CN106800019B - A kind of control method of HCU and torque compensation - Google Patents
A kind of control method of HCU and torque compensation Download PDFInfo
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- CN106800019B CN106800019B CN201510811374.6A CN201510811374A CN106800019B CN 106800019 B CN106800019 B CN 106800019B CN 201510811374 A CN201510811374 A CN 201510811374A CN 106800019 B CN106800019 B CN 106800019B
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0657—Engine torque
-
- 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
Abstract
The control method of a kind of HCU and torque compensation, the method includes judging whether to need to compensate the torque of engine；When determining that needs compensate the torque of the engine, the size of the compensation torque of needs is calculated；Judge whether the absolute value of the compensation torque is less than the absolute value that motor can provide torque；When the absolute value of the compensation torque, which is less than or equal to motor, can provide the absolute value of torque, according to engine described in the compensation torque compensation.The demand torque and the practical deviation provided between torque of engine that vehicle drive can be reduced using the above scheme, so as to promote the safety of driving, and can reduce the time of shift.
Description
Technical field
The present invention relates to the controls of mixing dynamical vehicle torsional moment regulation technology field more particularly to a kind of HCU and torque compensation
Method processed.
Background technique
Automobile plays more and more important role in modern society, it has also become in vast majority of people's daily life not
The a part that can or lack.Under the background for advocating environmental protection, pure electric automobile and hybrid vehicle (Hybrid Electric
Vehicle, HEV) it comes into being.And mixed movement controller (Hybrid Control Unit, HCU) is entire hybrid vehicle
The core of control is mainly responsible for and coordinates engine management system (Engine Management System, EMS), gearbox control
Unit (Transmission Control Unit, TCU) processed and electric machine controller (Motor Controller Unit, MCU)
Work, and it is responsible for the high and low pressure fulgurite reason and the detection of failure of entire dynamical system.
Currently, there are three types of modes: pure engine mode, pure motor mode and hybrid power when hybrid vehicle is run
Mode.Wherein: pure engine mode, only engine provide power.Pure motor mode, only motor provide power.Mixing is dynamic
Force mode, engine and motor provide power simultaneously.And when during vehicle being in shift, by increasing or reducing engine
Oil inlet quantity realize the adjusting of revolving speed.
But, it is understood that there may be the practical offer torque of the demand torque and engine of vehicle drive has deviation and shift speed slow
The problem of, to will affect the dynamic property of vehicle, drive safety is reduced, and extend shift time.
Summary of the invention
Problems solved by the invention is how to promote drive safety, and reduce shift time.
To solve the above problems, the present invention provides a kind of control method of torque compensation, the control method includes:
Judge whether to need to compensate the torque of engine；
When determining that needs compensate the torque of the engine, the size of the compensation torque of needs is calculated；Judgement
Whether the absolute value of the compensation torque is less than the absolute value that motor can provide torque；
When the absolute value of the compensation torque, which is less than or equal to motor, can provide the absolute value of torque, according to the compensation
Engine described in torque compensation.
Optionally, the control method further include:
When the absolute value of the compensation torque, which is greater than motor, can provide the absolute value of torque, can provide according to the motor
Engine described in torque compensation.
It is optionally, described to judge whether to need to compensate the torque of engine, comprising:
During judging whether vehicle is in shift；
When during the vehicle being in shift, determines and need to compensate the torque of the engine.
Optionally, the size for calculating the compensation torque needed, comprising:
The current revolving speed of the engine is detected, as the first revolving speed；
The rotating speed of target of the corresponding engine of gear after shift is subtracted second revolving speed as the second revolving speed
The difference for going first revolving speed to obtain, as rotational speed difference；
The size of the compensation torque of the needs is calculated according to the rotational speed difference.
Optionally, the size of the compensation torque that the needs are calculated according to the rotational speed difference, comprising:
TQcom=Rerr*kP+Rerr*kI, in which: the TQcomFor the compensation torque of the needs, the RerrIt is described turn
Speed difference, the kPWith the RerrLinear correlation, the kIWith the RerrThe integrated value of variation is linearly related.
It is optionally, described to judge whether to need to compensate the torque of engine, further includes:
When during the vehicle being not in shift, judge whether drive demand torque is greater than preset first threshold value；
When determining that the drive demand torque is greater than the first threshold, the slope of the drive demand torque is judged
Whether absolute value is greater than default second threshold；
When determining that the absolute value of slope of the drive demand torque is greater than the second threshold, judge that motor can provide
Whether the absolute value of torque is lower than default third threshold value；
When the motor can provide the absolute value of torque not less than the third threshold value, determines and need to the engine
Torque compensate.
Optionally, the method also includes:
Timing is carried out to the time that the torque of the engine compensates, as the second time；
Present battery state-of-charge is detected, and calculates the permissible torsion to the engine of the present battery state-of-charge
The time that square compensates, as the third time；
Judge whether second time is not less than the third time；
When second time being not less than the third time, stopping compensates the torque of the engine.
Optionally, the size for calculating the compensation torque needed, comprising:
Drive demand torque in real-time detection to the default first time period at current time；
Calculate the change rate of the drive demand torque in the first time period；
According to the pre- of engine described in the current torque arithmetic of the change rate of the drive demand torque and the engine
Estimate torque；
The difference estimating torque and obtaining that the drive demand torque is subtracted to the engine, the benefit as the needs
Repay torque.
Optionally, described in the torque arithmetic current according to the change rate of the drive demand torque and the engine
Engine estimates torque, comprising:
TQPRE=TQACT+TCON*TQSLEW, in which: TQPREFor the torque of estimating of the engine, TQACTFor the engine
Current torque, TCONFor the change rate of the drive demand torque, TQSLEWFor time constant.
Optionally, when it is positive value that the motor, which can provide torque, the motor can provide torque and transmission shaft, battery lotus
Electricity condition and motor status are related.
Optionally, when it is negative value that the motor, which can provide torque, the motor can provide torque and the battery charge
The idling speed of state, motor status and vehicle is related.
The embodiment of the invention provides a kind of HCU, the HCU includes:
First judging unit needs to compensate the torque of engine suitable for judging whether；
First computing unit, suitable for needing to compensate the torque of the engine when first judging unit determines
When, calculate the size of the compensation torque of needs；
Second judgment unit can provide the absolute of torque suitable for judging whether the absolute value of the compensation torque is less than motor
Value；
First compensating unit, suitable for determining that the absolute value of the compensation torque is less than or equal to when the second judgment unit
When motor can provide the absolute value of torque, according to engine described in the compensation torque compensation.
Optionally, the HCU further include:
Second compensating unit, suitable for determining that the absolute value of the compensation torque can greater than motor when the second judgment unit
When the absolute value of torque is provided, engine described in torque compensation can provide according to the motor.
Optionally, first judging unit, comprising: the first judgment sub-unit, suitable for judging whether vehicle is in shift
Period；
First determines compensation subelement, suitable for during first judgment sub-unit determines that the vehicle is in shift
When, it determines and needs to compensate the torque of the engine.
Optionally, first computing unit, comprising:
Detection sub-unit is adapted to detect for the current revolving speed of the engine, as the first revolving speed；
Rotational speed difference subelement is sought, suitable for the rotating speed of target the corresponding engine of gear after shift, as second turn
Second revolving speed is subtracted the difference that first revolving speed obtains, as rotational speed difference by speed；
First compensation calculation subelement, the size of the compensation torque suitable for calculating the needs according to the rotational speed difference.
Optionally, the first compensation calculation subelement, suitable for calculating the compensation torque of the needs according to the following formula
Size:
TQcom=Rerr*kP+Rerr*kI, in which: the TQcomFor the compensation torque of the needs, the RerrIt is described turn
Speed difference, the kPWith the RerrLinear correlation, the kIWith the RerrThe integrated value of variation is linearly related.
Optionally, first judging unit, further includes:
Second judgment sub-unit, when suitable for during first judgment sub-unit determining that the vehicle is not in shift,
Judge whether drive demand torque is greater than preset first threshold value；
Third judgment sub-unit, suitable for determining that the drive demand torque is greater than described the when second judgment sub-unit
When one threshold value, judge whether the absolute value of the slope of the drive demand torque is greater than default second threshold；
4th judgment sub-unit, suitable for when the third judgment sub-unit determine the drive demand torque slope it is exhausted
When being greater than the second threshold to value, judge that motor can provide the absolute value of torque and whether be lower than default third threshold value；
Second determines compensation subelement, suitable for determining that the motor can provide the exhausted of torque when the 4th judgment sub-unit
When to value not less than the third threshold value, determines and need to compensate the torque of the engine.
Optionally, the HCU further include:
Timing unit, the time compensated suitable for the torque to the engine carries out timing, as the second time；
Second computing unit is adapted to detect for present battery state-of-charge, and calculates the present battery state-of-charge and can permit
Perhaps the time torque of the engine compensated, as the third time；
Third judging unit, suitable for judging whether second time is not less than the third time；
Stop compensating unit, suitable for determining second time not less than the third time when the third judging unit
When, stopping compensates the torque of the engine.
Optionally, first computing unit, further includes:
Timing subelement, suitable for the drive demand torque in the default first time period of real-time detection to current time；
Computation subunit is suitable for calculating in the first time period, the change rate of the drive demand torque；
Subelement is estimated, suitable for the torque arithmetic current according to the change rate of the drive demand torque and the engine
The engine estimates torque；
Second compensation calculation subelement, the torque of estimating suitable for the drive demand torque is subtracted the engine obtain
Difference, the compensation torque as the needs.
Optionally, described to estimate subelement, torque is estimated suitable for calculate the engine according to the following formula, comprising:
TQPRE=TQACT+TCON*TQSLEW, in which: TQPREFor the torque of estimating of the engine, TQACTFor the engine
Current torque, TCONFor the change rate of the drive demand torque, TQSLEWFor time constant.
Optionally, when it is positive value that the motor, which can provide torque, the motor can provide torque and transmission shaft, battery lotus
Electricity condition and motor status are related.
Optionally, when it is negative value that the motor, which can provide torque, the motor can provide torque and the battery charge
The idling speed of state, motor status and vehicle is related.
Compared with prior art, technical solution of the present invention has the advantage that
When determining that needs compensate the torque of the engine, by the size for calculating the compensation torque needed；
Judge whether the absolute value of the compensation torque is less than the absolute value that motor can provide torque；When the absolute value of the compensation torque
When can provide the absolute value of torque less than or equal to motor, according to engine described in the compensation torque compensation, it is possible thereby to drop
The practical deviation provided between torque of the demand torque and engine of low vehicle drive, so as to promote the safety of driving,
And the time of shift can be reduced.
Further, it can provide the absolute value of torque by comparing the absolute value and the motor of the compensation torque, and work as
When the absolute value of the compensation torque can provide the absolute value of torque greater than motor, torque compensation institute can provide according to the motor
State engine.Due to considering the working condition of motor, so as to reduce the loss of motor, extend the motor uses the longevity
Life.
Detailed description of the invention
Fig. 1 is the flow diagram of one of embodiment of the present invention torque control method；
Fig. 2 is the structural schematic diagram of one of embodiment of the present invention HCU；
Fig. 3 is the structural schematic diagram of the first judging unit of one of embodiment of the present invention；
Fig. 4 is the structural schematic diagram of the first computing unit of one of embodiment of the present invention.
Specific embodiment
With the development of the automobile industry with everybody deep heart of energy conservation and environmental protection theory, auto electric chemical conversion becomes for development from now on
Gesture.And since pure power drive system has continuous the disadvantages of making mileage deficiency and higher cost, the pure electric vehicle vapour of motor is used alone
Vehicle is also difficult to obtain the approval in market and user at present.Motor is combined into composition hybrid power system with traditional engine,
The working condition for improving engine by motor, improves the efficiency of entire power assembly, enhances the capacity usage ratio of vehicle, undoubtedly
There are extensive market prospects within the quite a while.
Currently, when during vehicle being in non-shift, when engine demand torque and actual torque have deviation, if without electricity
Machine compensation, then will appear a possibility that drive demand torque is not achieved in engine actual torque, to will affect the power of vehicle
Property and driving.And in the shift speed regulation stage, since engine can only realize speed regulation by increasing oil inlet quantity or oil-break, because
And if only realizing speed regulation by engine without motor compensating, it is relatively long to will lead to shift time, to also have driving
Property has a certain impact.
To solve the above problems, the embodiment of the invention provides the control methods of HCU and torque compensation, it may be assumed that needed when determining
When being compensated to the torque of the engine, by the size for calculating the compensation torque needed；Judge the compensation torque
Absolute value whether be less than the absolute value that motor can provide torque；When the absolute value of the compensation torque can less than or equal to motor
When providing the absolute value of torque, according to engine described in the compensation torque compensation.The demand torque of vehicle drive can be reduced
And the practical deviation provided between torque of engine, so as to promote the safety of driving, and the time of shift can be reduced.
To make the above purposes, features and advantages of the invention more obvious and understandable, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.
Fig. 1 shows the flow diagram of the control method of one of embodiment of the present invention torque compensation.Below in conjunction with
Fig. 1 specifically introduces the step of control method of the torque compensation.
S11: judge whether to need to compensate the torque of engine.
In specific implementation, in order to enable torque compensation more rationalizes, it can be determined that whether need the torsion to engine
Square compensates.And when determining that needs compensate the torque of the engine, execute S12；Otherwise, then terminate.
It should be noted that can consider whether to need to compensate the torque of engine from multiple angles.Such as it can
With by during judge whether vehicle is in shift, and when during the vehicle being in shift, determine that needs start to described
The torque of machine compensates.In this manner it is possible to the corresponding revolving speed of gear after making engine be rapidly reached gear shift, so as to subtract
Few shift time.
Also for example, when during the vehicle being not in shift, due to only when drive demand torque is larger, just needing
The torque of engine is compensated, therefore can first determine whether drive demand torque is greater than preset first threshold value；Work as determination
The drive demand torque be greater than the first threshold when, then judge the slope of the drive demand torque absolute value whether
Greater than default second threshold, so as to predict the variation tendency of the drive demand torque；Since motor is by high-tension battery
It charges, if the high-tension battery state-of-charge is too low, the voltage battery can open self-protection program, can not be described
Motor provides biggish torque, therefore when determining that the absolute value of slope of the drive demand torque is greater than the second threshold,
It may determine that motor can provide the absolute value of torque and whether be lower than default third threshold value, when the motor can provide the absolute of torque
When value is not less than the third threshold value, finally just determines and need to compensate the torque of the engine.It can thus protect
Hinder the torque that the motor is the engine to compensate, to improve the safety and dynamic property of vehicle.
In specific implementation, in order to further reduce the loss of motor, and extend the service life of motor, when the vehicle
When being not in during shift, timing can also be carried out to the time that the torque of the engine compensates, when as second
Between, detect present battery state-of-charge, and calculate the present battery state-of-charge allow to the torque of the engine into
The time of row compensation judges whether second time is not less than the third time as the third time, when described second
Between be not less than the third time when, stopping the torque of the engine is compensated.Such as when having met to starting
Condition that the torque of machine compensates simultaneously starts to compensate the torque of the engine, starts timing, have passed through second
Time 10s, real-time monitoring present battery state-of-charge are 50%, are allowed by the way that present battery state-of-charge 50% is calculated
The time compensated to the torque of the engine is third time 10s, since second time 10s is not less than described the
When three time 10s, then stop compensating the torque of the engine.
It should be noted that second time is ever-increasing, and since battery is in power consumption, therefore the third time
Can constantly it reduce with the increase of second time, thus if second time and the third time are distinguished table
It states as with the line of time change, final two lines centainly have an intersection point.Again due to the period of battery charge state monitoring
The possibility inconsistent there are the order of magnitude with the period of entire control method, as long as therefore second time be not less than the third when
Between when, so that it may stop to the engine carry out torque compensation.
S12: the size of the compensation torque of needs is calculated.
It in specific implementation, can be according to actual needs to engine by calculating the size of the compensation torque needed
Torque compensates, so as to promote the specific aim of torque compensation.
It should be noted that it is different can be easier to the parameter obtained, therefore can have different torsions due under different operating conditions
The calculation method of square offset.
For example, when during vehicle being in shift, in order to enable gear is corresponding after the revolving speed of engine reaches gear shift as early as possible
Engine target rotating speed, can be according to the revolving speed between engine current rotating speed and the corresponding engine speed of gear after shift
Difference needs the torque compensation value that compensates to calculate.Specific step is as follows: the current revolving speed of the engine is detected, as first turn
Speed；The rotating speed of target of the corresponding engine of gear after shift is subtracted second revolving speed described as the second revolving speed
The difference that first revolving speed obtains, as rotational speed difference；The size of the compensation torque of the needs is calculated according to the rotational speed difference.Example
Such as: the gear of vehicle shifts to 3 grades from current 2 grades, and the revolving speed of present engine is 2000 turns, as the first revolving speed, and 3 grades of shelves
The revolving speed of the corresponding engine in position is 1500 turns, is the second revolving speed, then subtracts described first turn for 1500 turns of second revolving speed
2000 turns of speed, -500 turns of available rotational speed difference, so as to calculate the compensation of the needs according to -500 turns of the rotational speed difference
The size of torque.
In an embodiment of the present invention, following formula specifically can be used and calculate the compensation torque: TQcom=Rerr*kP+
Rerr*kI, in which: the TQcomFor the compensation torque of the needs, the RerrFor the rotational speed difference, the kPWith the RerrLine
Property related, the kIWith the RerrThe integrated value of variation is linearly related.(positive speed regulation is needed) when rotational speed difference is positive value,
Rotating speed of target is greater than actual speed, and motor need to apply a positive-torque so that engine speed rises, so coefficient kPJust for one
Value, and rotational speed difference is bigger, the kPIt is worth bigger.Similarly, kIValue also increases with rotational speed difference and is increased.
(negative sense is needed to adjust the speed) when rotational speed difference is negative value, rotating speed of target is less than actual speed, and motor need to apply one
Negative torque is so that engine speed declines, so coefficient kPFor a negative and positive value, and rotational speed difference is bigger, the kPIt is worth smaller.Similarly kIValue
Also it is negative value, and increases with rotational speed difference and reduce.
Due to the kPWith the RerrLinear correlation, i.e. kPWith RerrIncrease and increase, while with RerrReduce and subtracts
It is small, it can directly reflect RerrSituation of change.And due to the kIWith the RerrThe integrated value of variation is linearly related, so as to
To optimize the TQcomCalculated result, static difference can be eliminated, so that the compensation torque calculating value is more stable.
It, can be according to current driving since speed is relatively steady also for example, when during vehicle being in and do not shift gears
Demand torque predicts the size of drive demand torque in future time.So as to calculate the torsion for needing to compensate with the following method
Square offset: the drive demand torque in the default first time period of real-time detection to current time；It calculates at described first
Between in section, the change rate of the drive demand torque；It is current according to the change rate of the drive demand torque and the engine
Torque arithmetic described in engine estimate torque；The torque of estimating that the drive demand torque subtracts the engine is obtained
Difference, the compensation torque as the needs.
In this case, so that it may which corresponding adjustment compensates torque in real time according to actual needs, so that compensation torque is more
Add accurate and reasonable.For example, calculating in the 10ms until current time, the change rate of the drive demand torque is
1000Nm/s, the torque 800Nm that according to the change rate of the drive demand torque be 1000Nm/ seconds and the engine is current are counted
The torque of estimating for calculating the engine is 1800Nm, and the torque of estimating of the engine is subsequent time, i.e. sends out after 10ms
The drive demand torque 2100Nm torque 1800Nm that estimates for subtracting the engine is obtained difference by the torque that motivation can achieve
300Nm can be used as the compensation torque of the needs.
In specific implementation, it can calculate according to the following formula: TQPRE=TQACT+TCON*TQSLEW, in which: TQPREFor institute
State the torque of estimating of engine, TQACTFor the current torque of the engine, TCONFor the change rate of the drive demand torque,
TQSLEWFor time constant.
S13: judge whether the absolute value of the compensation torque is less than the absolute value that motor can provide torque.
In specific, when due to can provide the absolute value of torque when motor no more than the absolute value for compensating torque, institute
The compensation demand of the engine torque can not be fully met by stating motor.Therefore whether may determine that the absolute value for compensating torque
It can provide torque less than the absolute value that motor can provide torque, and when the absolute value of the compensation torque is less than or equal to motor
When absolute value, S14 is executed；Conversely, then executing S15.
In specific implementation, when it is positive value that the motor, which can provide torque, the motor can provide torque and transmission shaft,
Battery charge state and motor status are related.It is specifically as follows:
Motor maximum can provide positive-torque and be limited to the following: a, shaft end ability.Transmission shaft has maximum available torque, moves
Power source is engine and motor, so the available driving torque of motor cannot be greater than transmission shaft peak torque and the practical torsion of engine
The difference of square；B, battery capacity.The energy source of motor is battery power supply, therefore when the electricity of battery is lower, and battery can be used
Discharge power has decaying, and the maximum of motor also can accordingly be changed with positive-torque；C, the state of motor.Even if the ability of battery
Enough, electric system unconfined will not drive, and electric machine control system can send an available maximum drive torque to vehicle,
It is arbitrated for entire car controller.Motor maximum can use any one no more than above-mentioned 3 points of positive-torque.
In specific implementation, when it is negative value that the motor, which can provide torque, the motor can provide torque and the electricity
The idling speed of pond state-of-charge, motor status and vehicle is related.It is specifically as follows:
Motor minimum can be limited to the following with negative torque: a, battery capacity.The negative torque of motor is for battery
Charging, therefore when the electricity of battery is higher, the available charge power of battery has decaying, and the available negative torque of motor will receive
Limitation；B, the state of motor.Even if battery can charge, electric system unconfined will not generate electricity, motor control system
System can send an available minimum to vehicle and fill torque, arbitrate for entire car controller；C, vehicle idling relay protective scheme.If revolving speed
It is too low, so that when being lower than idling speed, if motor still has negative torque request, it is possible to it is counter to drag engine, it causes to stop working, institute
It will limit with vehicle idling relay protective scheme in the negative torque compared with Low speed electric motor.Motor minimum can cannot be less than above-mentioned with negative torque
Any one of 3 points.
S14: according to engine described in the compensation torque compensation.
In specific implementation, when the absolute value of the compensation torque is less than or equal to the absolute value that motor can provide torque
When, can the engine according to the compensation torque compensation, to meet the torque compensation demand of the engine, so that described
The torque of engine is close even same with drive demand moment of torsion, to improve the dynamic property and safety that drive.
S15: engine described in torque compensation can provide according to the motor.
In specific implementation, when the absolute value of the compensation torque, which is greater than motor, can provide the absolute value of torque, according to
The motor can provide engine described in torque compensation.In this way, while guaranteeing the normal work of motor, it can also be as far as possible
Torque for the engine compensates.
To more fully understand those skilled in the art and realizing the present invention, corresponding above-mentioned torque also provided below
The HCU of the control method of compensation.
Fig. 2 shows the structural schematic diagrams of one of embodiment of the present invention HCU.The HCU may include: the first judgement
Unit 1, the first computing unit 2, second judgment unit 3 and the first compensating unit 4, in which:
First judging unit 1 needs to compensate the torque of engine suitable for judging whether；
First computing unit 2, suitable for when first judging unit 1 determine need to the torque of the engine into
When row compensation, the size of the compensation torque of needs is calculated；
The second judgment unit 3 can provide torque suitable for judging whether the absolute value of the compensation torque is less than motor
Absolute value；
First compensating unit 4, suitable for determining that the absolute value of the compensation torque is less than when the second judgment unit 3
Or when can provide the absolute value of torque equal to motor, according to engine described in the compensation torque compensation.
In specific implementation, the HCU can also include:
Second compensating unit 5, suitable for determining that the absolute value of the compensation torque is greater than motor when the second judgment unit 3
When can provide the absolute value of torque, engine described in torque compensation can provide according to the motor.
In specific implementation, the HCU can also include:
Timing unit 6, the time compensated suitable for the torque to the engine carries out timing, as the second time；
Second computing unit 7, is adapted to detect for present battery state-of-charge, and calculates the present battery state-of-charge and can permit
Perhaps the time torque of the engine compensated, as the third time；
Third judging unit 8, suitable for judging whether second time is not less than the third time；
Stop compensating unit 9, is suitable for when the third judging unit 8 determines that second time is not less than the third
Between when, stopping the torque of the engine is compensated.
Fig. 3 shows a kind of structural schematic diagram of first judging unit in the embodiment of the present invention.In specific implementation, described
First judging unit 1 may include:
First judgment sub-unit 10, suitable for during judging whether vehicle is in shift；
First determines compensation subelement 11, is suitable for determining that the vehicle is in the shift phase when first judgment sub-unit 10
Between when, determine need the torque of the engine is compensated.
In specific implementation, first judging unit 1 can also include:
Second judgment sub-unit 12, suitable for during first judgment sub-unit 10 determines that the vehicle is not in shift
When, judge whether drive demand torque is greater than preset first threshold value；
Third judgment sub-unit 13 is suitable for determining that the drive demand torque is greater than institute when second judgment sub-unit 12
When stating first threshold, judge whether the absolute value of the slope of the drive demand torque is greater than default second threshold；
4th judgment sub-unit 14, suitable for determining the slope of the drive demand torque when the third judgment sub-unit 13
Absolute value when being greater than the second threshold, judge that motor can provide the absolute value of torque and whether be lower than default third threshold value；
Second determines compensation subelement 15, suitable for determining that the motor can provide torque when the 4th judgment sub-unit 14
Absolute value be not less than the third threshold value when, determine need the torque of the engine is compensated.
Moreover, Fig. 4 shows the structural schematic diagram of the first computing unit of one of embodiment of the present invention.Specific
In implementation, first computing unit 2 can also include:
Detection sub-unit 20 is adapted to detect for the current revolving speed of the engine, as the first revolving speed；
Rotational speed difference subelement 21 is sought, suitable for the rotating speed of target the corresponding engine of gear after shift, as second
Second revolving speed is subtracted the difference that first revolving speed obtains, as rotational speed difference by revolving speed；
First compensation calculation subelement 22, the size of the compensation torque suitable for calculating the needs according to the rotational speed difference.
In specific implementation, in the first compensation calculation subelement 26, suitable for calculating the needs according to the following formula
Compensation torque size:
TQcom=Rerr*kP+Rerr*kI, in which: the TQcomFor the compensation torque of the needs, the RerrIt is described turn
Speed difference, the kPWith the RerrLinear correlation, the kIWith the RerrThe integrated value of variation is linearly related.
In specific implementation, first computing unit 2 can also include:
Timing subelement 23, suitable for the drive demand torque in the default first time period of real-time detection to current time；
Computation subunit 24 is suitable for calculating in the first time period, the change rate of the drive demand torque；
Subelement 25 is estimated, suitable for the torquemeter current according to the change rate of the drive demand torque and the engine
That calculates the engine estimates torque；
Second compensation calculation subelement 26, the torque of estimating suitable for the drive demand torque is subtracted the engine obtain
The difference arrived, the compensation torque as the needs.
In specific implementation, described to estimate subelement 25, torsion is estimated suitable for calculate the engine according to the following formula
Square, comprising:
TQPRE=TQACT+TCON*TQSLEW, in which: TQPREFor the torque of estimating of the engine, TQACTFor the engine
Current torque, TCONFor the change rate of the drive demand torque, TQSLEWFor time constant.
In specific implementation, when it is positive value that the motor, which can provide torque, the motor can provide torque and transmission shaft,
Battery charge state and motor status are related.
In specific implementation, when it is negative value that the motor, which can provide torque, the motor can provide torque and the electricity
The idling speed of pond state-of-charge, motor status and vehicle is related.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can store in computer readable storage medium, storage
Medium may include: ROM, RAM, disk or CD etc..
Although present disclosure is as above, present invention is not limited to this.Anyone skilled in the art are not departing from this
It in the spirit and scope of invention, can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
Subject to the range of restriction.
Claims (18)
1. a kind of control method of torque compensation characterized by comprising
Judge whether to need to compensate the torque of engine；
When determining that needs compensate the torque of the engine, the size of the compensation torque of needs is calculated；
Judge whether the absolute value of the compensation torque is less than the absolute value that motor can provide torque；
When the absolute value of the compensation torque, which is less than or equal to motor, can provide the absolute value of torque, according to the compensation torque
Compensate the engine；
It is described to judge whether to need to compensate the torque of engine, it specifically includes:
During judging whether vehicle is in shift；
When during the vehicle being in shift, determines and need to compensate the torque of the engine；
When during the vehicle being not in shift, judge whether drive demand torque is greater than preset first threshold value；
When determining that the drive demand torque is greater than the first threshold, the absolute of the slope of the drive demand torque is judged
Whether value is greater than default second threshold；
When determining that the absolute value of slope of the drive demand torque is greater than the second threshold, judge that motor can provide torque
Absolute value whether be lower than default third threshold value；
When the motor can provide the absolute value of torque not less than the third threshold value, the torsion needed to the engine is determined
Square compensates.
2. the control method of torque compensation according to claim 1, which is characterized in that further include:
When the absolute value of the compensation torque, which is greater than motor, can provide the absolute value of torque, torque can provide according to the motor
Compensate the engine.
3. the control method of torque compensation according to claim 1, which is characterized in that described to calculate the compensation torque needed
Size, comprising:
The current revolving speed of the engine is detected, as the first revolving speed；
The rotating speed of target of the corresponding engine of gear after shift, as the second revolving speed, second revolving speed is subtracted into institute
The difference that the first revolving speed obtains is stated, as rotational speed difference；
The size of the compensation torque of the needs is calculated according to the rotational speed difference.
4. the control method of torque compensation according to claim 3, which is characterized in that described to be calculated according to the rotational speed difference
The size of the compensation torque of the needs, comprising:
TQcom=Rerr*kP+Rerr*kI, in which: the TQcomFor the compensation torque of the needs, the RerrFor the rotational speed difference,
The kPWith the RerrLinear correlation, the kIWith the RerrThe integrated value of variation is linearly related.
5. the control method of torque compensation according to claim 1, which is characterized in that further include:
Timing is carried out to the time that the torque of the engine compensates, as the second time；
Detect present battery state-of-charge, and calculate the present battery state-of-charge allow to the torque of the engine into
The time of row compensation, as the third time；
Judge whether second time is not less than the third time；
When second time being not less than the third time, stopping compensates the torque of the engine.
6. the control method of torque compensation according to claim 1, which is characterized in that described to calculate the compensation torque needed
Size, comprising:
Drive demand torque in real-time detection to the default first time period at current time；
Calculate the change rate of the drive demand torque in the first time period；
Torsion is estimated according to engine described in the current torque arithmetic of the change rate of the drive demand torque and the engine
Square；
The difference estimating torque and obtaining that the drive demand torque is subtracted to the engine, the compensation as the needs are turned round
Square.
7. the control method of torque compensation according to claim 6, which is characterized in that described to be turned round according to the drive demand
Engine described in the change rate of square and the current torque arithmetic of the engine estimates torque, comprising:
TQPRE=TQACT+TCON*TQSLEW, in which: TQPREFor the torque of estimating of the engine, TQACTIt is current for the engine
Torque, TCONFor the change rate of the drive demand torque, TQSLEWFor time constant.
8. the control method of torque compensation according to claim 1, which is characterized in that
When it is positive value that the motor, which can provide torque, the motor can provide torque and transmission shaft, battery charge state and electricity
Machine state is related.
9. the control method of torque compensation according to claim 1 or 8, which is characterized in that when the motor can provide torsion
When square is negative value, it is related with the idling speed of battery charge state, motor status and vehicle that the motor can provide torque.
10. a kind of HCU characterized by comprising
First judging unit needs to compensate the torque of engine suitable for judging whether；
First computing unit, suitable for when first judging unit determine need the torque of the engine is compensated when,
Calculate the size of the compensation torque needed；
Second judgment unit, suitable for judging whether the absolute value of the compensation torque is less than the absolute value that motor can provide torque；
First compensating unit, suitable for determining that the absolute value of the compensation torque is less than or equal to motor when the second judgment unit
When can provide the absolute value of torque, according to engine described in the compensation torque compensation；
First judging unit, comprising:
First judgment sub-unit, suitable for during judging whether vehicle is in shift；
First determines compensation subelement, when suitable for during first judgment sub-unit determining that the vehicle is in shift, really
It is fixed to need to compensate the torque of the engine；
Second judgment sub-unit, when suitable for during first judgment sub-unit determining that the vehicle is not in shift, judgement
Whether drive demand torque is greater than preset first threshold value；
Third judgment sub-unit, suitable for determining that the drive demand torque is greater than first threshold when second judgment sub-unit
When value, judge whether the absolute value of the slope of the drive demand torque is greater than default second threshold；
4th judgment sub-unit, the absolute value of the slope suitable for determining the drive demand torque when the third judgment sub-unit
When greater than the second threshold, judge that motor can provide the absolute value of torque and whether be lower than default third threshold value；
Second determines compensation subelement, suitable for determining that the motor can provide the absolute value of torque when the 4th judgment sub-unit
When not less than the third threshold value, determines and need to compensate the torque of the engine.
11. HCU according to claim 10, which is characterized in that further include:
Second compensating unit, suitable for determining that the absolute value of the compensation torque can provide greater than motor when the second judgment unit
When the absolute value of torque, engine described in torque compensation can provide according to the motor.
12. HCU according to claim 10, which is characterized in that first computing unit, comprising:
Detection sub-unit is adapted to detect for the current revolving speed of the engine, as the first revolving speed；
Rotational speed difference subelement is sought, it will as the second revolving speed suitable for the rotating speed of target the corresponding engine of gear after shift
Second revolving speed subtracts the difference that first revolving speed obtains, as rotational speed difference；
First compensation calculation subelement, the size of the compensation torque suitable for calculating the needs according to the rotational speed difference.
13. HCU according to claim 12, which is characterized in that the first compensation calculation subelement is suitable for according to following
Formula calculates the size of the compensation torque of the needs:
TQcom=Rerr*kP+Rerr*kI, in which: the TQcomFor the compensation torque of the needs, the RerrFor the rotational speed difference,
The kPWith the RerrLinear correlation, the kIWith the RerrThe integrated value of variation is linearly related.
14. HCU according to claim 10, which is characterized in that further include:
Timing unit, the time compensated suitable for the torque to the engine carries out timing, as the second time；
Second computing unit is adapted to detect for present battery state-of-charge, and calculates permissible pair of the present battery state-of-charge
The time that the torque of the engine compensates, as the third time；
Third judging unit, suitable for judging whether second time is not less than the third time；
Stop compensating unit, suitable for when the third judging unit determines second time not less than the third time,
Stopping compensates the torque of the engine.
15. HCU according to claim 10, which is characterized in that first computing unit, further includes:
Timing subelement, suitable for the drive demand torque in the default first time period of real-time detection to current time；
Computation subunit is suitable for calculating in the first time period, the change rate of the drive demand torque；
Subelement is estimated, suitable for according to the current torque arithmetic of the change rate of the drive demand torque and the engine
Engine estimates torque；
Second compensation calculation subelement, suitable for the drive demand torque to be subtracted to the difference of the engine estimating torque and obtaining
Value, the compensation torque as the needs.
16. HCU according to claim 15, which is characterized in that it is described to estimate subelement, suitable for calculating according to the following formula
The engine estimates torque, comprising:
TQPRE=TQACT+TCON*TQSLEW, in which: TQPREFor the torque of estimating of the engine, TQACTIt is current for the engine
Torque, TCONFor the change rate of the drive demand torque, TQSLEWFor time constant.
17. HCU according to claim 10, which is characterized in that when it is positive value that the motor, which can provide torque, the electricity
It is related with transmission shaft, battery charge state and motor status that machine can provide torque.
18. HCU described in 1 or 17 according to claim 1, which is characterized in that when it is negative value that the motor, which can provide torque, institute
Stating motor, to can provide torque related with the idling speed of battery charge state, motor status and vehicle.
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