CN107000735B - 用于起动混合动力车辆的内燃机的方法 - Google Patents

用于起动混合动力车辆的内燃机的方法 Download PDF

Info

Publication number
CN107000735B
CN107000735B CN201580064861.9A CN201580064861A CN107000735B CN 107000735 B CN107000735 B CN 107000735B CN 201580064861 A CN201580064861 A CN 201580064861A CN 107000735 B CN107000735 B CN 107000735B
Authority
CN
China
Prior art keywords
internal combustion
combustion engine
torque
preparation
phase
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201580064861.9A
Other languages
English (en)
Other versions
CN107000735A (zh
Inventor
迈克尔·罗伊舍尔
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Schaeffler Technologies AG and Co KG
Original Assignee
Schaeffler Technologies AG and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Schaeffler Technologies AG and Co KG filed Critical Schaeffler Technologies AG and Co KG
Publication of CN107000735A publication Critical patent/CN107000735A/zh
Application granted granted Critical
Publication of CN107000735B publication Critical patent/CN107000735B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/48—Parallel type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/54—Transmission for changing ratio
    • 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
    • B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • 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
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/40—Controlling the engagement or disengagement of prime movers, e.g. for transition between prime movers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02N—STARTING OF COMBUSTION ENGINES; STARTING AIDS FOR SUCH ENGINES, NOT OTHERWISE PROVIDED FOR
    • F02N11/00—Starting of engines by means of electric motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02N—STARTING OF COMBUSTION ENGINES; STARTING AIDS FOR SUCH ENGINES, NOT OTHERWISE PROVIDED FOR
    • F02N15/00—Other power-operated starting apparatus; Component parts, details, or accessories, not provided for in, or of interest apart from groups F02N5/00 - F02N13/00
    • F02N15/02—Gearing between starting-engines and started engines; Engagement or disengagement thereof
    • F02N15/022—Gearing between starting-engines and started engines; Engagement or disengagement thereof the starter comprising an intermediate clutch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/26—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the motors or the generators
    • B60K2006/268—Electric drive motor starts the engine, i.e. used as starter motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/48—Parallel type
    • B60K2006/4825—Electric machine connected or connectable to gearbox input shaft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0638—Engine speed
    • 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
    • B60W2510/0676—Engine temperature
    • 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
    • B60W2510/0685—Engine crank angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/08—Electric propulsion units
    • B60W2510/081—Speed
    • 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
    • B60W2710/02—Clutches
    • B60W2710/027—Clutch 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
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0644—Engine speed
    • B60W2710/0661—Speed change rate
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02N—STARTING OF COMBUSTION ENGINES; STARTING AIDS FOR SUCH ENGINES, NOT OTHERWISE PROVIDED FOR
    • F02N2200/00—Parameters used for control of starting apparatus
    • F02N2200/02—Parameters used for control of starting apparatus said parameters being related to the engine
    • F02N2200/022—Engine speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02N—STARTING OF COMBUSTION ENGINES; STARTING AIDS FOR SUCH ENGINES, NOT OTHERWISE PROVIDED FOR
    • F02N2200/00—Parameters used for control of starting apparatus
    • F02N2200/04—Parameters used for control of starting apparatus said parameters being related to the starter motor
    • F02N2200/041—Starter speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02N—STARTING OF COMBUSTION ENGINES; STARTING AIDS FOR SUCH ENGINES, NOT OTHERWISE PROVIDED FOR
    • F02N2300/00—Control related aspects of engine starting
    • F02N2300/10—Control related aspects of engine starting characterised by the control output, i.e. means or parameters used as a control output or target
    • F02N2300/102—Control of the starter motor speed; Control of the engine speed during cranking
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • General Engineering & Computer Science (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Abstract

本发明涉及一种用于起动混合动力车辆中的内燃机的方法，其中将混合动力车辆的电动机(4)加速到预设的转速上，并且根据要传递的期望离合器力矩使设置在内燃机(2)和电动机(4)之间的混合分离离合器(6)沿闭合方向移动。在确保再次起动的高的可复现性的方法中，在内燃机(2)非运行的第一阶段中，根据内燃机(2)的发动机停机位置来确定用于再次起动内燃机的期望离合器力矩。

Description

用于起动混合动力车辆的内燃机的方法
技术领域
本发明涉及一种用于起动混合动力车辆中的内燃机的方法，其中将混合动力车辆的电动机加速到预设的转速上，并且根据要传递的期望离合器力矩使设置在内燃机和电动机之间的混合分离离合器沿闭合方向运动。
背景技术
从DE 10 2008 030 480 A1中已知一种用于控制起动离合器的方法，其中起动离合器处于混合动力车辆的动力传动系中。在内燃机的起动阶段期间，设置在内燃机和电动机之间的起动离合器借助于电动机在第一起动阶段中借助于预调并且在第二起动阶段中根据内燃机的曲轴的加速闭合。在此，适当地牵引非运行状态的内燃机。所述方法在不同情形下鲁棒性较小。离合器力矩要么过大，即内燃机的加速过快地进行，要么离合器力矩过小，由此起动过慢地或在极端情况下甚至不进行。
发明内容
本发明基于的目的是，提出一种用于起动混合动力车辆中的内燃机的方法，所述方法鲁棒地起作用并且确保内燃机的可靠的起动。
根据本发明，所述方法通过下述方式实现：在内燃机非运行状态的第一阶段中，根据内燃机的发动机停机位置来确定用于再次起动内燃机的期望离合器力矩。这具有的优点是，在设定期望离合器力矩时考虑内燃机的活塞的不同位置。通过所述方式，确保内燃机的可靠的起动，因为所设定的期望离合器力矩变化。
有利地，期望离合器力矩包括由于内燃机的发动机停机位置引起的摩擦和/或压缩力矩。所述摩擦和/或压缩力矩根据发动机位置是不同的并进而要求用于内燃机的不同的牵引或始动力矩，在设定期望离合器力矩时考虑所述牵引或始动力矩。
有利地，摩擦力矩和压缩力矩是温度相关的。期望离合器力矩因此强烈与这些不同的参数相关地变化，并且针对内燃机的各当前状态具体地确定。
在一个变型形式中，期望离合器力矩在第一阶段中有下述份额，所述份额考虑了内燃机的惯性和目标加速度。在此，要由离合器设定的期望离合器力矩有针对性地针对内燃机的构造上的情况。
在一个改进方案中，在内燃机开始进行其运动的第二阶段中，根据内燃机的从动态力矩中导出的期望加速度来确定期望离合器力矩。这表示，在所述第二阶段中，仅考虑下述动态力矩，所述动态力矩与内燃机的惯性和目标加速度相关。能够减少或取消对压缩力矩和摩擦力矩的观察，因为内燃机已经处于运动中。
有利地，根据内燃机的期望加速度来调节期望离合器力矩。这确保，在再次起动内燃机的任意时刻，设定所期望的期望离合器力矩并进而继续加速内燃机。
在一个实施方式中，在第三阶段中，当内燃机转速和电动机转速的转速差小于预设的转速阈值时，完全闭合混合分离离合器。借此确保，内燃机尽可能快地匹配于电动机的转速。
在另一个变型形式中，为了完全闭合混合分离离合器使用斜坡功能或滑转调节。斜坡功能在此可优选使用，因为在滑转功能中会出现转速突变。
附图说明
本发明允许多种实施方式。其中的一个应根据在附图中示出的图示予以详细阐述。
附图示出：
图1示出混合动力车辆的动力传动系的实施例，
图2示出内燃机的与曲轴角度相关的压缩力矩，
图3示出根据本发明的方法的实施例。
具体实施方式
图1示出混合动力车辆的动力传动系1的实施例，所述动力传动系具有内燃机2，所述内燃机具有曲轴3。电动机4具有转子5，其中在电动机4和内燃机2之间设置有混合分离离合器6。在示出的实施例中构成为转矩转换器7的另一离合器设置在变速器8和电动机4之间，所述转矩转换器能够附加地具有变矩器跨接离合器。变速器8将由驱动单元(内燃机2和电动机4)单独地或共同地生成的驱动力矩传递给驱动轮9。如果内燃机2要在混合分离离合器6闭合时仅传递力矩，那么电动机4无电流地构成，转子5在此用作为飞轮质量体。在电动机4通电且混合分离离合器6闭合时，两个驱动单元2、4将力矩传递到变速器8上。如果仅要驱动电动机4，那么断开混合分离离合器6。如果要借助于电动机4制动，那么断开混合分离离合器4并且电动机4作为发电机运行。附加地，为了实现更大的减速效果，能够通过闭合混合分离离合器6使用内燃机2的牵引力矩。
在混合动力车辆中通常出现：在混合动力车辆运行期间，在电动行驶之后，要起动静止的内燃机2，以便因此执行混合行驶。在图3中示出图表，所述图表示出内燃机2的再次起动的过程。在这种再次起动中，内燃机2首先是停止工作的，并且混合动力车辆通过电动机4运行，而混合分离离合器6是断开的。内燃机2的再次起动阶段在此分成三个阶段。在第一阶段中，将电动机4加速到预设的转速上。为了确保可靠地起动内燃机2，必须从零开始增大相应的期望离合器力矩。要增大的期望离合器力矩在此基本上取决于两个分量。第一分量MkuppPart1包括内燃机2的特性，如摩擦和压缩特性。所述摩擦和压缩特性从在再次起动内燃机2时内燃机2的瞬时发动机停机位置中得出。内燃机2的停机位置在此例如与绝对角度位置相关，即定义离合器力矩成分，所述离合器力矩成分与发动机停机位置相关。对此的背景是，活塞越靠近上止点，离合器力矩就必须越高，以便克服压缩。
内燃机2的活塞的不同的发动机停机位置经由曲轴角度
Figure BDA0001307114750000032
分成内燃机的四个状态中。在图2中示出内燃机的与曲轴角度
Figure BDA0001307114750000033
相关的压缩力矩。内燃机2的状态在此如下构成：
吸气阶段：
Figure BDA0001307114750000031
压缩阶段：
Figure BDA0001307114750000041
燃烧/膨胀阶段：
Figure BDA0001307114750000042
排气阶段：
Figure BDA0001307114750000043
根据在再次起动时内燃机2在哪个曲轴角度位置中停机，出现不同的摩擦力和压缩力，所述摩擦力和压缩力要通过期望离合力矩克服。此外考虑，摩擦力矩和压缩力矩是温度相关的。
Figure BDA0001307114750000044
在所述阶段1中，还观察期望离合器力矩的第二分量MkuppPart2，所述第二分量能够称作为动态力矩。所述动态力矩确定内燃机2的动态加速度，其中所述动态力矩同样可以是温度相关的，并且典型地根据下述方程来确定。
MkuppPart2＝Jmot*wTgt，
其中Jmot内燃机的惯性
wTgt内燃机的以弧度/秒为单位的目标加速度
由此能够导出，在第一阶段中，混合分离离合器6的控制力矩Mkupp确定成：
Figure BDA0001307114750000045
其中动态力矩叠加期望离合力矩并且由电动机3提供。
在再次起动的第二阶段中，内燃机2开始转动。在此，期望离合器力矩限制于动态力矩，而摩擦和压缩力矩减小或完全置于零。期望离合器力矩仅还包含一定份额，以便设定内燃机2的所期望的期望加速度。
如从图3中可见的，电动机4的转速N_Emot在阶段2中增大，以便一同牵引内燃机2。内燃机2的期望加速度的设定在此能够通过调节单元来支持。在此要注意的是，总离合器力矩邻近阶段2结束时(此时内燃机发动机转速N_ICE接近电动机转速N_Emot)是尽可能小的，以便避免混合动力车辆的不必要的失速颠簸(Einkuppelruck)。
在图3中，必要的缩写如下：
Trq_Cl_Tgt期望离合器力矩
N_Emot电动机的转速
N_ICE内燃机的转速
Trq_start_ICE内燃机的起动离合器期望力矩
在阶段3中再次起动结束时，此时内燃机转速N_ICE和电动机转速N_Emot之间的转速差小于预设的阈值时，完全闭合混合分离离合器6。
这能够一次通过下述方式实现：在控制时使用斜坡功能。替选地，但是也能够考虑滑转调节。
由于提出的解决方案，通过下述方式优化混合动力车辆中的再次起动功能：在再次起动的第一阶段中，内燃机2的控制与其停机位置相关地进行。这具有的优点是，由此能够实现可靠的再次起动，并且同时随后的加速特性是明显可再现的。
附图标记列表：
1 动力传动系
2 内燃机
3 曲轴
4 电动机
5 转子
6 混合分离离合器
7 转矩转换器
8 变速器
9 驱动轮

Claims (9)

1.一种用于起动混合动力车辆中的内燃机的方法，其中将所述混合动力车辆的电动机(4)加速到预设的转速上，并且根据要传递的期望离合器力矩使设置在内燃机(2)和电动机(4)之间的混合分离离合器(6)沿闭合方向移动，
其特征在于，
在所述内燃机(2)非运行的第一阶段中，根据由于所述内燃机(2)的发动机停机位置引起的摩擦力矩来确定用于再次起动所述内燃机的所述期望离合器力矩，以及在所述内燃机(2)进行其运动的第二阶段中，根据所述内燃机(2)的从动态力矩中导出的期望加速度来确定所述期望离合器力矩。
2.根据权利要求1所述的方法，
其特征在于，
所述期望离合器力矩包括由于所述内燃机(2)的所述发动机停机位置引起的压缩力矩。
3.根据权利要求2所述的方法，
其特征在于，
所述摩擦力矩和/或压缩力矩是温度相关的。
4.根据权利要求1所述的方法，
其特征在于，
所述期望离合器力矩在第一阶段中叠加有下述份额，所述份额考虑了所述内燃机(2)的惯性和目标加速度。
5.根据权利要求2所述的方法，
其特征在于，
所述期望离合器力矩在第一阶段中叠加有下述份额，所述份额考虑了所述内燃机(2)的惯性和目标加速度。
6.根据权利要求3所述的方法，
其特征在于，
所述期望离合器力矩在第一阶段中叠加有下述份额，所述份额考虑了所述内燃机(2)的惯性和目标加速度。
7.根据权利要求5所述的方法，
其特征在于，
根据所述内燃机(2)的期望加速度来调节所述期望离合器力矩。
8.根据权利要求1至6中任一项所述的方法，
其特征在于，
在内燃机转速和电动机转速的转速差小于预设的转速阈值的第三阶段中，完全闭合所述混合分离离合器(6)。
9.根据权利要求8所述的方法，
其特征在于，
为了完全闭合所述混合分离离合器(6)，使用斜坡功能或滑转调节。
CN201580064861.9A 2014-11-28 2015-11-20 用于起动混合动力车辆的内燃机的方法 Active CN107000735B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102014224391.2 2014-11-28
DE102014224391 2014-11-28
PCT/DE2015/200511 WO2016082829A1 (de) 2014-11-28 2015-11-20 Verfahren zum start eines verbrennungsmotors eines hybridfahrzeuges

Publications (2)

Publication Number Publication Date
CN107000735A CN107000735A (zh) 2017-08-01
CN107000735B true CN107000735B (zh) 2020-09-01

Family

ID=55299166

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201580064861.9A Active CN107000735B (zh) 2014-11-28 2015-11-20 用于起动混合动力车辆的内燃机的方法

Country Status (4)

Country Link
US (1) US20170246948A1 (zh)
CN (1) CN107000735B (zh)
DE (1) DE112015005375A5 (zh)
WO (1) WO2016082829A1 (zh)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018110859B4 (de) * 2018-05-07 2020-03-19 Schaeffler Technologies AG & Co. KG Verfahren zum Wiederstart eines Verbrennungsmotors in einem Hybridantriebsstrang
DE102018117310A1 (de) * 2018-07-18 2020-01-23 Schaeffler Technologies AG & Co. KG Verfahren zur Verbesserung der Genauigkeit bei einer Tastpunktermittlung einer automatisierten Kupplung in einem Kraftfahrzeug mit einem Verbrennungsmotor
DE102018131282A1 (de) * 2018-12-07 2020-06-10 Schaeffler Technologies AG & Co. KG Verfahren zum Start eines Verbrennungsmotors eines Hybridfahrzeuges
DE102018131281A1 (de) * 2018-12-07 2020-06-10 Schaeffler Technologies AG & Co. KG Verfahren zum Schutz einer Hybridtrennkupplung eines Hybridantriebsstranges eines Fahrzeuges
DE102019103764A1 (de) * 2019-02-14 2020-08-20 Schaeffler Technologies AG & Co. KG Verfahren zum Start eines Verbrennungsmotors eines Fahrzeuges
JP7381998B2 (ja) * 2019-08-29 2023-11-16 マツダ株式会社 ハイブリッド車両の制御装置
FR3145728A1 (fr) * 2023-02-14 2024-08-16 Psa Automobiles Sa Procédé de commande du démarrage d’un moteur thermique dans un véhicule equipé d’une transmission hybride
FR3145725A1 (fr) * 2023-02-14 2024-08-16 Psa Automobiles Sa Procédé de commande du démarrage d’un moteur thermique dans un véhicule equipé d’une transmission hybride

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101443219A (zh) * 2006-05-12 2009-05-27 罗伯特.博世有限公司 用于起动混合驱动装置中的内燃机的方法
DE102007062796A1 (de) * 2007-12-27 2009-07-02 Robert Bosch Gmbh Verfahren zum Betreiben einer Hybridantriebsvorrichtung
CN102483107A (zh) * 2009-07-16 2012-05-30 舍弗勒技术股份两合公司 离合器接触点
DE102011005469A1 (de) * 2011-03-14 2012-09-20 Zf Friedrichshafen Ag Verfahren zum Überführen einer Kolbenbrennkraftmaschine eines Fahrzeugantriebsstranges aus einem abgeschalteten Betriebszustand in einen zugeschalteten Betriebszustand
JP2013252725A (ja) * 2012-06-05 2013-12-19 Nissan Motor Co Ltd ハイブリッド車両のエンジン始動制御装置

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10030000A1 (de) * 1999-12-28 2001-07-05 Bosch Gmbh Robert Starteranordnung für eine Brennkraftmaschine und Verfahren zur Steuerung derselben
US8142328B2 (en) 2007-07-05 2012-03-27 Schaeffler Technologies AG & Co. KG Method for controlling a starting clutch

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101443219A (zh) * 2006-05-12 2009-05-27 罗伯特.博世有限公司 用于起动混合驱动装置中的内燃机的方法
DE102007062796A1 (de) * 2007-12-27 2009-07-02 Robert Bosch Gmbh Verfahren zum Betreiben einer Hybridantriebsvorrichtung
CN102483107A (zh) * 2009-07-16 2012-05-30 舍弗勒技术股份两合公司 离合器接触点
DE102011005469A1 (de) * 2011-03-14 2012-09-20 Zf Friedrichshafen Ag Verfahren zum Überführen einer Kolbenbrennkraftmaschine eines Fahrzeugantriebsstranges aus einem abgeschalteten Betriebszustand in einen zugeschalteten Betriebszustand
JP2013252725A (ja) * 2012-06-05 2013-12-19 Nissan Motor Co Ltd ハイブリッド車両のエンジン始動制御装置

Also Published As

Publication number Publication date
CN107000735A (zh) 2017-08-01
DE112015005375A5 (de) 2017-08-03
WO2016082829A1 (de) 2016-06-02
US20170246948A1 (en) 2017-08-31

Similar Documents

Publication Publication Date Title
CN107000735B (zh) 用于起动混合动力车辆的内燃机的方法
US8355860B2 (en) Methods and systems for assisted direct start control
US9283955B2 (en) Method and apparatus for starting an engine of a modular hybrid transmission based upon demanded torque
US8370051B2 (en) Methods and systems for assisted direct start control
US9045138B2 (en) Vehicle control apparatus
CN108025735B (zh) 车辆控制装置
JP6520660B2 (ja) 車両制御装置
US11485362B2 (en) Operating a motor vehicle with an advanced motor restart out of the engine-off coasting mode
CN109072998B (zh) 车辆控制装置
JP2017194074A5 (zh)
WO2018168389A1 (ja) 車両制御装置
US9227630B2 (en) Smoothing hybrid vehicle engine shutdown
JP2014159207A (ja) ハイブリッド車両のエンジン始動制御装置
US10370001B2 (en) Coast-stop control device
WO2018054771A3 (de) Verfahren zum betreiben eines hybridfahrzeugs
US11359593B2 (en) Impulse start in a hybrid drivetrain
JP6129369B1 (ja) エンジン始動制御装置およびエンジン始動制御方法
CN112368487B (zh) 在配有内燃机的机动车上提高自动离合器接触点判定精度的方法
CN109790887B (zh) 用于控制机动车的驱动系的方法
CN107042819B (zh) 用于使内燃机运行的方法和控制装置以及机动车
WO2020115259A1 (en) A hybrid drive module
JP5935312B2 (ja) ハイブリッド車両用駆動装置のクラッチ制御装置
JP2017210149A (ja) 車両の制御装置
US20160046277A1 (en) Method for determining a measuring point of a hybrid decoupler of a hybrid vehicle
US11007996B2 (en) Vehicle control method and vehicle control device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant