CN106740824B - Demand torque filtering method, system and hybrid vehicle - Google Patents
Demand torque filtering method, system and hybrid vehicle Download PDFInfo
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- CN106740824B CN106740824B CN201510811280.9A CN201510811280A CN106740824B CN 106740824 B CN106740824 B CN 106740824B CN 201510811280 A CN201510811280 A CN 201510811280A CN 106740824 B CN106740824 B CN 106740824B
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
Abstract
The invention discloses demand torque filtering method, system and the hybrid vehicles of a kind of hybrid vehicle, this method comprises: obtaining current vehicle speed, engine demand change in torque amount, driving motor demand torque variable quantity and aggregate demand change in torque amount；It determines engine filter factor, driving motor filter factor and aggregate demand torque filter factor, and is used as reference filtering coefficient for maximum；Driving motor zero passage torque filter factor is determined according to the absolute value in the direction of current torque, the direction of target torque and current torque；Comparison engine filter factor, reference filtering coefficient and driving motor zero passage torque filter factor；It is used as final torque filter factor by the smallest, to carry out torque filtering.This method can be effectively reduced change in torque impact caused by vehicle, promote the service life and safety of components and vehicle in vehicle, and effectively improve driver comfort.
Description
Technical field
The present invention relates to vehicle technology field, in particular to the demand torque filtering side of a kind of hybrid vehicle
Method, system and hybrid vehicle.
Background technique
In the related technology, for hybrid vehicle, following two torque means of filtering is generallyd use.One are as follows: when driving
When the person's of sailing demand torque increases suddenly/reduces, in the incipient stage, by filtering mode control the rising of vehicle output torque/under
Reduction of speed rate, so that the rise/fall rate of vehicle output torque is gradually increased at any time, until reaching Vehicular system allows most
Big rise/fall rate；Then, in the intermediate stage, increase/reduce vehicle with the maximum rate that Vehicular system allows and export torsion
Square；Finally, the rise/fall rate of vehicle output torque is controlled by filtering mode in ending phase, so that vehicle output is turned round
The rise/fall rate of square is gradually reduced at any time.Secondly are as follows: the change in torque of single components measures hair and carries out from vehicle
Torque filtering, with reach avoid components by torque ripple and caused by damage.
However, the filtering object of the first above-mentioned means of filtering is total demand torque, not individually in view of starting
Machine and motor itself, since motor and engine are due to self character, change in torque follows property different, causes to zero
The damage of part is larger；Although second of means of filtering is avoided that components are undermined in vehicle, but there is no consider total need
Ask influence of the torque to vehicle driver comfort.
Summary of the invention
The purpose of the present invention be intended to solve at least to a certain extent it is above-mentioned in the related technology the technical issues of one of.For
This, the first purpose of this invention is to propose a kind of demand torque filtering method of hybrid vehicle, demand torque filter
Wave method can be effectively reduced change in torque impact caused by vehicle, promote the service life and peace of components and vehicle in vehicle
Entirely, and driver comfort is effectively improved.
Second object of the present invention is to propose a kind of demand torque filtering system of hybrid vehicle.
Third object of the present invention is to propose a kind of hybrid vehicle.
In order to achieve the above objectives, the embodiment of first aspect present invention proposes a kind of demand torque of hybrid vehicle
Filtering method, the hybrid vehicle include engine and driving motor, be the described method comprises the following steps: front truck is worked as in acquisition
Speed, engine demand change in torque amount, driving motor demand torque variable quantity and aggregate demand change in torque amount；According to described current
Speed, engine demand change in torque amount, driving motor demand torque variable quantity and aggregate demand change in torque amount determine engine
Filter factor, driving motor filter factor and aggregate demand torque filter factor, and by the driving motor filter factor and described
Biggish one is used as reference filtering coefficient in aggregate demand torque filter factor；According to the side of the current torque of the driving motor
Driving motor mistake is determined to the absolute value of the current torque in the direction and driving motor of the target torque of the, driving motor
Zero torque filter factor；Compare the engine filter factor, the reference filtering coefficient and the driving motor zero passage torque
Filter factor；By the engine filter factor, the reference filtering coefficient and the driving motor zero passage torque filter factor
In the smallest one be used as final torque filter factor, and according to the final torque filter factor respectively to the engine and
The driving motor carries out torque filtering.
The demand torque filtering method of hybrid vehicle according to an embodiment of the present invention, works as front truck by acquiring
Speed, engine demand change in torque amount, driving motor demand torque variable quantity and aggregate demand change in torque amount come determine with one of
One corresponding related coefficient, and related coefficient is carried out to take wonderful works reference filtering coefficient, according to driving motor current torque
Direction, the direction of target torque of driving motor and the absolute value of current torque of driving motor determine driving motor zero passage torque
Engine filter factor, reference filtering coefficient and driving motor zero passage torque filter factor are compared and are taken most by filter factor
Small carries out torque to engine and driving motor as final torque filter factor, and according to final torque filter factor
Filtering.It can be effectively reduced change in torque impact caused by vehicle by the demand torque filtering method, promoted zero in vehicle
The service life and safety of component and vehicle, and effectively improve driver comfort.
In addition, the demand torque filtering method of hybrid vehicle according to the above embodiment of the present invention can also have as
Under additional technical characteristic:
In one embodiment of the invention, the engine demand change in torque amount refers to: the target of the engine is turned round
The absolute value of the difference of the current torque of square and the engine, the driving motor demand torque variable quantity refer to: the driving electricity
The absolute value of the difference of the current torque of the target torque of machine and the driving motor.
The demand torque filtering method of the hybrid vehicle, wherein the engine demand change in torque amount, driving
Motor demand torque variable quantity and aggregate demand change in torque amount are bigger, the engine filter factor, driving motor filter factor
It is bigger with aggregate demand torque filter factor.
Further, in one embodiment of the invention, according to the direction of the current torque of the driving motor, described
The absolute value of the current torque of the direction of the target torque of driving motor and the driving motor determines driving motor zero passage torque
Filter factor specifically includes: if the direction of the current torque of the driving motor, the driving motor target torque side
To identical, then the driving motor zero passage torque filter factor is set as 1；If the direction of the current torque of the driving motor,
The target torque of the driving motor it is contrary, then further judge that the absolute value of the current torque of the driving motor is
It is no to be greater than predetermined threshold；If the absolute value of the current torque of the driving motor is greater than the predetermined threshold, the driving
Motor zero passage torque filter factor is set as 1；If the absolute value of the current torque of the driving motor is less than the predetermined threshold,
Then the absolute value of the current torque of the driving motor is smaller, and the driving motor zero passage torque filter factor is smaller.
Preferably, in one embodiment of the invention, the driving motor is one or more.
Second aspect of the present invention embodiment proposes a kind of demand torque filtering system of hybrid vehicle, the mixing
Power vehicle includes engine and driving motor, the system comprises: module is obtained, for obtaining current vehicle speed, engine needs
Ask change in torque amount, driving motor demand torque variable quantity and aggregate demand change in torque amount；First determining module, for according to institute
Current vehicle speed, engine demand change in torque amount, driving motor demand torque variable quantity and aggregate demand change in torque amount is stated to determine
Engine filter factor, driving motor filter factor and aggregate demand torque filter factor, and by the driving motor filter factor
Reference filtering coefficient is used as with biggish one in the aggregate demand torque filter factor；Second determining module, for according to institute
State the current torsion in the direction of the current torque of driving motor, the direction of the target torque of the driving motor and the driving motor
The absolute value of square determines driving motor zero passage torque filter factor；Comparison module is used for the engine filter factor, institute
State reference filtering coefficient and the driving motor zero passage torque filter factor；Filter module, for the engine to be filtered system
The smallest one filters as final torque in several, the described reference filtering coefficient and the driving motor zero passage torque filter factor
Coefficient, and torque filtering is carried out to the engine and the driving motor respectively according to the final torque filter factor.
The demand torque filtering system of the hybrid vehicle proposed according to embodiments of the present invention, it is current by acquiring
Speed, engine demand change in torque amount, driving motor demand torque variable quantity and aggregate demand change in torque amount determine therewith
One-to-one related coefficient, and related coefficient is carried out to take wonderful works reference filtering coefficient, according to driving motor current torque
Direction, driving motor target torque direction and driving motor current torque absolute value determine driving motor zero passage turn round
Engine filter factor, reference filtering coefficient and driving motor zero passage torque filter factor are compared and are taken by square filter factor
It is the smallest that engine and driving motor are turned round as final torque filter factor, and according to final torque filter factor
Square filtering.It can be effectively reduced change in torque impact caused by vehicle by the demand torque filtering system, promoted in vehicle
The service life and safety of components and vehicle, and effectively improve driver comfort.
In addition, the demand torque filtering system of hybrid vehicle according to the above embodiment of the present invention can also have as
Under additional technical characteristic:
In one embodiment of the invention, the engine demand change in torque amount refers to: the target of the engine is turned round
The absolute value of the difference of the current torque of square and the engine, the driving motor demand torque variable quantity refer to: the driving electricity
The absolute value of the difference of the current torque of the target torque of machine and the driving motor.
The demand torque filtering method of the hybrid vehicle, wherein the engine demand change in torque amount, driving
Motor demand torque variable quantity and aggregate demand change in torque amount are bigger, the engine filter factor, driving motor filter factor
It is bigger with aggregate demand torque filter factor.
Further, in one embodiment of the invention, second determining module is used for: if the driving motor
The direction of current torque, the driving motor target torque direction it is identical, then the driving motor zero passage torque filtering
Coefficient is set as 1；If the direction of the current torque of the driving motor, the driving motor target torque it is contrary,
Then further judge whether the absolute value of the current torque of the driving motor is greater than predetermined threshold；If the driving motor
The absolute value of current torque is greater than the predetermined threshold, then the driving motor zero passage torque filter factor is set as 1；If described
The absolute value of the current torque of driving motor is less than the predetermined threshold, then the absolute value of the current torque of the driving motor is got over
Small, the driving motor zero passage torque filter factor is smaller.
Third aspect present invention proposes a kind of hybrid-electric car, comprising: described in the second aspect of the present invention embodiment
Hybrid vehicle demand torque filtering system.
The hybrid vehicle proposed according to embodiments of the present invention, by acquiring current vehicle speed, engine demand is turned round
Square variable quantity, driving motor demand torque variable quantity and aggregate demand change in torque amount determine one-to-one phase relation therewith
Number, and related coefficient is carried out to take wonderful works reference filtering coefficient, according to the direction of driving motor current torque, driving motor
The absolute value of the current torque in the direction and driving motor of target torque determines driving motor zero passage torque filter factor, will start
Machine filter factor, reference filtering coefficient and driving motor zero passage torque filter factor be compared take it is the smallest as final torsion
Square filter factor, and torque filtering is carried out to engine and driving motor according to final torque filter factor.Pass through the mixing
Power vehicle can be effectively reduced change in torque impact caused by vehicle, promote the service life and peace of components and vehicle in vehicle
Entirely, and driver comfort is effectively improved.The additional aspect of the present invention and advantage will be set forth in part in the description, and partially will
Become obvious from the following description, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is the flow chart according to the demand torque filtering method of the hybrid vehicle of the embodiment of the present invention；
Fig. 2 is the signal according to the demand torque filtering method of a specific hybrid vehicle of the embodiment of the present invention
Figure；And
Fig. 3 is the structural schematic diagram according to the demand torque filtering system of the hybrid vehicle of the embodiment of the present 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.
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 one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, two members can also be can be indirectly connected through an intermediary
Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in this hair as the case may be
Concrete meaning in bright.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower"
It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it
Between other characterisation contact.Moreover, fisrt feature includes the first spy above the second feature " above ", " above " and " above "
Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include that fisrt feature is directly below and diagonally below the second feature, or is merely representative of
First feature horizontal height is less than second feature.
It should be noted that in the demand torque filtering method of hybrid vehicle of the present invention, system and hybrid power vapour
Che Zhong, engine and driving motor can be filtered respectively using one order inertia, Filtering Formula are as follows: Y (k)=aX (k)+(1-a) Y
(k-1).Wherein:
Y (k) --- the demand torque of current time output；
X (k) --- target requirement torque；
Y (k-1) --- the demand torque of previous moment output；
A --- filter factor.
The demand torque of the hybrid vehicle proposed according to embodiments of the present invention referring in particular to attached drawing description below filters
Method, system and hybrid vehicle, the hybrid vehicle that 1 description proposes according to embodiments of the present invention with reference to the accompanying drawings first
Demand torque filtering method.Shown in referring to Fig.1, the flow diagram of this method the following steps are included:
S101: current vehicle speed, engine demand change in torque amount, driving motor demand torque variable quantity and aggregate demand are obtained
Change in torque amount.
It should be noted that driving motor is one in the demand torque filtering method of hybrid vehicle of the present invention
Or it is multiple.
It is turned round obtaining current vehicle speed, engine demand change in torque amount, driving motor demand torque variable quantity and aggregate demand
Square variable quantity can detect to obtain, as shown in Figure 2 by corresponding sensor.
Wherein, engine demand change in torque amount refers to: the difference of the current torque of the target torque and engine of engine
Absolute value, driving motor demand torque variable quantity refer to: the difference of the current torque of the target torque and driving motor of driving motor
Absolute value.
S102: according to current vehicle speed, engine demand change in torque amount, driving motor demand torque variable quantity and aggregate demand
Change in torque amount determines engine filter factor, driving motor filter factor and aggregate demand torque filter factor, and will driving electricity
Biggish one is used as reference filtering coefficient in machine filter factor and aggregate demand torque filter factor.Wherein, engine filtering system
Number, driving motor filter factor and aggregate demand torque filter factor are respectively positioned between 0 and 1.
It specifically, can when determining engine filter factor, driving motor filter factor and aggregate demand torque filter factor
It tables look-up to obtain to pass through, further, as shown in Fig. 2, the trend tabled look-up: setting engine torque filter factor and turn round as a1, motor 1
Square filter factor a2,2 torque filter factor a3 of motor and aggregate demand torque filter factor a4:
Wherein, when speed is high or speed is low, filter factor a1 is smaller, and change in torque is slow；When speed is moderate, a1 compared with
Greatly, change in torque is fast；When engine demand change in torque amount is larger, a1 is larger；When demand torque variable quantity is smaller, a1 compared with
It is small；It can be while avoiding or reducing to engine impact, relatively fast response operator demand.
When speed is high or speed is low, filter factor a2 is smaller, and change in torque is slow；When speed is moderate, a2 is larger, torque
Variation is fast；When 1 demand torque variable quantity of motor is larger, a2 is larger；When demand torque variable quantity is smaller, a2 is smaller；It can be
While avoiding or reduce to the impact of motor 1, relatively fast response operator demand.
When speed is high or speed is low, filter factor a3 is smaller, and change in torque is slow；When speed is moderate, a3 is larger, torque
Variation is fast；When 2 demand torque variable quantity of motor is larger, a3 is larger；When demand torque variable quantity is smaller, a3 is smaller；It can be
While avoiding or reduce to the impact of motor 2, relatively fast response operator demand.
When speed is high or speed is low, filter factor a4 is smaller, and change in torque is slow；When speed is moderate, a4 is larger, torque
Variation is fast；When aggregate demand change in torque amount is larger, a4 is larger；When demand torque variable quantity is smaller, a4 is smaller；It can protect
Vehicle driving is improved while components.
That is, engine demand change in torque amount, driving motor demand torque variable quantity and aggregate demand change in torque
Amount is bigger, and engine filter factor, driving motor filter factor and aggregate demand torque filter factor are bigger.
S103: according to the direction of the current torque of driving motor, the direction of the target torque of driving motor and driving motor
The absolute value of current torque determine driving motor zero passage torque filter factor.Wherein, driving motor zero passage torque filter factor
Between 0 and 1.
Preferably, in one embodiment of the invention, according to the direction of the current torque of driving motor, driving motor
The absolute value of the current torque in the direction and driving motor of target torque determines driving motor zero passage torque filter factor, specific to wrap
Include: if the direction of the current torque of driving motor, driving motor target torque direction it is identical, driving motor zero passage turn round
Square filter factor is set as 1；If the direction of the current torque of driving motor, driving motor target torque it is contrary,
Further judge whether the absolute value of the current torque of driving motor is greater than predetermined threshold；If the current torque of driving motor
Absolute value is greater than predetermined threshold, then driving motor zero passage torque filter factor is set as 1；If the current torque of driving motor is exhausted
Predetermined threshold is less than to value, then the absolute value of the current torque of driving motor is smaller, and driving motor zero passage torque filter factor is got over
It is small.
It should be noted that since Motor torque is there are positive and negative, so also needing to consider whether Motor torque had zero demand.
Judge whether Motor torque had zero demand, can be judged according to the target torque and motor current torque of motor, if the two symbol
On the contrary, then it is assumed that torque had zero demand, conversely, then without zero demand is crossed, as shown in Figure 2.
Assuming that 1 zero passage torque filter factor a5 of motor, 2 zero passage torque filter factor a6 of motor:
Further, according to motor 1, whether zero passage, 1 current torque of motor are tabled look-up, and obtain 1 zero passage torque of motor filtering system
Number a5；It tables look-up trend: if there is no zero demand, a5=1 at this time；When having zero demand, if motor current torque absolute value is big
When certain value (can demarcate), a5=1；If the absolute value of motor current torque is less than certain value (can demarcate), current torque
Closer from zero torque, a5 is smaller, conversely, a5 is bigger.
According to motor 2, whether zero passage, 2 current torque of motor are tabled look-up, and obtain 2 zero passage torque filter factor a6 of motor；It tables look-up
Trend: if there is no zero demand, a6=1 at this time；When having zero demand, if motor current torque absolute value is greater than certain value
When (can demarcate), a6=1；If the absolute value of motor current torque is less than certain value (can demarcate), current torque is from zero torque
Closer, a6 is smaller, conversely, a6 is bigger.
Wherein, when a5 or a6 is 1, filter factor is only related to change in torque amount with speed, with whether zero passage is unrelated.
S104: comparison engine filter factor, reference filtering coefficient and driving motor zero passage torque filter factor.
As shown in Fig. 2, since Motor torque response is very fast, so tri- filter factors of a2, a3, a4 are taken into the larger value, this
If it is to meet drive propulsion first because the filter factor tabled look-up of aggregate demand change in torque amount is larger that place, which takes the larger value,
Property.
S105: will be the smallest in engine filter factor, reference filtering coefficient and driving motor zero passage torque filter factor
One is used as final torque filter factor, and carries out torque to engine and driving motor respectively according to final torque filter factor
Filtering.
As shown in Fig. 2, since engine torque variation response is relatively slow, and need to consider that motor crosses zero demand, therefore again
Final torque filter factor a is obtained after above-mentioned the larger value is taken smaller value compared with a1, a5, a6.
Filtering system of the final torque filter factor a obtained after comparing arbitration as engine, motor 1, motor 2
Number can guarantee that each execution unit is consistent by the original state of change in torque to the time of end-state in this way.
For example, as shown in Fig. 2, table look-up respectively the filter factor obtained by engine, motor 1, motor 2, and
With aggregate demand torque table look-up the filter factor obtained and motor whether the coefficient that zero passage obtains by it is a series of take it is big or/and
Small comparison is taken, obtains final filter factor, wherein the selection of the filter factor of engine and motor is same.The hybrid power
The demand torque filtering method of automobile to the greatest extent may be used by the way that each components and Full Vehicle System are filtered with the determination of coefficient respectively
It is avoided that or is reduced impact caused by change in torque, protects each execution unit and vehicle safety, and improve vehicle driving.
The demand torque filtering method of the hybrid vehicle proposed according to embodiments of the present invention, it is current by acquiring
Speed, engine demand change in torque amount, driving motor demand torque variable quantity and aggregate demand change in torque amount determine therewith
One-to-one related coefficient, and related coefficient is carried out to take wonderful works reference filtering coefficient, according to driving motor current torque
Direction, driving motor target torque direction and driving motor current torque absolute value determine driving motor zero passage turn round
Engine filter factor, reference filtering coefficient and driving motor zero passage torque filter factor are compared and are taken by square filter factor
It is the smallest that engine and driving motor are turned round as final torque filter factor, and according to final torque filter factor
Square filtering.It can be effectively reduced change in torque impact caused by vehicle by the demand torque filtering method, promoted in vehicle
The service life and safety of components and vehicle, and effectively improve driver comfort.
Referring next to the demand torque filtering system for the hybrid vehicle that attached drawing description proposes according to embodiments of the present invention.
Referring to shown in Fig. 3, the demand torque filtering system 100 of the hybrid vehicle includes；Obtain module 10, the first determining module
20, the second determining module 30, comparison module 40 and filter module 50.
Specifically, it obtains module 10 and is turned round for obtaining current vehicle speed, engine demand change in torque amount, driving motor demand
Square variable quantity and aggregate demand change in torque amount.It should be noted that in the demand torque filtering side of hybrid vehicle of the present invention
In method, driving motor is one or more.
Further, obtain current vehicle speed, engine demand change in torque amount, driving motor demand torque variable quantity and
Aggregate demand change in torque amount can detect to obtain by corresponding sensor, wherein engine demand change in torque amount refers to: hair
The absolute value of the difference of the current torque of the target torque and engine of motivation, driving motor demand torque variable quantity refer to: driving electricity
The absolute value of the difference of the current torque of the target torque and driving motor of machine.
First determining module 20 is used for according to current vehicle speed, engine demand change in torque amount, driving motor demand torque
Variable quantity and aggregate demand change in torque amount determine engine filter factor, driving motor filter factor and aggregate demand torque filtering system
Number, and reference filtering coefficient is used as by biggish one in driving motor filter factor and aggregate demand torque filter factor；
It specifically, can when determining engine filter factor, driving motor filter factor and aggregate demand torque filter factor
By tabling look-up to obtain.
Further, in one embodiment of the invention, engine demand change in torque amount, driving motor demand torque
Variable quantity and aggregate demand change in torque amount are bigger, engine filter factor, driving motor filter factor and the filtering of aggregate demand torque
Coefficient is bigger.
Second determining module 30, for according to the direction of the current torque of driving motor, the target torque of driving motor
The absolute value of the current torque of direction and driving motor determines driving motor zero passage torque filter factor；
Preferably, in one embodiment of the invention, according to the direction of the current torque of driving motor, driving motor
The absolute value of the current torque in the direction and driving motor of target torque determines driving motor zero passage torque filter factor, specific to wrap
Include: if the direction of the current torque of driving motor, driving motor target torque direction it is identical, driving motor zero passage turn round
Square filter factor is set as 1；If the direction of the current torque of driving motor, driving motor target torque it is contrary,
Further judge whether the absolute value of the current torque of driving motor is greater than predetermined threshold；If the current torque of driving motor
Absolute value is greater than predetermined threshold, then driving motor zero passage torque filter factor is set as 1；If the current torque of driving motor is exhausted
Predetermined threshold is less than to value, then the absolute value of the current torque of driving motor is smaller, and driving motor zero passage torque filter factor is got over
It is small.
It should be noted that since Motor torque is there are positive and negative, so also needing to consider whether Motor torque had zero demand.
Judge whether Motor torque had zero demand, can be judged according to the target torque and motor current torque of motor, if the two symbol
On the contrary, then it is assumed that torque had zero demand, conversely, then without zero demand excessively.
Comparison module 40, for comparison engine filter factor, reference filtering coefficient and the filtering of driving motor zero passage torque
Coefficient；Filter module 50, being used for will be in engine filter factor, reference filtering coefficient and driving motor zero passage torque filter factor
The smallest one is used as final torque filter factor, and according to final torque filter factor respectively to engine and driving motor into
The filtering of row torque.
The demand torque filtering system of the hybrid vehicle proposed according to embodiments of the present invention, it is current by acquiring
Speed, engine demand change in torque amount, driving motor demand torque variable quantity and aggregate demand change in torque amount determine therewith
One-to-one related coefficient, and related coefficient is carried out to take wonderful works reference filtering coefficient, according to driving motor current torque
Direction, driving motor target torque direction and driving motor current torque absolute value determine driving motor zero passage turn round
Engine filter factor, reference filtering coefficient and driving motor zero passage torque filter factor are compared and are taken by square filter factor
It is the smallest that engine and driving motor are turned round as final torque filter factor, and according to final torque filter factor
Square filtering.It can be effectively reduced change in torque impact caused by vehicle by the demand torque filtering system, promoted in vehicle
The service life and safety of components and vehicle, and effectively improve driver comfort.
It should be noted that the specific implementation of the specific implementation of the system of the embodiment of the present invention and method part
It is similar, in order to reduce redundancy, it is not repeated herein.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
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.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..
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
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
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 are not departing from the principle of the present invention and objective
In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.
Claims (10)
1. a kind of demand torque filtering method of hybrid vehicle, which is characterized in that the hybrid vehicle includes starting
Machine and driving motor, the described method comprises the following steps:
Obtain current vehicle speed, engine demand change in torque amount, driving motor demand torque variable quantity and aggregate demand change in torque
Amount；
According to the current vehicle speed, engine demand change in torque amount, driving motor demand torque variable quantity and aggregate demand torque
Variable quantity determines engine filter factor, driving motor filter factor and aggregate demand torque filter factor, and the driving is electric
Biggish one is used as reference filtering coefficient in machine filter factor and the aggregate demand torque filter factor；
According to the direction of the current torque of the driving motor, the direction of the target torque of the driving motor and driving electricity
The absolute value of the current torque of machine determines driving motor zero passage torque filter factor, wherein the driving motor zero passage torque filter
Wave system number is the positive number less than or equal to 1；
Compare the engine filter factor, the reference filtering coefficient and the driving motor zero passage torque filter factor；
It will be minimum in the engine filter factor, the reference filtering coefficient and the driving motor zero passage torque filter factor
One be used as final torque filter factor, and according to the final torque filter factor respectively to the engine and the drive
Dynamic motor carries out torque filtering.
2. the demand torque filtering method of hybrid vehicle according to claim 1, which is characterized in that the engine
Demand torque variable quantity refers to: the absolute value of the difference of the current torque of the target torque of the engine and the engine, described
Driving motor demand torque variable quantity refers to: the difference of the current torque of the target torque of the driving motor and the driving motor
Absolute value.
3. the demand torque filtering method of hybrid vehicle according to claim 1, which is characterized in that wherein, described
Engine demand change in torque amount, driving motor demand torque variable quantity and aggregate demand change in torque amount are bigger, the engine
Filter factor, driving motor filter factor and aggregate demand torque filter factor are bigger.
4. the demand torque filtering method of hybrid vehicle according to claim 1, which is characterized in that according to the drive
The current torque in the direction of the current torque of dynamic motor, the direction of the target torque of the driving motor and the driving motor
Absolute value determines driving motor zero passage torque filter factor, specifically includes:
If the direction of the current torque of the driving motor, the driving motor target torque direction it is identical, it is described
Driving motor zero passage torque filter factor is set as 1；
If the direction of the current torque of the driving motor, the driving motor target torque it is contrary, into one
Step judges whether the absolute value of the current torque of the driving motor is greater than predetermined threshold；
If the absolute value of the current torque of the driving motor is greater than the predetermined threshold, the driving motor zero passage torque
Filter factor is set as 1；
If the absolute value of the current torque of the driving motor is less than the predetermined threshold, the current torsion of the driving motor
The absolute value of square is smaller, and the driving motor zero passage torque filter factor is smaller.
5. the demand torque filtering method of hybrid vehicle according to claim 1-4, which is characterized in that institute
Stating driving motor is one or more.
6. a kind of demand torque filtering system of hybrid vehicle, which is characterized in that the hybrid vehicle includes starting
Machine and driving motor, the system comprises:
Module is obtained, for obtaining current vehicle speed, engine demand change in torque amount, driving motor demand torque variable quantity and total
Demand torque variable quantity；
First determining module, for being become according to the current vehicle speed, engine demand change in torque amount, driving motor demand torque
Change amount and aggregate demand change in torque amount determine engine filter factor, driving motor filter factor and aggregate demand torque filtering system
Number, and reference filtering system is used as by biggish one in the driving motor filter factor and the aggregate demand torque filter factor
Number；
Second determining module, for the target torque according to the direction of the current torque of the driving motor, the driving motor
Direction and the absolute value of current torque of the driving motor determine driving motor zero passage torque filter factor, wherein it is described
Driving motor zero passage torque filter factor is the positive number less than or equal to 1；
Comparison module is turned round for the engine filter factor, the reference filtering coefficient and the driving motor zero passage
Square filter factor；
Filter module is used for the engine filter factor, the reference filtering coefficient and the driving motor zero passage torque
The smallest one is used as final torque filter factor in filter factor, and according to the final torque filter factor respectively to described
Engine and the driving motor carry out torque filtering.
7. the demand torque filtering system of hybrid vehicle according to claim 6, which is characterized in that the engine
Demand torque variable quantity refers to: the absolute value of the difference of the current torque of the target torque of the engine and the engine, described
Driving motor demand torque variable quantity refers to: the difference of the current torque of the target torque of the driving motor and the driving motor
Absolute value.
8. the demand torque filtering system of hybrid vehicle according to claim 6, which is characterized in that wherein, described
Engine demand change in torque amount, driving motor demand torque variable quantity and aggregate demand change in torque amount are bigger, the engine
Filter factor, driving motor filter factor and aggregate demand torque filter factor are bigger.
9. the demand torque filtering system of hybrid vehicle according to claim 6, which is characterized in that described second really
Cover half block is used for:
If the direction of the current torque of the driving motor, the driving motor target torque direction it is identical, it is described
Driving motor zero passage torque filter factor is set as 1；
If the direction of the current torque of the driving motor, the driving motor target torque it is contrary, into one
Step judges whether the absolute value of the current torque of the driving motor is greater than predetermined threshold；
If the absolute value of the current torque of the driving motor is greater than the predetermined threshold, the driving motor zero passage torque
Filter factor is set as 1；
If the absolute value of the current torque of the driving motor is less than the predetermined threshold, the current torsion of the driving motor
The absolute value of square is smaller, and the driving motor zero passage torque filter factor is smaller.
10. a kind of hybrid vehicle characterized by comprising according to the described in any item hybrid power vapour of claim 6-9
The demand torque filtering system of vehicle.
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| 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 |
| CN110126829B (en) * | 2019-03-29 | 2021-11-26 | 北京车和家信息技术有限公司 | Torque filter coefficient determining method, vehicle-mounted terminal and vehicle |
| CN110356248B (en) * | 2019-07-19 | 2021-10-08 | 潍柴动力股份有限公司 | Motor torque control method and device, storage medium and vehicle |
| CN113752852B (en) * | 2020-06-01 | 2023-08-18 | 北京罗克维尔斯科技有限公司 | Control method and device for vehicle torque zero crossing |
| CN112644453B (en) * | 2020-12-28 | 2021-12-10 | 长城汽车股份有限公司 | Hybrid vehicle torque control method, hybrid vehicle torque control device, storage medium, and electronic apparatus |
| CN113022538B (en) * | 2021-04-02 | 2022-10-11 | 中国第一汽车股份有限公司 | Motor torque zero-crossing parameter processing method and system and vehicle |
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