up；
Calculate change in torque amount Δ Tmot=Δ T- Δ Teng of the motor within the unit time；
If the torque of the motor had zero demand, tabled look-up according to the current torque of the motor with the 15th principle of tabling look-up
Obtain the motor allows change in torque amount Δ Tmot' within the unit time；
It tables look-up with the 16th principle of tabling look-up according to the speed and the engine demand change in torque amount and obtains the engine
The maximum permissible torque variation delta Teng' within the unit time；
Calculate change in torque amount Δ Teng=min (max (0, Δ T- Δ Tmot'), Δ of the engine within the unit time
Teng')；
If Δ Teng+ Δ Tmot' < Δ T, change in torque amount Δ Tmot=Δ T- Δ of the motor within the unit time
Teng；And
If Δ Teng+ Δ Tmot' > Δ T, change in torque amount Δ Tmot=Δ Tmot' of the motor within the unit time.
6. the torque filtering method of electric car as claimed in claim 5, which is characterized in that further include:
When the aggregate demand change in torque trend be decline and the engine change in torque trend be decline and the motor
Change in torque trend be when rising, if the torque of the motor according to the speed and described starts without zero demand is crossed
Machine demand torque variable quantity is tabled look-up the change in torque amount Δ for obtaining the engine within the unit time with the 17th principle of tabling look-up
Teng；
Calculate change in torque amount Δ Tmot=max (0, Δ T- Δ Teng) of the motor within the unit time；
If the torque of the motor had zero demand, tabled look-up according to the current torque of the motor with the 18th principle of tabling look-up
Obtain the motor allows change in torque amount Δ Tmot' within the unit time；
It tables look-up with the 19th principle of tabling look-up according to the speed and the engine demand change in torque amount and obtains the engine
The maximum permissible torque variation delta Teng' within the unit time；
Calculate change in torque amount Δ Teng=max (Δ Teng', Δ T- Δ Tmot') of the engine within the unit time；
If meeting Δ Teng+ Δ Tmot' > 0, change in torque amount Δ Tmot=Δ T- Δ of the motor within the unit time
Teng；And
If meeting Δ Teng+ Δ Tmot' < 0, change in torque amount Δ Tmot=Δ of the motor within the unit time
Tmot'。
7. the torque filtering method of electric car as described in claim 1, which is characterized in that
The engine and the motor are filtered respectively using variable quantity limit value filtering method；Or
The engine and the motor are filtered respectively using one order inertia filtering method.
8. the torque filtering method of electric car as claimed in claim 7, which is characterized in that use variable quantity limit value filtering side
Method is filtered and specifically includes to the engine and the motor respectively:
The engine is filtered according to the following formula:
Wherein, Yeng (k) is the torque of the kth moment filtered engine, and X0 (k) is engine described in the kth moment
Current torque, Δ Teng are change in torque amount of the engine within the unit time, and Xeng (k) is the target of the engine
Torque；And
The motor is filtered according to the following formula:
Wherein, Ymot (k) is the torque of the kth moment filtered motor, and X1 (k) is the current of motor described in the kth moment
Torque, Δ Tmot are change in torque amount of the motor within the unit time, and Xmot (k) is the target torque of the motor.
9. the torque filtering method of electric car as claimed in claim 7, which is characterized in that use one order inertia filtering method
The engine and the motor are filtered and are specifically included respectively:
The engine is filtered respectively according to the following formula:
Yeng (k)=aXeng (k)+(1-a) Yeng (k-1), wherein
Wherein, Yeng (k) is the torque of the kth moment filtered engine, and Xeng (k) is that the target of the engine is turned round
Square, Yeng (k-1) are the torque of -1 moment of the kth filtered engine, and a is filter factor, and Δ Teng is described starts
Change in torque amount of the machine within the unit time；And
The motor is filtered by following formula:
Ymot (k)=bXmot (k)+(1-b) Ymot (k-1), wherein
Wherein, Ymot (k) is the torque of the kth moment filtered motor, and Xmot (k) is the target torque of the motor,
Ymot (k-1) is the torque of -1 moment of the kth filtered motor, and b is filter factor, and Δ Tmot is the motor in unit
Change in torque amount in time.
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| CN107444394B (en) * | 2017-07-27 | 2020-04-17 | 北京新能源汽车股份有限公司 | Motor torque control method and device and automobile |
| CN109955726A (en) * | 2017-12-26 | 2019-07-02 | 长城汽车股份有限公司 | A kind of Motor torque filtering method, device and vehicle |
| CN108639042B (en) * | 2018-04-26 | 2020-04-28 | 浙江工业大学 | Parallel hybrid-driven automobile mixed-mode torque signal decomposition and torque distribution method |
| CN109760686A (en) * | 2019-03-11 | 2019-05-17 | 汉腾汽车有限公司 | A kind of mixed electrical automobile change in torque control system |
| CN111976500B (en) * | 2019-05-24 | 2022-05-27 | 北京车和家信息技术有限公司 | Torque filtering method, torque filtering device and vehicle |
| CN112109557B (en) * | 2019-06-20 | 2022-05-24 | 长城汽车股份有限公司 | Method and system for controlling rotating speed of driving wheel |
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| CN111731112B (en) * | 2020-07-03 | 2021-11-30 | 东风汽车有限公司 | Electric vehicle motor torque control method, storage medium and electronic device |
| CN115923535B (en) * | 2023-02-02 | 2024-04-09 | 重庆赛力斯新能源汽车设计院有限公司 | Vehicle electric drive control method, system, terminal equipment and storage medium |
| CN116476804B (en) * | 2023-06-25 | 2023-09-22 | 中国第一汽车股份有限公司 | Control method and device for vehicle transitional working conditions, storage medium and vehicle |
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