CN107415928A - 混合动力电动车辆蠕动控制 - Google Patents

混合动力电动车辆蠕动控制 Download PDF

Info

Publication number
CN107415928A
CN107415928A CN201710329478.2A CN201710329478A CN107415928A CN 107415928 A CN107415928 A CN 107415928A CN 201710329478 A CN201710329478 A CN 201710329478A CN 107415928 A CN107415928 A CN 107415928A
Authority
CN
China
Prior art keywords
torsion
moment
speed
rotating speed
motor
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.)
Granted
Application number
CN201710329478.2A
Other languages
English (en)
Other versions
CN107415928B (zh
Inventor
杰森·梅尔
罗吉特·乔赫里
马修·艾伦·博斯
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.)
Ford Global Technologies LLC
Original Assignee
Ford Global Technologies LLC
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 Ford Global Technologies LLC filed Critical Ford Global Technologies LLC
Publication of CN107415928A publication Critical patent/CN107415928A/zh
Application granted granted Critical
Publication of CN107415928B publication Critical patent/CN107415928B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • B60L15/2063—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 for creeping
    • 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
    • B60K6/38—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 driveline clutches
    • 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
    • B60K6/40—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 assembly or relative disposition of components
    • 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
    • B60K6/46—Series 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
    • 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
    • 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
    • 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
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
    • B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
    • 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
    • B60W10/024—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches including control of torque converters
    • B60W10/026—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches including control of torque converters of lock-up 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
    • B60W10/08—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
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/15—Control strategies specially adapted for achieving a particular effect
    • 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
    • B60W30/18063—Creeping
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • 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
    • 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
    • B60L2240/10—Vehicle control parameters
    • B60L2240/26—Vehicle weight
    • 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
    • B60L2240/421—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
    • 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
    • B60L2240/60—Navigation input
    • B60L2240/64—Road conditions
    • B60L2240/642—Slope of road
    • 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
    • B60L2260/00—Operating Modes
    • B60L2260/40—Control modes
    • B60L2260/42—Control modes by adaptive correction
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0012—Feedforward or open loop systems
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/10—Change speed gearings
    • B60W2510/1005—Transmission ratio engaged
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal 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
    • 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
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/92—Hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/18—Propelling the vehicle
    • B60Y2300/18008—Propelling the vehicle related to particular drive situations
    • B60Y2300/18058—Creeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/18—Propelling the vehicle
    • B60Y2300/188—Controlling power parameters of the driveline, e.g. determining the required power
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/42—Clutches or brakes
    • B60Y2400/426—Hydrodynamic couplings, e.g. torque converters
    • 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
    • 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
    • Y02T10/64—Electric machine technologies in electromobility
    • 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
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • 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
    • Y02T10/72—Electric energy management in electromobility
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S903/00—Hybrid electric vehicles, HEVS
    • Y10S903/902—Prime movers comprising electrical and internal combustion motors
    • Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
    • Y10S903/904—Component specially adapted for hev
    • Y10S903/912—Drive line clutch
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S903/00—Hybrid electric vehicles, HEVS
    • Y10S903/902—Prime movers comprising electrical and internal combustion motors
    • Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
    • Y10S903/904—Component specially adapted for hev
    • Y10S903/915—Specific drive or transmission adapted for hev
    • Y10S903/917—Specific drive or transmission adapted for hev with transmission for changing gear ratio
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S903/00—Hybrid electric vehicles, HEVS
    • Y10S903/902—Prime movers comprising electrical and internal combustion motors
    • Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
    • Y10S903/93—Conjoint control of different elements
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S903/00—Hybrid electric vehicles, HEVS
    • Y10S903/902—Prime movers comprising electrical and internal combustion motors
    • Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
    • Y10S903/951—Assembly or relative location of components

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Transmission Device (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Control Of Fluid Gearings (AREA)

Abstract

公开了混合动力电动车辆蠕动控制。一种车辆包括：发动机；变速器，包括具有泵轮的变矩器。所述车辆还包括被配置为将驱动扭矩提供至所述泵轮的电机。所述泵轮经由离合器选择性地结合到所述发动机。至少一个车辆控制器被配置为：响应于所述发动机为关闭的、所述变速器处于前进挡、车辆速度为零以及制动踏板松开至超过阈值位置，命令所述电机将扭矩提供至所述泵轮。所述扭矩是由基于测量转速和计算转速之间的差的反馈扭矩调节的预定的前馈扭矩。所述转速可以是所述电机的转速。

Description

混合动力电动车辆蠕动控制
技术领域
本公开涉及混合动力电动车辆(HEV)中的蠕动控制。
背景技术
混合动力电动动力传动系(hybrid-electric powertrain)包括发动机和电机。发动机和/或电机产生的扭矩(或功率)可通过变速器传递到驱动轮以推进车辆。牵引电池将能量供应至电机。
发明内容
根据一个实施例，一种车辆包括发动机和变速器。所述变速器包括具有泵轮的变矩器。所述车辆还包括被配置为将驱动扭矩提供至所述泵轮的电机。所述泵轮经由离合器选择性地结合到所述发动机。至少一个控制器被配置为：响应于所述发动机为关闭的、所述变速器处于前进挡、车辆速度为零以及制动踏板松开至超过阈值位置，命令所述电机将扭矩提供至所述泵轮。所述扭矩是由基于测量转速和计算转速之间的差的反馈扭矩调节的预定的前馈扭矩。所述测量转速和计算转速可以是所述电机的测量转速和计算转速。
根据本发明的一个实施例，所述测量转速和计算转速是所述电机的测量转速和计算转速。
根据本发明的一个实施例，所述反馈扭矩被限制到预定的最大扭矩。
根据本发明的一个实施例，所述控制器还被配置为在预定的时间段内施加所述前馈扭矩。
根据本发明的一个实施例，所述前馈扭矩包括在第一时间段内命令的第一前馈扭矩和在第一时间段之后的第二时间段内命令的第二前馈扭矩。
根据本发明的一个实施例，所述第一前馈扭矩大于所述第二前馈扭矩。
根据本发明的一个实施例，所述前馈扭矩基于所述泵轮的惯量。
根据本发明的一个实施例，所述电机的转子和所述泵轮固定到彼此。
根据另一实施例，一种车辆包括动力传动系，所述动力传动系具有可驱动地连接到变矩器的泵轮的电机。所述车辆还包括控制器，所述控制器被配置为：响应于车辆速度为零以及制动踏板松开至超过阈值位置，命令所述电机将扭矩提供至所述泵轮，所述扭矩是由基于测量转速和计算转速之间的差的反馈扭矩调节的预定的前馈扭矩。
根据又一实施例，提出了一种重启可驱动地连接到电机的变矩器泵轮的方法。所述方法包括：响应于车辆速度为零以及制动踏板松开至超过阈值位置，命令所述电机将扭矩提供至所述泵轮，所述扭矩是根据测量的电机转速和计算的电机转速之间的差而被成比例地调节的预定的前馈扭矩。
根据本发明的一个实施例，成比例调节的前馈扭矩被限制到预定的最大扭矩。
根据本发明的一个实施例，所述方法还包括响应于电机转速为零以及制动踏板松开至超过阈值位置而发出蠕动命令。
附图说明
图1是示例性HEV的示意图。
图2是示出采用反馈控制来控制的示例性泵轮/马达的转速的曲线图。
图3A是示出与采用反馈控制和前馈控制来控制的示例性电机相关联的转速的曲线图。
图3B是示出来自图3A中的示例的电机的转速误差的曲线图。
图3C是示出与来自图3A中的示例的电机相关联的扭矩的曲线图。
图4是示出用于控制根据本公开的一个实施例的HEV中的马达/发电机转速的算法的流程图。
图5示出了用于在泵轮加速旋转期间采用反馈控制和前馈控制来控制马达/发电机转速的控制图。
具体实施方式
在此描述本公开的实施例。然而，应该理解的是，公开的实施例仅仅是示例，并且其它的实施例可采用各种可替代的形式。附图不一定按比例绘制；可夸大或最小化一些特征以示出特定组件的细节。因此，在此公开的具体结构和功能性细节不应解释为限制，而仅仅作为用于教导本领域的技术人员以多种形式利用实施例的代表性基础。如本领域的普通技术人员将理解的，参照任一附图所示出和描述的各种特征可与在一个或者更多个其他的附图中示出的特征组合，以产生未被明确地示出或描述的实施例。示出的特征的组合为典型应用提供代表性实施例。然而，与本公开的教导一致的特征的各种组合和变型可被期望用于特定的应用或实施方式。
参照图1，示出了根据本公开的实施例的混合动力电动车辆(HEV)10的示意图。图1示出了部件之间的代表性关系。部件在车辆内的物理布局和方位可变化。HEV 10包括具有驱动变速器16的发动机14的动力传动系12，变速器16可被称作模块化混合动力变速器(MHT)。如下面将要进一步详细地描述的，变速器16包括诸如电动马达/发电机(M/G)18的电机、相关联的牵引电池20、变矩器22以及多级阶梯传动比自动变速器或齿轮箱24。
发动机14和M/G 18都是用于HEV 10的驱动源。发动机14通常代表可包括内燃发动机(例如，由汽油、柴油或天然气驱动的发动机)或者燃料电池的动力源。发动机14产生发动机功率和相应的发动机扭矩，发动机功率和发动机扭矩在位于发动机14与M/G 18之间的分离离合器26至少部分地接合时供应到M/G 18。M/G 18可通过多种类型的电机中的任何一种来实施。例如，M/G 18可以是永磁同步马达。如将在下面描述的，电力电子器件56调节电池20提供的直流电(DC)以适应于M/G 18的需求。例如，电力电子器件可向M/G 18提供三相交流电(AC)。
当分离离合器26至少部分地接合时，功率从发动机14流动至M/G 18。功率从M/G18流动至发动机14也是可能的。例如，分离离合器26可被接合并且M/G 18可作为发电机运转，以将由曲轴28和M/G轴30提供的旋转能转换为电能存储在电池20中。分离离合器26还可分离，以使发动机14与动力传动系12的其余部分隔离，使得M/G 18可用作HEV 10唯一的驱动源。轴30延伸穿过M/G 18。M/G 18的转子19固定在轴30上，然而仅在分离离合器26至少部分地被接合时发动机14才选择性地可驱动地连接到轴30。
M/G 18经由轴30可驱动地连接到变矩器22。例如，变矩器壳体可紧固到轴30。因此，在分离离合器26至少部分地接合时变矩器22可驱动地连接到发动机14。如果两个部件由将它们的旋转速度约束为成比例的功率流动路径进行连接，则这两个部件是可驱动地连接的。变矩器22包括固定到变矩器壳体(并且因此固定到转子19)的泵轮35和固定到变速器输入轴32的涡轮37。变矩器22在轴30与变速器输入轴32之间提供液力耦合。在泵轮比涡轮旋转得更快时，变矩器22将功率从泵轮35传递到涡轮37。泵轮扭矩和涡轮扭矩的大小通常取决于相对的转速。当泵轮转速与涡轮转速之比足够大时，涡轮扭矩是泵轮扭矩的倍数。还可设置变矩器旁通离合器34，在变矩器旁通离合器34接合时，变矩器旁通离合器34使变矩器22的泵轮和涡轮摩擦地或机械地结合，从而允许更高效地传递功率。变矩器旁通离合器34可作为起步离合器运转，以提供平稳的车辆起步。可选地或以组合的方式，对于不包括变矩器22或变矩器旁通离合器34的应用而言，类似于分离离合器26的起步离合器可设置在M/G 18与齿轮箱24之间。在一些应用中，分离离合器26通常被称作上游离合器而起步离合器34(可以是变矩器旁通离合器)通常被称作下游离合器。
齿轮箱24可包括齿轮组(未示出)，所述齿轮组通过诸如离合器和制动器(未示出)的摩擦元件的选择性接合而选择性地置于不同的齿轮比中，以建立期望的多个离散传动比或阶梯传动比。摩擦元件可通过换挡计划来控制，该换挡计划使齿轮组的特定元件连接和分离以控制变速器输出轴38与变速器输入轴32之间的传动比。齿轮箱24基于各种车辆和环境工况通过相关联的控制器(例如，动力传动系控制单元(PCU)50)从一个传动比自动地变换到另一个传动比。然后，齿轮箱24向输出轴38提供动力传动系输出扭矩。输出轴38可连接至将输出轴38连接至差速器40的传动系37(例如，传动轴和万向节)。
应理解的是，与变矩器22一起使用的液压控制的齿轮箱24仅仅是齿轮箱或变速器布置的一个示例；接收来自发动机和/或马达的输入扭矩然后以不同传动比将扭矩提供至输出轴的任何多级传动比齿轮箱是可接受用于本公开的实施例的。例如，齿轮箱24可通过自动(或手动)机械式变速器(AMT)来实施，该AMT包括一个或更多个伺服马达以沿换挡导轨平移/旋转换挡拨叉，从而选择期望的传动比。如本领域的普通技术人员通常所理解的，AMT可用在例如具有较高扭矩需求的应用中。
如图1的代表性实施例所示，输出轴38可连接到将输出轴38连接到差速器40的传动系37。差速器40经由连接到差速器40的各个车轴44驱动一对车轮42。差速器向每个车轮42传递近似相等的扭矩，同时允许轻微的速度差异(例如，在车辆转弯时)。不同类型的差速器或类似的装置可用于将扭矩从动力传动系分配到一个或更多个车轮。在一些应用中，扭矩分配可根据(例如)特定的操作模式或条件而变化。
虽然示出为一个控制器，但是控制器50可以是更大的控制系统的一部分并且可由遍布车辆10的各种其他的控制器(例如，车辆系统控制器(VSC)和高电压电池控制器(BECM))来控制。应理解的是，动力传动系控制单元50和一个或更多个其他控制器可被统称为“控制器”，该“控制器”响应于来自各种传感器的信号而控制各种致动器，以控制诸如启动/停止发动机14、操作M/G 18从而提供车轮扭矩或给电池20充电、选择或计划变速器换挡等功能。控制器50可包括与各种类型的计算机可读存储装置或介质通信的微处理器或中央处理器(CPU)。计算机可读存储装置或介质可包括例如只读存储器(ROM)、随机存取存储器(RAM)和保活存储器(KAM)中的易失性存储器和非易失性存储器。KAM是可被用于在CPU掉电时存储各种操作变量的持久性或非易失性存储器。计算机可读存储装置或介质可通过使用任何数量的已知的存储装置来实施，例如，可编程只读存储器(PROM)、电可编程只读存储器(EPROM)、电可擦除可编程只读存储器(EEPROM)、闪速存储器或能够存储数据(其中一些数据代表被控制器使用以控制发动机、牵引电池、变速器或者其他车辆系统的可执行指令)的任何其他电、磁、光学或组合式存储装置。
控制器经由输入/输出(I/O)接口与各种发动机/车辆传感器和致动器通信，该I/O接口可实现为提供各种原始数据或信号调节、处理和/或转换、短路保护等的单个集成接口。可选地，一个或更多个专用的硬件或固件芯片可用于在特定的信号被供应到CPU之前调节并处理所述特定的信号。如图1的代表性实施例总体示出的，控制器50可将信号发送到发动机14、分离离合器26、M/G 18、起步离合器34、变速器齿轮箱24和电力电子器件56和/或接收来自它们的信号。虽然没有明确地示出，但是本领域的普通技术人员将在以上所标示的每个子系统中识别出可由控制器50控制的各种功能或组件。可使用由控制器执行的控制逻辑来直接或间接地致动的参数、系统和/或组件的代表性示例包括燃料喷射正时、速率和持续时间、节气门位置、火花塞点火正时(用于火花点火式发动机)、进气门/排气门正时和持续时间、前端附件驱动(FEAD)组件(诸如交流发电机、空调压缩机)、电池充电、再生制动、M/G操作、用于分离离合器26、起步离合器34以及变速器齿轮箱24的离合器压力等。通过I/O接口传递输入的传感器可用于指示(例如)涡轮增压器增压压力(如果适用的话)、曲轴位置(PIP)、发动机旋转速度(RPM)、车轮速度(WS1、WS2)、车辆速度(VSS)、冷却剂温度(ECT)、进气歧管压力(MAP)、加速踏板位置(PPS)、点火开关位置(IGN)、节气门位置(TP)、空气温度(TMP)、废气氧(EGO)或其他废气组分浓度或存在度、进气流量(MAF)、变速器挡位、传动比或模式、变速器油温(TOT)、变速器涡轮速度(TS)、变矩器旁通离合器34状态(TCC)、减速或换挡模式(MDE)。
由控制器50执行的控制逻辑或功能可在一个或更多个附图中通过流程图或类似的图表来表示。这些附图提供代表性的控制策略和/或控制逻辑，所述控制策略和/或控制逻辑可采用诸如事件驱动、中断驱动、多任务、多线程等的一个或更多个处理策略来实施。因此，所示的各种步骤或者功能可以以所示的顺序执行、以并行的方式执行或者在某些情况下可被省略。虽然未总是明确地示出，但是本领域普通的技术人员将认识到一个或更多个所示的步骤或功能可根据正在采用的特定的处理策略而被重复地执行。同样地，不一定要求处理的顺序以实现在此描述的特征和优势，而是为了便于说明和描述而进行设置。控制逻辑可以主要在软件中实施，该软件由基于微处理器的车辆、发动机和/或动力传动系控制器(例如，控制器50)执行。当然，控制逻辑可根据特定的应用以一个或更多个控制器中的软件、硬件或软件与硬件的组合的方式实施。当控制逻辑由软件实施时，控制逻辑可设置在一个或更多个计算机可读存储装置或介质中，该计算机可读存储装置或介质存储有代表由计算机执行以控制车辆或其子系统的指令或代码的数据。计算机可读存储装置或介质可包括采用电、磁和/或光学存储器以保持可执行指令和相关联的校准信息、操作变量等的若干个已知的物理装置中的一个或更多个。
车辆的驾驶员使用加速踏板52来提供需要的扭矩、功率或驱动命令以推进车辆。踏板52可包括踏板位置传感器。通常，踩下和松开踏板52分别使踏板传感器产生可被控制器50解读为需要增大功率或减小功率的加速踏板位置信号。至少基于来自踏板的输入，控制器50控制来自发动机14和/或M/G 18的扭矩。控制器50还控制齿轮箱24中的齿轮换挡正时以及分离离合器26与变矩器旁通离合器34的接合或分离。与分离离合器26一样，旁通离合器34能够在接合位置与分离位置之间的范围内进行调节。除了由泵轮与涡轮之间的液力耦合产生可变打滑之外，这也在变矩器22中产生可变打滑。可选地，根据特定的应用，旁通离合器34可操作为锁止或打开而不使用调节的操作模式。
为了使用发动机14来驱动车辆，分离离合器26至少部分地接合，以通过分离离合器26将发动机扭矩的至少一部分传递至M/G 18，然后发动机扭矩从M/G 18传递经过变矩器22和齿轮箱24。当发动机14单独地提供推进车辆所必需的扭矩时，这种操作模式可被称为“发动机模式”、“纯发动机模式”或“机械模式”。
M/G 18可通过提供额外的功率来辅助发动机14以使轴30转动。这种操作模式可被称作“混合动力模式”、“发动机-马达模式”或“电力辅助模式”。
为了将M/G 18用作唯一动力源来驱动车辆，除了分离离合器26使发动机14与动力传动系12的其余部分隔离之外，功率流保持相同。在此期间，发动机14中的燃烧可被禁用或者关闭发动机14以节省燃料。牵引电池20通过线路54将存储的电能传输至可包括例如逆变器和DC/DC转换器的电力电子器件56。电力电子器件56将来自电池20的DC电压转换为M/G18使用的AC电压。控制器50命令电力电子器件56将来自电池20的电压转换为提供至M/G 18的AC电压，以向轴30提供正(例如，驱动)扭矩或负(例如，再生)扭矩。这种操作模式被称作“纯电动模式”、“EV(电动车辆)模式”或“马达模式”。
在任意操作模式中，M/G 18可用作马达并向动力传动系12提供驱动力。可选地，M/G 18可用作发电机并将来自动力传动系12的动能转换为电能存储在电池20中。M/G 18可在(例如)发动机14向车辆10提供推进功率的同时用作发电机。M/G 18还可在再生制动期间用作发电机，在再生制动期间来自旋转的车轮42的旋转能通过齿轮箱24回传并转换成电能以存储在电池20中。
应理解的是，图1中示出的示意图仅仅是示例性的而并不意味着限制。可考虑采用发动机与马达两者的选择性接合来通过变速器进行传递的其他构造。例如，M/G 18可相对于曲轴28偏移，可设置额外的马达以启动发动机14，和/或M/G 18可设置在变矩器22与齿轮箱24之间。在不脱离本公开的范围的情况下可以考虑其他的构造。
大部分具有自动变速器的传统车辆具有允许驾驶员仅通过松开制动器而不踩下加速踏板来使车辆以低的速度运动的蠕动控制。蠕动控制利用在发动机怠速转速下产生的扭矩来推进车辆。大部分自动变速器具有变矩器。变矩器泵轮(连接至曲轴)将扭矩液力地传递至涡轮(连接至变速器输入轴)。这种液力耦合仅在泵轮转速高于涡轮失速转速时才发生。变矩器被构造为使得怠速转速高于失速转速。因此，在传统的车辆中，当发动机为开启时，泵轮和涡轮液力地结合。一旦发动机扭矩超过制动扭矩，车辆就将被推进而没有延迟，这通常发生在制动踏板完全松开之前。
驾驶员已逐渐地习惯于蠕动控制，因此，对电动车辆和混合动力车辆进行配置以模拟传统车辆的蠕动控制可能是有利的。混合动力车辆可使用电机来提供蠕动扭矩而不是使用发动机。在具有变矩器的混合动力车辆(诸如车辆10)中，电机可被配置为以接近发动机怠速的转速(例如，800转每分钟)旋转以在期望蠕动控制的时间期间保持变矩器内的液力耦合。在传统的车辆中，在车辆停止且发动机正在运行时，泵轮以怠速转速旋转，不同于传统的车辆，混合动力车辆在停止时通常关闭电机以保持电池的荷电状态(SOC)。因此，当混合动力车辆停止时液力耦合未被保持。一旦请求蠕动扭矩，泵轮就必须在将任意蠕动扭矩提供到驱动轮之前加速旋转(spin-up)至涡轮失速转速(stall speed)。驾驶员已经开始期望在制动器至少部分地松开时由传统车辆提供的即时推进。为了限制延迟并且提供令人满意的驾驶体验，混合动力车辆应尽可能快地使泵轮加速旋转至涡轮的失速转速以减小延迟。当涡轮失速时，变矩器的反作用力低并且大部分的电机扭矩被用于使泵轮加速。制定使泵轮精确而快速地加速至怠速转速的控制策略是难以执行的。
图2示出了与用于使泵轮加速旋转的反馈控制相关联的泵轮/马达转速的曲线图。反馈控制可采用比例-积分-微分(PID)控制来调节由电机施加的扭矩。在这种策略中，控制器计算目标转速曲线60。采用反馈控制，电机增大或减小扭矩以减小目标转速60与测量转速62之间的误差。这些转速可以是泵轮的转速或电机的转速。纯反馈控制的一个问题是转速可能超过目标怠速转速，如64处所示。这产生驾驶员可察觉的并且被认为是不如人意的驾驶体验的不平稳的扭矩。另一个问题是测量转速62滞后于目标转速60。在示出的示例中，目标转速曲线60比实际转速曲线62提前50毫秒达到怠速转速。这个时间段可被驾驶员注意到并且可能会被认为是不如人意的延迟。为避免采用反馈控制产生的超调(overshoot)的一种方法是限制目标转速60在怠速转速附近的斜率(slope)。虽然其可以减小超调量，但其进一步地增加了泵轮达到怠速转速所需的时间，这可能是不期望的。
为了解决这些问题和其他问题，可通过具有利用前馈分量和反馈分量的扭矩算法的控制策略来控制泵轮加速旋转。等式1是包括前馈分量和反馈分量的示例性电机扭矩等式。
其中，J是泵轮的惯量；ω是角速度；e是命令转速(ωcommanded)与测量转速(ωmeasured)之间的误差；而P、I和D是PID控制的常数。
等式1可用于控制在泵轮加速旋转期间至M/G 18的扭矩。典型地，泵轮加速旋转响应于车辆停止、泵轮低于涡轮失速转速(怠速转速)以及驾驶员请求蠕动控制而开始。例如，泵轮加速旋转可在驾驶员所请求的制动扭矩接近泵轮以怠速转速旋转所产生的车轮扭矩时开始。前馈分量包括施加预定时间的一个或更多个预定扭矩。预定时间可以是泵轮加速旋转至期望的怠速转速所需的期望的时间。预定扭矩可存放在存储于控制器50的存储器中的一个或更多个查找表中。在不同的情况下可施加不同的前馈扭矩。例如，当泵轮加速旋转时可使用一种前馈扭矩以支持从空挡到前进挡的变速器接合，而在松开制动踏板且变速器处于前进挡时可使用另一种前馈扭矩。
反馈分量基于泵轮35或M/G 18的命令转速与测量转速之间的误差来调节前馈分量。反馈回路可采用PID控制或者可采用PD或PI控制。由于大部分的扭矩是通过前馈分量来提供的，所以反馈扭矩可被限制到正负40牛米(N·m)。如果所述误差需要超过40N·m的扭矩修正，则可能已经发生机械失效，并且由于前馈扭矩仅供应短的持续时间，所以限制反馈扭矩可减小可能的损伤。(相比而言，反馈控制在不使用其他检查(check)的情况下不具有这种性能。)所述转速可以是泵轮转速或M/G转速。在车辆10中，转子19和泵轮35相对于彼此固定。由于电机通常包括转速传感器(不同于变矩器，变矩器不包括转速传感器)，所以以下示例性的控制将使用等式1中的M/G转速，这是因为其不需要额外的转速传感器。
图3A到图3C示出了与组合式的前馈和反馈控制策略相关联的一系列的曲线图。将结合图4中示出的流程图100来描述所述曲线图。如本领域普通技术人员将理解的，由流程图图框所表示的功能可通过软件和/或硬件来执行。根据诸如事件驱动、中断驱动等特定的处理策略，可以按除了附图中所示顺序或次序之外的顺序或次序来执行各种功能。类似地，虽然未明确地示出，但是可重复地执行一个或更多个步骤或功能。在一个实施例中，示出的功能主要通过存储在计算机可读存储介质中的软件、指令、代码或控制逻辑来实现并且通过一个或更多个基于微处理器的计算机或控制器来执行，以控制车辆的操作。不一定需要全部的所示步骤或功能以提供根据本公开的各种特征和优点。因此，在一些应用或实施方式中可省略一些步骤或功能。如图4所示，用于控制根据本公开的实施例的HEV中的马达的算法包括例如可通过一个或更多个基于微处理器的控制器(诸如控制器50)所执行的控制逻辑或软件来表示的步骤或功能。
在操作102处，控制器50确定驾驶员是否正在请求蠕动控制。响应于下述的一个或更多个条件可以确定正在请求蠕动控制：发动机为关闭的；变速器处于前进挡；电机转速为零；车辆速度为零；制动踏板松开到超过阈值位置(此阈值可根据道路坡度和车辆重量而变化)以及未踩下加速踏板。如果正在请求蠕动控制，则控制前进至操作103处并且控制器确定M/G转速是否低于涡轮失速转速。如果M/G转速不低于涡轮失速转速，则控制沿环路回到开始。如果M/G转速低于涡轮失速转速，则控制器进入到泵轮加速旋转控制中并且控制前进至操作104处。在104处，计算目标M/G转速曲线图66。转速曲线图66可包括一个或更多个变化率(rate)，诸如第一变化率68、第二变化率70以及第三变化率72。具有多于一个变化率在泵轮加速旋转期间为泵轮提供更佳的加速控制。第一目标变化率68可在M/G转速为零到对应于在变速器内产生管线压力所需的转速的M/G转速(例如300转每分钟)之间使用。第一变化率68可以是最陡的变化率以在变速器内迅速地产生管线压力。第一变化率68也因其离怠速转速最远并且对超出怠速转速(这是应该避免的)造成威胁较小而可以是最陡的变化率。第二变化率70可以是第二陡的变化率并且在所述管线压力转速与另一个M/G转速之间使用，所述另一个M/G转速可根据工况而变化。第三变化率72可具有最平缓的斜率以防止超出怠速转速。当然，这个三个变化率的示例不具有限制性，并且可使用更多或更少的变化率。
在操作106处，控制器针对每个转速变化率计算前馈扭矩74。每个前馈扭矩被命令持续预定的时间，预定的时间与M/G(和泵轮)达到目标转速所需的期望的时间相对应。在示出的实施例中，由于使用三个变化率，所以计算三个前馈扭矩。在第一变化率68期间命令第一前馈扭矩76，在第二变化率70期间命令第二前馈扭矩78，并且在第三变化率72期间命令第三前馈扭矩80。使泵轮从静止进行加速比使泵轮进一步加速需要更大的扭矩。因此，第一前馈扭矩76是最高的扭矩而最终的前馈扭矩80是最低的扭矩。在操作108处，产生扭矩命令并发送至M/G 18。
在操作110处，M/G转速可通过转速传感器确定，该转速传感器测量与M/G相关联的部件。在一个实施例中，M/G 18包括测量转子19的角速度的转速传感器。转速传感器可以是编码器传感器。转速传感器被配置为将指示转子19的转速的信号输出到控制器。由于泵轮和转子固定到彼此，所以泵轮转速可基于转子转速而推断出。图3A中的轨迹73示出了测量的M/G转速73。
在操作112处，控制器确定反馈扭矩相对于前馈扭矩的相对权重。这可通过调节PID控制器的增益或者通过向反馈扭矩施加比例因子来完成。在前馈扭矩最高时的第一变化率期间，反馈增益可被选择为较小值。当泵轮转速增加，例如，在第三变化率期间以及之后的时间期间，可选择反馈增益的标称值(例如，比第一变化率期间的值大的值)。
在操作114处，基于转速误差82计算反馈扭矩。误差82可以是命令的M/G转速66与测量的M/G转速73之间的差。在操作116处，控制器将转速误差82动态地插入到等式1的反馈分量中并且将扭矩命令相应地调高或调低以减小转速误差。反馈扭矩被示出为图3C中的轨迹86。在操作118处，控制器将调节后的扭矩命令84提供至M/G 18。
图5示出了根据包括前馈分量和反馈分量的算法来将扭矩命令输出到M/G 18的控制结构。响应于正在请求蠕动控制和泵轮转速低于涡轮的失速转速，控制器进入泵轮加速旋转控制模式，在该模式中，例如根据等式1将扭矩供应至M/G 18。在此模式中，基于保存在车辆的存储器中的映射而产生命令的M/G(或泵轮)转速。基于命令的M/G转速，使用等式1来产生前馈扭矩命令130，前馈扭矩命令130与转速请求的变化速率成比例。前馈扭矩可根据泵轮的惯量进行加权，并随后发送至M/G 18。通过基于命令的M/G转速与测量的M/G转速之间的差的误差(e)调节前馈扭矩。M/G 18的转速传感器132可发送转速信号至控制器50以确定命令的转速与测量的转速之间的误差。所述误差被馈入到反馈分量134中并计算反馈扭矩。反馈扭矩可进行加权。然后，前馈扭矩通过反馈扭矩进行调节并且扭矩命令138被输出到M/G18。该序列可以以预定的频率重复，直至控制器退出泵轮加速旋转控制为止。
在此公开的处理、方法或算法可被传送到处理装置、控制器或计算机，或者可通过所述处理装置、控制器或计算机实现，其中，所述处理装置、控制器或计算机可包括任何现有的可编程电子控制单元或专用电子控制单元。类似地，所述处理、方法或算法可以以多种形式被存储为通过控制器或计算机可执行的数据和指令，其中，所述多种形式包括但不限于永久存储在不可写的存储介质(诸如，ROM装置)中的信息以及可变地存储在可写的存储介质(诸如，软盘、磁带、CD、RAM装置以及其它磁介质和光学介质)中的信息。所述处理、方法或算法也可被实现为软件可执行对象。可选地，可使用合适的硬件组件(诸如，专用集成电路(ASIC)、现场可编程门阵列(FPGA)、状态机、控制器或其它硬件组件或装置)或者硬件、软件和固件组件的组合来全部或部分地实现所述处理、方法或算法。
虽然上文描述了示例性实施例，但并非意味着这些实施例描述了权利要求所包含的所有可能的形式。说明书中使用的词语为描述性词语而非限制性词语，并且应理解的是，在不脱离本公开的精神和范围的情况下可做出各种改变。如前所述，可将各个实施例的特征组合以形成本发明可能没有明确描述或示出的进一步的实施例。尽管各种实施例可能被描述为在一个或更多个期望特性方面提供优点或者优于其它实施例或现有技术实施方式，但是本领域普通技术人员应该认识到，根据具体应用和实施方式，一个或更多个特征或特性可被折衷，以实现期望的总体系统属性。这些属性可包括但不限于成本、强度、耐用性、生命周期成本、可销售性、外观、封装、尺寸、可维护性、重量、可制造性、易组装性等。因此，在某种程度上任何实施例被描述为在一个或更多个特性方面不如其它实施例或现有技术实施方式合意，并且这些实施例并不在本公开的范围之外，并可被期望用于特定应用。

Claims (10)

1.一种车辆，包括：
动力传动系，包括可驱动地连接到变矩器的泵轮的电机；以及
控制器，被配置为：响应于车辆速度为零以及制动踏板松开至超过阈值位置，命令所述电机将扭矩提供至所述泵轮，所述扭矩是由基于测量转速和计算转速之间的差的反馈扭矩调节的预定的前馈扭矩。
2.如权利要求1所述的车辆，其中，所述测量转速和所述计算转速是所述电机的测量转速和计算转速。
3.如权利要求1所述的车辆，其中，提供所述扭矩的所述命令还响应于所述动力传动系的发动机为关闭的。
4.如权利要求1所述的车辆，其中，提供所述扭矩的所述命令还响应于所述动力传动系的变速器处于前进挡。
5.如权利要求1所述的车辆，其中，所述前馈扭矩包括在第一时间段内命令的第一前馈扭矩和在所述第一时间段之后的第二时间段内命令的第二前馈扭矩。
6.如权利要求5所述的车辆，其中，所述第一前馈扭矩大于所述第二前馈扭矩。
7.如权利要求1所述的车辆，其中，所述前馈扭矩是基于所述泵轮的惯量的。
8.一种车辆，包括：
发动机；
变速器，包括具有泵轮的变矩器；
电机，被配置为将驱动扭矩提供至所述泵轮，并经由离合器选择性地结合到所述发动机；以及
至少一个控制器，被配置为：响应于所述发动机为关闭的、所述变速器处于前进挡、车辆速度为零以及制动踏板松开至超过阈值位置，命令所述电机将扭矩提供至所述泵轮，所述扭矩是由基于测量转速和计算转速之间的差的反馈扭矩调节的预定的前馈扭矩。
9.如权利要求8所述的车辆，其中，所述测量转速和所述计算转速是所述电机的测量转速和计算转速。
10.一种重启可驱动地连接到电机的变矩器泵轮的方法，所述方法包括：
响应于车辆速度为零以及制动踏板松开至超过阈值位置，命令所述电机将扭矩提供至所述泵轮，所述扭矩是根据测量的电机转速和计算的电机转速之间的差而被成比例地调节的预定的前馈扭矩。
CN201710329478.2A 2016-05-11 2017-05-11 混合动力电动车辆蠕动控制 Active CN107415928B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US15/151,548 2016-05-11
US15/151,548 US10308138B2 (en) 2016-05-11 2016-05-11 Hybrid electric vehicle creep control

Publications (2)

Publication Number Publication Date
CN107415928A true CN107415928A (zh) 2017-12-01
CN107415928B CN107415928B (zh) 2022-07-22

Family

ID=60163376

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710329478.2A Active CN107415928B (zh) 2016-05-11 2017-05-11 混合动力电动车辆蠕动控制

Country Status (3)

Country Link
US (1) US10308138B2 (zh)
CN (1) CN107415928B (zh)
DE (1) DE102017109577A1 (zh)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112253308A (zh) * 2020-01-14 2021-01-22 长城汽车股份有限公司 涡轮迟滞助力补偿方法、装置、设备及混合动力车辆
CN112649212A (zh) * 2020-12-30 2021-04-13 珠海格莱利摩擦材料股份有限公司 利用缩比摩擦材料惯性台架对汽车蠕动噪音的评测方法
US11480145B1 (en) * 2021-09-28 2022-10-25 Ford Global Technologies, Llc Methods and system to increase available propulsive motor torque during an engine start

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6653556B2 (ja) * 2015-11-26 2020-02-26 ジヤトコ株式会社 電動車両の制御装置及び制御方法
JP7086463B2 (ja) * 2018-03-22 2022-06-20 ダイハツ工業株式会社 モータ制御装置
DE102018208425A1 (de) * 2018-05-28 2019-11-28 Bayerische Motoren Werke Aktiengesellschaft Antriebsstrang für ein Kraftfahrzeug, insbesondere für einen Kraftwagen, sowie Verfahren zum Betreiben eines solchen Antriebsstrangs
CN110154780A (zh) * 2019-04-11 2019-08-23 汉腾汽车有限公司 一种新能源车型电驱蠕动扭矩控制及蠕动保护控制系统及方法
US10960882B2 (en) * 2019-06-18 2021-03-30 Ford Global Technologies, Llc Method and system for creep torque control
US11214278B2 (en) * 2019-10-28 2022-01-04 Ford Global Technologies, Llc One-pedal drive system for a vehicle
JP7485463B2 (ja) * 2020-06-03 2024-05-16 株式会社Subaru 運転支援装置
US11584225B2 (en) * 2020-06-29 2023-02-21 Ford Global Technologies, Llc One-pedal speed control for off-road driving
CN112549992B (zh) * 2020-12-18 2022-04-01 智新控制系统有限公司 纯电动汽车无坡道传感器的蠕行控制方法及系统
CN113401105B (zh) * 2021-07-14 2022-04-01 中国第一汽车股份有限公司 一种爬行控制方法、装置、车辆及存储介质
US11846088B2 (en) * 2021-08-03 2023-12-19 Caterpillar Inc. Automatic vehicle speed control system
CN116198335A (zh) * 2021-11-30 2023-06-02 通用汽车环球科技运作有限责任公司 用于具有马达驱动的扭矩转换器的电动驱动单元的马达和扭矩转换器离合器控制策略

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004316605A (ja) * 2003-04-18 2004-11-11 Toyota Motor Corp 車両の制御装置
WO2007085367A1 (de) * 2006-01-26 2007-08-02 Zf Friedrichshafen Ag Verfahren und vorrichtung zur regelung eines elektrodynamischen antriebssystems eines kraftfahrzeuges
CN102837699A (zh) * 2011-06-22 2012-12-26 福特环球技术公司 控制发动机的方法和系统
CN103287426A (zh) * 2010-12-29 2013-09-11 浙江钱江摩托股份有限公司 一种并联式轻度混合动力摩托车的控制装置
CN103381830A (zh) * 2012-05-04 2013-11-06 福特环球技术公司 用于发动机在换档期间启动的方法和系统
CN103596827A (zh) * 2011-06-14 2014-02-19 丰田自动车株式会社 车辆的控制装置
CN104149785A (zh) * 2013-05-15 2014-11-19 广州汽车集团股份有限公司 混合动力车的爬行控制方法及装置
CN104477164A (zh) * 2014-11-20 2015-04-01 北京新能源汽车股份有限公司 一种纯电动汽车驱动防滑控制系统及其方法
US20150111693A1 (en) * 2013-10-18 2015-04-23 Ford Global Technologies, Llc Hybrid vehicle idle and creep control
US20150224976A1 (en) * 2014-02-12 2015-08-13 Ford Global Technologies, Llc Cancelling creep torque in a hybrid vehicle
CN105216788A (zh) * 2014-06-12 2016-01-06 福特全球技术公司 控制具有发动机分离离合器的车辆中的电机的方法
CN105523033A (zh) * 2014-10-20 2016-04-27 福特全球技术公司 混合动力传动系统转速控制

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6895322B2 (en) 2001-10-15 2005-05-17 General Motors Corporation Anti-lock brake control method having adaptive entry criteria
DE102004032173B4 (de) 2004-07-02 2015-07-30 Volkswagen Ag Verfahren zum Betreiben eines Hybrid-Kraftfahrzeuges
US8140238B2 (en) 2007-10-26 2012-03-20 Ford Global Technologies, Llc Detection and control of power induced hop during traction control in a vehicle
JP5600415B2 (ja) 2009-07-30 2014-10-01 現代自動車株式会社 電気自動車のモータ位置及びクリープ制御装置とその制御方法
US8200404B2 (en) 2010-01-13 2012-06-12 Ford Global Technologies, Llc Controlling wheel hop in a vehicle driveline
US9056604B2 (en) 2013-07-26 2015-06-16 GM Global Technology Operations LLC Feed-forward engine idle speed control

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004316605A (ja) * 2003-04-18 2004-11-11 Toyota Motor Corp 車両の制御装置
WO2007085367A1 (de) * 2006-01-26 2007-08-02 Zf Friedrichshafen Ag Verfahren und vorrichtung zur regelung eines elektrodynamischen antriebssystems eines kraftfahrzeuges
CN103287426A (zh) * 2010-12-29 2013-09-11 浙江钱江摩托股份有限公司 一种并联式轻度混合动力摩托车的控制装置
CN103596827A (zh) * 2011-06-14 2014-02-19 丰田自动车株式会社 车辆的控制装置
CN102837699A (zh) * 2011-06-22 2012-12-26 福特环球技术公司 控制发动机的方法和系统
CN103381830A (zh) * 2012-05-04 2013-11-06 福特环球技术公司 用于发动机在换档期间启动的方法和系统
CN104149785A (zh) * 2013-05-15 2014-11-19 广州汽车集团股份有限公司 混合动力车的爬行控制方法及装置
US20150111693A1 (en) * 2013-10-18 2015-04-23 Ford Global Technologies, Llc Hybrid vehicle idle and creep control
CN104554248A (zh) * 2013-10-18 2015-04-29 福特全球技术公司 混合动力车辆怠速和蠕动控制
US20150224976A1 (en) * 2014-02-12 2015-08-13 Ford Global Technologies, Llc Cancelling creep torque in a hybrid vehicle
CN105216788A (zh) * 2014-06-12 2016-01-06 福特全球技术公司 控制具有发动机分离离合器的车辆中的电机的方法
CN105523033A (zh) * 2014-10-20 2016-04-27 福特全球技术公司 混合动力传动系统转速控制
CN104477164A (zh) * 2014-11-20 2015-04-01 北京新能源汽车股份有限公司 一种纯电动汽车驱动防滑控制系统及其方法

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
周磊等: "混联式混合动力车多能源动力控制系统的开发", 《机械工程学报》 *
徐安: "基于运行参数的液力变矩器锁止离合器控制", 《山东交通学院学报》 *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112253308A (zh) * 2020-01-14 2021-01-22 长城汽车股份有限公司 涡轮迟滞助力补偿方法、装置、设备及混合动力车辆
CN112253308B (zh) * 2020-01-14 2021-11-09 长城汽车股份有限公司 涡轮迟滞助力补偿方法、装置、设备及混合动力车辆
CN112649212A (zh) * 2020-12-30 2021-04-13 珠海格莱利摩擦材料股份有限公司 利用缩比摩擦材料惯性台架对汽车蠕动噪音的评测方法
US11480145B1 (en) * 2021-09-28 2022-10-25 Ford Global Technologies, Llc Methods and system to increase available propulsive motor torque during an engine start

Also Published As

Publication number Publication date
CN107415928B (zh) 2022-07-22
DE102017109577A1 (de) 2017-11-16
US20170327005A1 (en) 2017-11-16
US10308138B2 (en) 2019-06-04

Similar Documents

Publication Publication Date Title
CN107415928A (zh) 混合动力电动车辆蠕动控制
CN104787034B (zh) 车辆
US9446757B2 (en) Active motor damping control of a hybrid electric vehicle powertrain
CN104554249B (zh) 混合动力车辆发动机起动
CN105216788B (zh) 控制具有发动机分离离合器的车辆中的电机的方法
CN107757606B (zh) 混合动力电动车辆的电机的转速控制
CN104554231B (zh) 混合动力车辆发动机起动
US10640106B2 (en) Speed controlling an electric machine of a hybrid electric vehicle
US10106148B2 (en) Electric machine torque control during transient phase of bypass clutch
CN107415923A (zh) 用于混合动力车辆发动机起动的系统和方法
CN107776566A (zh) 用于控制处于驻车挡或空挡的混合动力车辆的系统和方法
CN104554248A (zh) 混合动力车辆怠速和蠕动控制
CN107697060A (zh) 在拖挂期间用于混合动力车辆的减速控制
CN105691380A (zh) 混合动力车辆中制动的方法
US9827969B2 (en) Controlling powertrain torque in a hybrid vehicle
CN105818809A (zh) 混合动力车辆和混合动力车辆中的降挡策略
US9656657B2 (en) Controlling a clutch between an engine and an electric machine in a hybrid vehicle
US9637109B1 (en) Hybrid electric vehicle
CN108215773A (zh) 发动机摩擦模型调整
CN108016428A (zh) 在再生制动事件期间用于离合器的控制系统
CN110386132A (zh) 混合动力车辆发动机起动/停止系统
CN108327709A (zh) 混合动力车辆离合器控制系统
CN105313875B (zh) 使用移位拨片的临时发动机启动或停止
CN107444396A (zh) 使混合动力车辆中的发动机启转和换挡最少化
CN110040130A (zh) 使用变矩器离合器容量估计的混合动力车辆控制

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