CN107364440B - Hybrid power car pure electric vehicle starting-up process control method - Google Patents

Hybrid power car pure electric vehicle starting-up process control method Download PDF

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Publication number
CN107364440B
CN107364440B CN201710615414.9A CN201710615414A CN107364440B CN 107364440 B CN107364440 B CN 107364440B CN 201710615414 A CN201710615414 A CN 201710615414A CN 107364440 B CN107364440 B CN 107364440B
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Prior art keywords
clutch
speed
starting
torque
motor
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CN201710615414.9A
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CN107364440A (en
Inventor
蔡文文
庞学文
张荣辉
郑岩
张广辉
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FAW Group Corp
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FAW Group Corp
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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
    • B60W10/02—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
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18027—Drive off, accelerating from standstill
    • 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
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/20—Reducing vibrations in the driveline
    • B60W2030/203—Reducing vibrations in the driveline related or induced by the clutch
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • 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
    • B60W2710/08—Electric propulsion units
    • B60W2710/081—Speed

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
  • Hybrid Electric Vehicles (AREA)

Abstract

The invention discloses a kind of hybrid vehicle pure electric vehicle starting-up process control method, this method is as follows: when recognizing start request, sending starting auxiliary oil pump order to CAN network, makes clutch work in half hitch chalaza；When brake pedal unclamps, control power motor revolving speed reaches setting value, while controlling clutch and starting torsion pass, and vehicle is started to walk by static, and when clutch rotational speed is synchronous with motor speed, starting-up process is completed.Clutch moment of torque control PI parameter and feedforward torque are related to power motor electricity in the present invention, correct clutch moment of torque according to motor electricity, prevent overload or driving；Clutch rotating speed of target is using power motor revolving speed as reference point simultaneously, clutch moment of torque Discrete control, opened loop control ensure that torque rises rapidity, and closed-loop control is changed clutch rotational speed in starting-up process according to rotating speed of target, it ensure that vehicle starting-up process is steady, starting avoided to impact.

Description

Hybrid power car pure electric vehicle starting-up process control method
Technical field
The present invention relates to hybrid vehicle control field more particularly to a kind of hybrid vehicle pure electric vehicle starting-up processes Control method.
Background technique
Hybrid vehicle has hybrid power, pure electric vehicle, machine of having driven a vehicle, the plurality of operating modes such as machine of having stopped.Mixing is dynamic When power automobile pure electric vehicle starts to walk, since power motor is without idling speed, torque can be transmitted to gearbox under very low revolving speed. When the electric-only mode slow-speed of revolution starts to walk, there is ancillary equipment to make clutch work can be in quasi integration dotted state to clutch pre-oiling The fast starting when revolving speed meets condition.In slow-speed of revolution starting-up process, clutch can be adjusted by controlling the pressure of clutch The torque of device transmitting, while the size of clutch torsion pass can influence motor speed in turn, it is therefore desirable to clutch moment of torque into The accurate control of row, it is ensured that in starting-up process quickly without impact.
Patent " a kind of vehicle pure electric vehicle starting control method mixed by force " (application number 201410317214.1) passes through control motor Simulated engine enters idling mode, and driving CVT internal mechanical pump is that CVT carries out building pressure, CVT is built be pressed into function after, control clutch Device enters sliding wear state, and vehicle is started to walk.In that patent for clutch moment of torque in starting-up process and motor speed Control without reference to.
Summary of the invention
It is an object of the present invention to provide can be avoided torsional impact and vibration in a kind of hybrid vehicle pure electric vehicle starting-up process It is dynamic, realize vehicle quickly, gentle start, the hybrid vehicle pure electric vehicle starting-up process control method for avoiding starting from impacting.
The present invention solves technical problem and adopts the following technical scheme that a kind of hybrid vehicle pure electric vehicle starting-up process control Method comprising:
S10, judge whether driver has driving intention；When recognizing vehicle has start request, opened to CAN network transmission The request of dynamic auxiliary oil pump makes clutch work in half hitch chalaza；
S20, when brake pedal unclamp when, give CAN network send motor rotating speed of target Stm, reach in power motor revolving speed and set When determining revolving speed, control clutch starts torsion pass, and vehicle is started to walk by static, and clutch control torque is Tclt；
S30, when clutch rotational speed is synchronous with motor speed, starting-up process complete.
Optionally, the S10 includes: when vehicle is in ready state, and shift handle is placed in D grades, and brake pedal is stepped on Under, judging driver, there are driving intentions.
Optionally, the S20 specifically: when brake pedal unclamps, tabled look-up according to gear information and accelerator pedal position The rotating speed of target S of StallSpeed acquisition power motorTm, power motor rotating speed of target is sent to CAN network；Power motor revolving speed When reaching setting speed, clutch moment of torque is controlled with TstepRate rise to Topen；Clutch control torque reaches TopenAfterwards, it controls Clutch moment of torque processed is Tclt=TPI+TProactive, wherein TPITorque is adjusted for speed closed loop,P is proportionality coefficient, and I is integral coefficient；SCltErrorFor clutch actual speed and mesh The difference of revolving speed is marked, the rotating speed of target of clutch is motor rotating speed of target STm-Sslip1, wherein Sslip1Motor when for pure motor driving Revolving speed and clutch rotational speed sliding wear are poor；TProactiveRefer to feedforward torque.
Optionally, when the relative speed variation of motor is less than ATmAfterwards, the rotating speed of target of clutch will not temporarily increase, until Motor speed change is restored to ATmAfter above, rotating speed of target presses curvilinear motion again.
Optionally, clutch rotational speed and motor speed synchronize refer to rotational speed difference between the two in Sslip1Within.
The invention has the following beneficial effects: the present embodiment in vehicle stationary, uses auxiliary oil pump for clutch system Oil pressure is provided, makes clutch work near half hitch chalaza, not only can consume electricity to avoid starting main motor, but also can drive Member quickly runs when loosening the brake, and has not only met vehicle rapidity, but also saved battery capacity；And clutch moment of torque control PI parameter processed and feedforward torque are related to power motor electricity, can correct clutch moment of torque according to motor electricity, prevent from overloading Or driving；Third, clutch rotating speed of target are using power motor revolving speed as reference point, clutch moment of torque Discrete control, opened loop control It ensure that torque rises rapidity, closed-loop control is changed clutch rotational speed in starting-up process according to rotating speed of target, protects It is steady to have demonstrate,proved vehicle starting-up process, starting is avoided to impact.
Detailed description of the invention
Fig. 1 is the power assembly structural schematic diagram of hybrid vehicle of the invention；
Fig. 2 is the calculating process figure of clutch control torque of the invention；
Fig. 3 is hybrid vehicle pure electric vehicle starting-up process schematic diagram of the invention.
The mark in the figure shows: 1- engine；2- separates clutch；3 power motors-；4- double-clutch automatic gearbox.
Specific embodiment
Technical solution of the present invention is further elaborated below with reference to examples and drawings.
Embodiment 1
Present embodiments provide a kind of hybrid vehicle pure electric vehicle starting-up process control method, the hybrid vehicle Power assembly it is as shown in Figure 1 comprising engine, separation clutch, power motor, double-clutch automatic gearbox, auxiliary oil Pump；The both ends of separation clutch are separately connected engine and power motor, and output end of the power motor connects double clutch automatic speed changing Device, double-clutch automatic gearbox output end are connected on driving wheel by retarder etc..When power motor is run, machinery will drive Pump rotation establishes oil pressure for transmission system.In order to realize the control method of the present embodiment, auxiliary oil pump is further provided on vehicle System, auxiliary oil pump include a set of low voltage motor and oil pump, and the low voltage motor provides power, the auxiliary by low tension battery Oil pump is connected with vehicle hydraulic system, and when power motor does not work, auxiliary oil pump can be with independent operating, and can become to be entire Fast case circuit provides pressure and lubrication.
Fig. 2 is starting-up process clutch moment of torque closed-loop control schematic diagram, and the input of PI controller is clutch rotating speed of target It is poor with actual speed, a torque is calculated after PI controller plus TProactiveTorque obtains newly after torque limit Torque value, by adjusting clutch pressure and then control clutch rotational speed and motor speed, the final revolving speed both realized is same Step.
As shown in Figure 3, which comprises
S10, judge whether driver has driving intention；When recognizing vehicle has start request, opened to CAN network transmission The request of dynamic auxiliary oil pump makes the clutch of double-clutch automatic gearbox work in half hitch chalaza.
Vehicle is in ready state, and shift handle is placed in D grades, in time t1When, when brake pedal is operated, judgement is driven There are driving intentions by the person of sailing, and send starting auxiliary oil pump request to CAN network, the clutch of double-clutch automatic gearbox is made to work In half hitch chalaza Pkissp。
S20, when brake pedal unclamp when, give CAN network send motor rotating speed of target Stm, reach in power motor revolving speed and set When determining revolving speed, the clutch for controlling double-clutch automatic gearbox starts torsion pass, and vehicle is started to walk by static, and clutch control is turned round Square is Tclt。
In time t2When, brake pedal unclamp, according to gear information and accelerator pedal position table look-up StallSpeed obtain The rotating speed of target S of power motorTm, power motor rotating speed of target is sent to CAN network, in time t3When, power motor turn up When to setting speed, clutch moment of torque is controlled with TstepRate rise to Topen；Clutch control torque reaches TopenAfterwards, it controls Clutch moment of torque is Tclt=TPI+TProactive, TPITorque is adjusted for speed closed loop,P For proportionality coefficient, I is integral coefficient, and the value of P and I is related with power motor electricity, is tabled look-up acquisition by test data, SCltError For the difference of clutch actual speed and rotating speed of target, clutch rotating speed of target is motor rotating speed of target STm-Sslip1, Sslip1It is pure Motor speed and clutch rotational speed sliding wear are poor when electric running, this rotating speed difference is related with vehicle operating condition.It is electric in order to prevent Machine is shut down, when the relative speed variation of motor is less than ATmAfterwards, the rotating speed of target of clutch will not temporarily increase, until motor speed Variation is restored to ATmAfter above, rotating speed of target presses curvilinear motion again.TProactiveRefer to feedforward torque, has with power motor electricity It closes, is tabled look-up acquisition according to oil temperature and motor electricity.
S30, when the clutch rotational speed of double-clutch automatic gearbox is synchronous with motor speed, starting-up process complete.
Preferably, the clutch work refers to that the clutch of double-clutch automatic gearbox will transmit torsion in half hitch chalaza Square；And under different operational modes (manually, automatic and motor pattern), gear information and accelerator pedal position are tabled look-up StallSpeed is different.
In S20, limit value is carried out to clutch control torque, when clutch control torque is less than setting value, with clutch It is output valve that device, which controls torque, when clutch control torque is more than or equal to setting value, using setting value as output valve.
In S30, clutch rotational speed and motor speed synchronize refer to rotational speed difference between the two in Sslip1Within.
In the present embodiment, in S10, when driver has driving intention, starting auxiliary oil pump rotation；When main oil pressure is greater than It is oil-filled to clutch after setting value；When the revolving speed of power motor is greater than the set value (such as 200rpm), auxiliary oil pump is closed.
The present embodiment uses auxiliary oil pump to provide oil pressure for clutch system in vehicle stationary, and clutch work is made to exist Near half hitch chalaza, not only electricity can be consumed to avoid starting main motor, but also can quickly transport when driver loosens the brake Row, had not only met vehicle rapidity, but also saved battery capacity.
And clutch moment of torque control PI parameter and feedforward torque are related to power motor electricity, and it can be according to motor electricity Clutch moment of torque is corrected, overload or driving are prevented.
Third, clutch rotating speed of target are using power motor revolving speed as reference point, clutch moment of torque Discrete control, opened loop control It ensure that torque rises rapidity, closed-loop control is changed clutch rotational speed in starting-up process according to rotating speed of target, protects It is steady to have demonstrate,proved vehicle starting-up process, starting is avoided to impact.
The sequencing of above embodiments is not only for ease of description, represent the advantages or disadvantages of the embodiments.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features； And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and Range.

Claims (4)

1. a kind of hybrid vehicle pure electric vehicle starting-up process control method characterized by comprising
S10, judge whether driver has driving intention；When recognizing vehicle has start request, it is auxiliary that starting is sent to CAN network It helps oil pump to request, makes clutch work in half hitch chalaza；
S20, when brake pedal unclamp when, give CAN network send motor rotating speed of target Stm, reach setting in power motor revolving speed and turn When fast, control clutch starts torsion pass, and vehicle is started to walk by static, and clutch control torque is Tclt；
S30, when clutch rotational speed is synchronous with motor speed, starting-up process complete；
The S20 specifically: when brake pedal unclamps, obtained according to gear information and the accelerator pedal position StallSpeed that tables look-up Obtain the rotating speed of target S of power motorTm, power motor rotating speed of target is sent to CAN network；Power motor revolving speed reaches setting speed When, clutch moment of torque is controlled with TstepRate rise to Topen；Clutch control torque reaches TopenAfterwards, clutch moment of torque is controlled For Tclt=TPI+TProactive, wherein TPITorque is adjusted for speed closed loop,P be than Example coefficient, I is integral coefficient；SCltErrorFor the difference of clutch actual speed and rotating speed of target, the rotating speed of target of clutch is electricity Machine rotating speed of target STm-Sslip1, wherein Sslip1Motor speed and clutch rotational speed sliding wear are poor when for pure motor driving；TProactive Refer to feedforward torque.
2. hybrid vehicle pure electric vehicle starting-up process control method according to claim 1, which is characterized in that described S10 includes: when vehicle is in ready state, and shift handle is placed in D grades, and brake pedal is operated, and judges that driver exists and drives It is intended to.
3. hybrid vehicle pure electric vehicle starting-up process control method according to claim 2, which is characterized in that work as motor Relative speed variation be less than ATmAfterwards, the rotating speed of target of clutch will not temporarily increase, until motor speed change is restored to ATm After above, rotating speed of target presses curvilinear motion again.
4. hybrid vehicle pure electric vehicle starting-up process control method according to claim 1, which is characterized in that clutch Revolving speed and motor speed synchronize refer to rotational speed difference between the two in Sslip1Within.
CN201710615414.9A 2017-07-25 2017-07-25 Hybrid power car pure electric vehicle starting-up process control method Active CN107364440B (en)

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Families Citing this family (10)

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CN108437974B (en) * 2018-03-08 2019-12-31 中国第一汽车股份有限公司 Driving starting control method for hybrid power car
CN108657157B (en) * 2018-06-13 2021-08-24 阿尔特汽车技术股份有限公司 Hybrid electric vehicle clutch control system and control method based on electromagnetic clutch
CN109027218A (en) * 2018-08-21 2018-12-18 重庆长安汽车股份有限公司 The starting control method of wet-type dual-clutch transmission
CN109624980A (en) * 2018-11-30 2019-04-16 汽解放汽车有限公司 A kind of clutch starting control method matching idling start stop system
CN110194140A (en) * 2019-05-24 2019-09-03 中国第一汽车股份有限公司 A kind of clutch starting control method matching idling start stop system
CN113389891B (en) * 2020-03-12 2022-08-02 广州汽车集团股份有限公司 Low-temperature starting control method and device of clutch transmission and related equipment
CN112677958B (en) * 2021-01-08 2022-08-09 重庆长安汽车股份有限公司 Vehicle starting control method and system and vehicle
CN114909466B (en) * 2021-02-07 2024-03-29 广汽埃安新能源汽车有限公司 Vehicle downshift control method, device and storage medium
CN112937583B (en) * 2021-03-19 2022-06-03 重庆长安汽车股份有限公司 Vehicle low-temperature starting control method and computer-storable medium
CN114718967B (en) * 2022-02-25 2024-06-07 深圳绿米联创科技有限公司 Correction method, device and system of driving device, intelligent curtain and storage medium

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