CN107933545A - 混合动力车辆的减振装置及其方法 - Google Patents
混合动力车辆的减振装置及其方法 Download PDFInfo
- Publication number
- CN107933545A CN107933545A CN201611138712.5A CN201611138712A CN107933545A CN 107933545 A CN107933545 A CN 107933545A CN 201611138712 A CN201611138712 A CN 201611138712A CN 107933545 A CN107933545 A CN 107933545A
- Authority
- CN
- China
- Prior art keywords
- signal
- vibration
- phase
- motor
- mentioned
- 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
Links
- 239000006096 absorbing agent Substances 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000000605 extraction Methods 0.000 claims abstract description 35
- 238000001914 filtration Methods 0.000 claims abstract description 33
- 230000001360 synchronised effect Effects 0.000 claims abstract description 6
- 239000000284 extract Substances 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 17
- 238000013016 damping Methods 0.000 claims description 14
- 230000010355 oscillation Effects 0.000 claims description 14
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 5
- 239000000446 fuel Substances 0.000 description 4
- 230000014509 gene expression Effects 0.000 description 4
- 238000002485 combustion reaction Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 2
- 230000001172 regenerating effect Effects 0.000 description 2
- 239000007858 starting material Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000002156 mixing Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Classifications
-
- 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
- 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
- B60K6/24—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 combustion engines
-
- 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
- B60K6/387—Actuated clutches, i.e. clutches engaged or disengaged by electric, hydraulic or mechanical actuating means
-
- 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
- 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
-
- 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
- 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
- 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
- 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
- B60W2030/206—Reducing vibrations in the driveline related or induced by the engine
-
- 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
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0042—Transfer function lag; delays
-
- 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
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
- B60W2050/0052—Filtering, filters
-
- 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
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
- B60W2050/0052—Filtering, filters
- B60W2050/0054—Cut-off filters, retarders, delaying means, dead zones, threshold values or cut-off frequency
- B60W2050/0055—High-pass filters
-
- 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
- B60W2510/08—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
- 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
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/13—Mileage
-
- 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
- B60W2540/10—Accelerator 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
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
-
- 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
- B60Y2300/20—Reducing vibrations in the driveline
- B60Y2300/205—Reducing vibrations in the driveline related or induced by the engine
-
- 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
- B60Y2400/48—Vibration dampers, e.g. dual mass flywheels
-
- 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
- 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
- Y10S903/905—Combustion engine
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Vibration Prevention Devices (AREA)
Abstract
本发明涉及混合动力车辆的减振装置及其方法。混合动力车辆用两缸发动机的减振装置可包括:基准信号生成部,生成第一基准信号和第一基准相位;速度计算部,计算电机的速度;振动提取部,提取第一振动信号;可变滤波部,生成第二基准信号;滤波系数更新部,更新可变滤波部的第一滤波系数;相位计算部,计算第一基准信号和第一振动信号之间的第二相位差;相位偏移量补偿部,生成用于补偿由振动提取部产生的第一振动信号的延迟的第一补偿值;同步信号生成部,基于第一基准相位、第二相位差和第一补偿值,生成与第一振动信号同步的第一同步信号;反相信号生成部,生成第一同步信号的第一反相信号;扭矩生成部,基于第一反相信号生成最终指令扭矩。
Description
技术领域
本发明涉及一种混合动力车辆的减振装置及其方法。
背景技术
如众所周知,混合动力车辆(hybrid electric vehicle)同时使用内燃机(internal combustion engine)和电池电源。即,混合动力车辆有效结合使用内燃机的动力和电机的动力。上述混合动力车辆同时使用发动机的机械能和电池的电能,当然利用发动机和电机的最适工作区域,而且制动时回收能量,因此能够提高燃油效率并且有效地利用能量。
上述混合动力车辆通过接合或解除发动机离合器,提供仅利用电机的扭矩的EV模式(电动车辆模式,electric vehicle mode);将发动机的扭矩作为主扭矩并且将电机的扭矩作为辅助扭矩来利用的HEV模式(混合动力车辆模式,hybrid electric vehicle mode);将混合动力车辆的根据制动或惯性行驶时的制动或惯性能量通过上述电机的发电来回收并对电池进行充电的再生制动模式(regenerative braking mode)等行驶模式的运行。
近年来,作为有效增大车辆的燃料效率的方案,正在活泼地进行应用两缸发动机的研究。但是,两缸发动机存在振动过大的问题,因此需要减小振动的方法。
发明内容
于是,本发明用于解决如上所述的问题,本发明所要解决的课题在于,提供一种能够基于电机的位置减小两缸发动机的振动的混合动力车辆的减振装置及其方法。
本发明的一实施例的用于减小混合动力车辆用两缸发动机的振动的装置可以包括:基准信号生成部,基于电机的位置,生成第一基准信号和第一基准相位;速度计算部,基于上述电机的位置,计算电机的速度;振动提取部,基于上述电机的速度,提取第一振动信号;可变滤波部,对上述第一基准信号进行滤波,生成第二基准信号;滤波系数更新部,对上述可变滤波部的第一滤波系数进行更新直至上述第一振动信号和第二基准信号之间的第一相位差成为第一阈值以下;相位计算部,基于上述电机的速度和第一滤波系数,计算第一基准信号和第一振动信号之间的第二相位差;相位偏移量补偿部,生成第一补偿值,上述第一补偿值用于补偿由上述振动提取部产生的第一振动信号的延迟;同步信号生成部,基于从上述基准信号生成部传输的第一基准相位、从上述相位计算部传输的第二相位差和从上述相位偏移量补偿部传输的第一补偿值,生成与第一振动信号同步的第一同步信号;反相信号生成部,生成上述第一同步信号的第一反相信号;和扭矩生成部,基于上述第一反相信号,生成最终指令扭矩。
上述振动提取部为带通滤波器,上述带通滤波器的截止频率可以根据发动机的速度而确定。
上述减振装置还可以包括偏差计算部,上述偏差计算部计算从上述振动提取部传输的上述第一振动信号和从上述可变滤波部传输的第二基准信号之间的第一相位差,将上述第一相位差传输至上述滤波系数更新部。
上述减振装置还可以包括幅值比确定部,上述幅值比确定部基于上述第一振动信号的大小,确定第一扭矩幅值。
上述扭矩生成部可以包括:乘法部,将上述第一反相信号与上述第一扭矩幅值相乘,生成第一反相扭矩;和加法部,将上述第一反相扭矩与指令扭矩相加,生成上述最终指令扭矩。
上述同步信号生成部能够生成第一同步信号,上述第一同步信号具有与下述值对应的相位,该值为从上述基准信号生成部传输的第一基准相位减去从上述相位计算部传输的第二相位差再加上从上述相位偏移量补偿部传输的第一补偿值得到的值。
上述基准信号生成部基于上述电机的位置,生成与上述第一振动信号的谐波分量对应的第三基准信号和第二基准相位,上述振动提取部基于上述电机的速度,提取与上述谐波分量对应的第二振动信号,上述可变滤波部对上述第三基准信号进行滤波,生成第四基准信号,上述滤波系数更新部对上述可变滤波部的第二滤波系数进行更新直至上述第二振动信号和上述第四基准信号之间的第三相位差成为第二阈值以下,上述相位计算部基于上述电机的速度和第二滤波系数,计算上述第三基准信号和第二振动信号之间的第四相位差,上述相位偏移量补偿部生成用于补偿上述第二振动信号的延迟的第二补偿值,上述同步信号生成部基于上述第二基准相位、上述第四相位差和上述第二补偿值,生成与第二振动信号同步的第二同步信号,上述反相信号生成部生成上述第二同步信号的第二反相信号,上述扭矩生成部基于上述第二反相信号,生成考虑了上述谐波分量的最终指令扭矩。
上述电机可以通过配置在上述两缸发动机和上述电机之间的发动机离合器而选择性地与上述两缸发动机连接。
根据本发明的实施例的混合动力车辆用两缸发动机的减振方法可以包括:基于电机的位置,生成第一基准信号和第一基准相位,计算电机的速度的步骤;基于上述电机的速度,提取第一振动信号的步骤;对上述第一基准信号进行滤波,生成第二基准信号的步骤;对上述可变滤波部的第一滤波系数进行更新直至上述第一振动信号和第二基准信号之间的第一相位差成为第一阈值以下的步骤;基于上述电机的速度和第一滤波系数,计算第一基准信号和第一振动信号之间的第二相位差的步骤;生成用于补偿上述第一振动信号的延迟的第一补偿值的步骤;基于上述第一基准相位、上述第二相位差和上述第一补偿值,生成与上述第一振动信号同步的第一同步信号的步骤;生成上述第一同步信号的第一反相信号的步骤;和基于上述第一反相信号,生成最终指令扭矩的步骤。
上述生成最终指令扭矩的步骤可以包括:基于上述第一振动信号的大小,确定第一扭矩幅值的步骤;将上述第一反相信号与上述第一扭矩幅值相乘,生成第一反相扭矩的步骤;和将上述第一反相扭矩与指令扭矩相加,生成上述最终指令扭矩的步骤。
上述第一同步信号可以具有与下述值对应的相位,该值为上述第一基准相位减去上述第二相位差再加上上述第一补偿值得到的值。
上述减振方法还可以包括:基于上述电机的位置,生成与上述第一振动信号的谐波分量对应的第三基准信号和第二基准相位的步骤;基于上述电机的速度,提取与上述谐波分量对应的第二振动信号的步骤;对上述第三基准信号进行滤波,生成第四基准信号的步骤;对上述可变滤波部的第二滤波系数进行更新直至上述第二振动信号和第四基准信号之间的第三相位差成为第二阈值以下的步骤;基于上述电机的速度和第二滤波系数,计算第三基准信号和第二振动信号之间的第四相位差的步骤;生成用于补偿上述第二振动信号的延迟的第二补偿值的步骤;基于上述第二基准相位、上述第四相位差和上述第二补偿值,生成与上述第二振动信号同步的第二同步信号的步骤;生成上述第二同步信号的第二反相信号的步骤;和基于上述第二反相信号,生成考虑了上述谐波分量的最终指令扭矩的步骤。
上述混合动力车辆用两缸发动机的减振方法可以在上述两缸发动机和上述电机通过发动机离合器连接的状态下执行。
如上所述,根据本发明的实施例,能够减小混合动力车辆用两缸发动机的振动。另外,通过对与振动信号的谐波分量各自对应的基准信号的幅值和相位进行调节,能够减小上述谐波分量。
附图说明
图1为图示本发明的实施例的混合动力车辆的框图。
图2为本发明的实施例的混合动力车辆的减振装置的框图。
图3为本发明的实施例的混合动力车辆的减振方法的流程图。
附图标记
10:发动机 20:电机
30:发动机离合器 40:变速器
50:电池 60:HSG
70:差速齿轮机构 80:车轮
90:数据检测部 100:控制器
112:位置测定部 114:速度计算部
120:基准信号生成部 130:振动提取部
142:偏差计算部 144:滤波系数更新部
146:可变滤波部 150:相位计算部
160:相位偏移量补偿部 172:同步信号生成部
174:反相信号生成部 180:幅值比确定部
190:扭矩生成部
具体实施方式
以下,参照附图,更详细地说明本发明的实施例,以使本领域技术人员能够容易地实施。但是,本发明并不限定于下述的实施例,能够以其他的方式具体化。
为了清楚地说明本发明,省略了与说明无关的部分,在整个说明书中,对相同或相似的构成要件赋予同一附图标记。
另外,附图中所表示的各构成是为了说明的方便而任意表示的,因此本发明不必限定于附图所示的方式。
图1为图示本发明的实施例的混合动力车辆的框图。
如图1所示,本发明的实施例的混合动力车辆包括发动机10、电机20、发动机离合器30、变速器40、电池50、HSG(混合起动机和发电机;hybrid starter&generator)60、差速齿轮机构70、车轮80、数据检测部90和控制器100。
发动机10燃烧燃料而生成动力,可以使用汽油发动机、柴油发动机等各种发动机。上述发动机10可以是两缸发动机。两缸发动机能够减小发动机10的大小而提高燃料效率,但是存在振动过大的问题,因而执行下述本发明实施例的减振方法。
电机20配置在变速器40和电池50之间,利用电池50的电力,生成动力。
发动机离合器30配置在发动机10和电机20之间,选择性地连接发动机10和电机20。
上述混合动力车辆通过将发动机离合器30接合或解除,提供仅利用电机20的扭矩的EV模式(电动车辆模式,electric vehicle mode);将发动机10的扭矩作为主扭矩并且将电机20的扭矩作为辅助扭矩来利用的HEV模式(混合动力车辆模式,hybrid electricvehicle mode);将混合动力车辆的根据制动或惯性行驶时的制动或惯性能量通过上述电机20的发电来回收并对电池进行充电的再生制动模式(regenerative braking mode)等行驶模式的运行。
就混合动力车辆的动力传递而言,由发动机10和电机20产生的动力选择性地传递至变速器40的输入轴,从变速器40的输出轴输出的动力经由差速齿轮机构70传递至车轴。通过车轴使车轮80旋转,根据发动机10和/或电机20产生的动力来使混合动力车辆行驶。
电池50在EV模式(电动车辆模式,electric vehicle mode)和HEV模式(混合动力车辆模式,hybrid electric vehicle mode)中,向电机20供电,并且在再生制动模式中,通过由电机20回收的电,进行充电。
HSG60能够起动上述发动机10或根据发动机的输出来发电。
数据检测部90可以包括加速踏板位置检测部92、车速检测部94和发动机速度检测部96。上述数据检测部90还可以包括用于控制混合动力车辆的检测部(例如,制动踏板位置检测部等)。
加速踏板位置检测部92检测加速踏板的位置值(加速踏板被按压的程度),并将其信号传输至控制器100。在加速踏板被完全按压的情况下,加速踏板的位置值为100%,在加速踏板没有被按压的情况下,加速踏板的位置值为0%。
车速检测部94检测混合动力车辆的速度,并将其信号传输至控制器100。
发动机速度检测部96检测发动机10的速度,并将其信号传输至控制器100。
控制器100可以由根据所设定的程序运行的一个以上的处理器来实现,上述所设定的程序可以包括用于执行下述本发明的实施例的混合动力车辆的减振方法所包括的各步骤的一连串的命令。
图2为本发明的实施例的混合动力车辆的减振装置的框图。
如图2所示,本发明的实施例的混合动力车辆的减振装置可以包括电机20、位置测定部112、基准信号生成部120、速度计算部114、振动提取部130、偏差计算部142、滤波系数更新部144、可变滤波部146、相位计算部150、相位偏移量补偿部160、同步信号生成部172、反相信号生成部174、幅值比确定部180和扭矩生成部190。上述基准信号生成部120、速度计算部114、振动提取部130、偏差计算部142、滤波系数更新部144、可变滤波部146、相位计算部150、相位偏移量补偿部160、同步信号生成部172、反相信号生成部174、幅值比确定部180和扭矩生成部190可以是上述控制器100的构成元件。
位置测定部112测定电机20的位置θm。上述位置测定部112可以是检测电机20的转子的旋转角度的旋转变压器。
基准信号生成部120从上述位置测定部112接收电机20的位置θm,基于上述电机的位置θm,生成基准信号Wx。基准信号生成部120能够生成大小为1的单位正弦波(Wx=sin(θm))。另外,基准信号生成部120能够基于上述电机20的位置θm,生成基准相位Θm。在两缸发动机的情况下,上述基准相位Θm与电机20的位置θm相同。上述基准信号Wx传输至可变滤波部146,上述基准相位Θm传输至同步信号生成部172。
速度计算部114基于电机20的位置θm,计算电机20的速度Wm。上述速度计算部114接收由上述位置测定部112测定的上述电机20的位置θm,对上述电机20的位置θm进行微分,从而能够计算上述电机20的速度Wm。
振动提取部130接收由速度计算部114计算的上述电机20的速度Wm,能够基于上述电机20的速度Wm,提取振动信号Wd。上述振动提取部130可以是带通滤波器,上述带通滤波器可以通过将具有巴特沃斯(butterworth)特性的高通滤波器和低通滤波器串联而实现。上述带通滤波器的截止频率可以根据发动机10的速度而可变。在两缸发动机的情况下,发动机10旋转一次时发生一次爆炸,因此振动信号具有基频为发动机10的发动机转速的1倍的基波分量(本领域通常称为“C1”)。另外,上述振动信号可以具有谐波分量(C0.5、C2和C4)。
偏差计算部142计算从振动提取部130传输的上述振动信号Wd和从可变滤波部146传输的基准信号Wy之间的相位差E。上述相位差E传输至滤波系数更新部144。
滤波系数更新部144可以确定使上述相位差成为最小的滤波系数(b0和b1)。例如,滤波系数更新部144可以对上述滤波系数(b0和b1)进行更新直至上述相位差E成为阈值V以下。上述阈值V可以设定为本领域技术人员考虑到可变滤波部146的性能而认为优选的值。
可变滤波部146基于由上述滤波系数更新部144更新的滤波系数,对由基准信号生成部120生成的基准信号Wx进行滤波。上述可变滤波部146可以设计为满足以下数学式1。
[数学式1]
H(z)=b1z-1+b0
其中,b0和b1是由上述滤波系数更新部144更新的滤波系数。可变滤波部146对基准信号Wx进行滤波,生成基准信号Wy(即,(Wy=H(z)Wx))。上述基准信号Wy传输至偏差计算部142。
相位计算部150从速度计算部114接收电机20的速度Wm,从滤波系数更新部144接收滤波系数(b0和b1)。相位计算部150基于电机20的速度Wm和滤波系数(b0和b1),计算由基准信号生成部120生成的基准信号Wx和由振动提取部130提取的振动信号Wd之间的相位差Θd。相位计算部150可以利用下述数学式2计算上述相位差Θd。
[数学式2]
其中,ω为电机的速度(Wm),Ts为减振装置工作的采样时间。
相位偏移量补偿部160能够为了补偿由振动提取部130(带通滤波器)产生的振动信号的延迟,生成补偿值ΘV。相位偏移量补偿部160能够基于上述电机20的速度Wm,生成上述补偿值ΘV。例如,相位偏移量补偿部160能够通过将上述电机20的速度Wm与规定值相乘,来生成上述补偿值ΘV。上述规定值可以设定为本领域技术人员考虑到振动提取部130的性能而认为优选的值。
同步信号生成部172基于从上述基准信号生成部120传输的基准相位Θm、从上述相位计算部150传输的相位差Θd和从上述相位偏移量补偿部160传输的补偿值ΘV,生成与振动信号Wd同步的同步信号Sx。具体而言,同步信号生成部172能够生成同步信号(Sx=sin(Θm-Θd+ΘV)),上述同步信号具有与下述值对应的相位,该值为上述基准相位Θm减去上述相位差Θd再加上上述补偿值ΘV得到的值。
反相信号生成部174生成从上述同步信号生成部172传输的上述同步信号Sx的反相信号(Sy=-sin(Θm-Θd+ΘV))。
幅值比确定部180基于振动信号Wd的大小,确定扭矩幅值A。上述扭矩幅值A可以与上述振动信号Wd的大小相同。
扭矩生成部190包括乘法部194和加法部196。扭矩生成部190能够基于上述反相信号Sy,生成最终指令扭矩Tf。
乘法部194将上述反相信号Sy与上述扭矩幅值A相乘,生成反相扭矩(Ty=-Asin(Θm-Θd+ΘV))。
加法部196将上述反相扭矩Ty与指令扭矩Tx相加,生成最终指令扭矩Tf。上述指令扭矩Tx可以基于上述加速踏板的位置值和混合动力车辆的速度而被确定。对电机20的运行进行控制以产生上述最终指令扭矩Tf,由此能够减小两缸发动机10的振动。
另一方面,为了减小具有上述振动信号Wd的谐波分量(C0.5、C2和C4)的发动机10的振动,基准信号生成部120能够生成与各谐波分量对应的基准信号。对与上述各谐波分量对应的基准信号的幅值和相位进行调节,来生成反相扭矩,由此能够减小具有上述谐波分量的发动机10的振动。另一方面,本说明书中,为了减小发动机10的振动,例示了考虑谐波分量(C0.5、C2和C4)的情况,但并不限定于此。即,为了减小发动机10的振动,还可以考虑其他谐波分量(C1.5、C2.5、C3和C3.5等)。
基准信号生成部120能够基于上述电机20的位置,生成与谐波分量(C0.5、C2和C4)对应的基准信号(Wx(C0.5)、Wx(C2)和Wx(C4))。例如,基准信号生成部120能够生成大小为1的单位正弦波(Wx(C0.5)=sin(0.5θm)、Wx(C2)=sin(2θm)和Wx(C4)=sin(4θm))。另外,基准信号生成部120能够基于上述电机20的位置θm,生成与谐波分量(C0.5、C2和C4)对应的基准相位(Θm(C0.5)、Θm(C2)和Θm(C4))。与谐波分量(C0.5)对应的基准相位(Θm(C0.5))为电机20的位置θm的0.5倍,与谐波分量(C2)对应的基准相位(Θm(C2))为电机20的位置θm的2倍,与谐波分量(C4)对应的基准相位(Θm(C4))为电机20的位置θm的4倍。与上述谐波分量(C0.5、C2和C4)对应的基准信号(Wx(C0.5)、Wx(C2)和Wx(C4))传输至可变滤波部146,与上述谐波分量(C0.5、C2和C4)对应的基准相位(Θm(C0.5)、Θm(C2)和Θm(C4))传输至同步信号生成部172。
振动提取部130接收由速度计算部114计算出的上述电机20的速度(Wm),并且能够基于上述电机20的速度(Wm),提取与谐波分量(C0.5、C2和C4)对应的振动信号(Wd(C0.5)、Wd(C2)和Wd(C4))。上述振动提取部130可以包括能够提取上述振动信号(Wd(C0.5)、Wd(C2)和Wd(C4))的3个带通滤波器。
偏差计算部142计算从振动提取部130传输的上述振动信号(Wd(C0.5)、Wd(C2)和Wd(C4))和从可变滤波部146传输的基准信号(Wy(C0.5)、Wy(C2)和Wy(C4))之间的相位差(E(C0.5)=Wd(C0.5)-Wy(C0.5)、E(C2)=Wd(C2)-Wy(C2)和E(C4)=Wd(C4)-Wy(C4))。上述相位差(E(C0.5)、E(C2)和E(C4))传输至滤波系数更新部144。
滤波系数更新部144能够确定使上述相位差E(C0.5)最小的滤波系数(b0(C0.5)和b1(C0.5))、使上述相位差E(C2)最小的滤波系数(b0(C2)和b1(C2))和使上述相位差E(C4)最小的滤波系数(b0(C4)和b1(C4))。即,滤波系数更新部144能够对滤波系数(b0(C0.5)和b1(C0.5))进行更新直至上述相位差E(C0.5)成为阈值V(C0.5)以下,对滤波系数(b0(C2)和b1(C2))进行更新直至相位差E(C2)成为阈值V(C2)以下,对滤波系数(b0(C4)和b1(C4))进行更新直至相位差E(C4)成为阈值V(C4)以下。上述阈值(V(C0.5)、V(C2)和V(C4))可以设定为本领域技术人员考虑到可变滤波部146的性能而认为优选的值。
可变滤波部146基于由上述滤波系数更新部144更新的滤波系数(b0(C0.5)、b1(C0.5)、b0(C2)、b1(C2)、b0(C4)和b1(C4)),对与由基准信号生成部120生成的谐波分量(C0.5、C2和C4)对应的基准信号(Wx(C0.5)、Wx(C2)和Wx(C4))进行滤波。
相位计算部150从速度计算部114接收电机20的速度Wm,从滤波系数更新部144接收滤波系数(b0(C0.5)、b1(C0.5)、b0(C2)、b1(C2)、b0(C4)和b1(C4))。相位计算部150基于电机20的速度Wm和滤波系数(b0(C0.5)、b1(C0.5)、b0(C2)、b1(C2)、b0(C4)和b1(C4)),计算基准信号(Wx(C0.5)、Wx(C2)和Wx(C4))和振动信号(Wd(C0.5)、Wd(C2)和Wd(C4))之间的相位差(Θd(C0.5)、Θd(C2)和Θd(C4))。
相位偏移量补偿部160能够为了补偿由振动提取部130产生的振动信号(Wd(C0.5)、Wd(C2)和Wd(C4))的延迟,生成补偿值(Θv(C0.5)、Θv(C2)和Θv(C4))。
同步信号生成部172基于从上述基准信号生成部120传输的基准相位(Θm(C0.5)、Θm(C2)和Θm(C4))、从上述相位计算部150传输的相位差(Θd(C0.5)、Θd(C2)和Θd(C4))和从上述相位偏移量补偿部160传输的补偿值(Θv(C0.5)、Θv(C2)和Θv(C4)),生成与上述振动信号(Wd(C0.5)、Wd(C2)和Wd(C4))同步的同步信号(Sx(C0.5)、Sx(C2)和Sx(C4))。具体而言,同步信号生成部172可以生成:具有与上述基准相位Θm(C0.5)减去上述相位差Θd(C0.5)再加上上述补偿值ΘV(C0.5)得到的值相对应的相位的同步信号(Sx(C0.5)=sin(Θm(C0.5)-Θd(C0.5)+ΘV(C0.5)));具有与上述基准相位Θm(C2)减去上述相位差Θd(C2)再加上述补偿值ΘV(C2)得到的值相对应的相位的同步信号(Sx(C2)=sin(Θm(C2)-Θd(C2)+ΘV(C2)));以及具有与上述基准相位Θm(C4)减去上述相位差Θd(C4)再加上上述补偿值ΘV(C4)得到的值相对应的相位的同步信号(Sx(C4)=sin(Θm(C4)-Θd(C4)+ΘV(C4)))。
反相信号生成部174生成从上述同步信号生成部172传输的上述同步信号(Sx(C0.5)、Sx(C2)和Sx(C4))的反相信号(Sy(C0.5)、Sy(C2)和Sy(C4))。
幅值比确定部180基于振动信号(Wd(C0.5)、Wd(C2)和Wd(C4))的大小,确定扭矩幅值(A(C0.5)、A(C2)和A(C4))。上述扭矩幅值A(C0.5)可以与上述振动信号Wd(C0.5)的大小相同,上述扭矩幅值A(C2)可以与上述振动信号Wd(C2)的大小相同,上述扭矩幅值A(C4)可以与上述振动信号Wd(C4)的大小相同。
扭矩生成部190能够基于上述反相信号(Sy(C0.5)、Sy(C2)和Sy(C4)),生成考虑了振动信号Wd的谐波分量(C0.5、C2和C4)的最终指令扭矩Tf。
乘法部194将上述反相信号(Sy(C0.5)、Sy(C2)和Sy(C4))与上述扭矩幅值(A(C0.5)、A(C2)和A(C4))相乘,生成反相扭矩(Ty(C0.5)、Ty(C2)和Ty(C4))。
加法部196通过将与上述基本振动分量C1对应的反相扭矩Ty(C1)、与上述谐波分量(C0.5、C2和C4)对应的反相扭矩(Ty(C0.5)、Ty(C2)和Ty(C4))和指令扭矩Tx相加,生成最终指令扭矩Tf。本发明的实施例的减振装置以产生上述最终指令扭矩Tf的方式,对电机20的工作进行控制,由此不仅能够减小具有上述基本振动分量C1的两缸发动机10的振动,还能够减小具有谐波分量(C0.5、C2和C4)的两缸发动机10的振动。
图3为本发明的实施例的混合动力车辆的减振方法的流程图。本发明的实施例的混合动力车辆的减振方法可以在上述发动机10和电机20通过发动机离合器30连接的状态下执行。
如图3所示,位置测定部测定电机20的位置θm(S100)。
基准信号生成部120基于上述电机20的位置θm,生成基准信号Wx,速度计算部114基于上述电机20的位置θm,生成电机20的速度Wm(S110)。
振动提取部130能够基于上述电机20的速度Wm,提取振动信号Wd(S120)。
可变滤波部146对上述基准信号Wx进行滤波,生成基准信号Wy(S130)。
滤波系数更新部144能够对可变滤波部146的滤波系数(b0和b1)进行更新直至从振动提取部130传输的上述振动信号Wd和从可变滤波部146传输的基准信号Wy之间的相位差E成为阈值V以下(S140)。即,滤波系数更新部144能够确定使从振动提取部130传输的上述振动信号Wd和从可变滤波部146传输的基准信号Wy之间的相位差E成为最小的滤波系数(b0和b1)。可变滤波部146基于上述滤波系数(b0和b1),对由基准信号生成部120生成的基准信号Wx进行滤波。
相位计算部150基于电机20的速度Wm和滤波系数(b0和b1),计算基准信号Wx和振动信号Wd之间的相位差Θd(S150)。
相位偏移量补偿部160生成用于补偿由振动提取部130产生的振动信号的延迟的补偿值ΘV(S160)。
同步信号生成部172基于从上述基准信号生成部120传输的基准相位Θm、从上述相位计算部150传输的相位差Θd和从上述相位偏移量补偿部160传输的补偿值ΘV,生成与振动信号Wd同步的同步信号Sx(S170)。
反相信号生成部174生成上述同步信号的反相信号Sy(S180)。
乘法部194将上述反相信号Sy与上述扭矩幅值A相乘,生成反相扭矩Ty(S190)。上述扭矩幅值A可以由幅值比确定部180基于振动信号Wd而确定。
加法部196将上述反相扭矩Ty与指令扭矩Tx相加,生成最终指令扭矩Tf(S200)。指令扭矩Tx可以基于上述加速踏板的位置值和混合动力车辆的速度而确定。另一方面,为了减小具有上述基本振动分量C1的谐波分量(C0.5、C2和C4)的发动机10的振动,基准信号生成部120能够生成与各谐波分量对应的基准信号(Wx(C0.5)、Wx(C2)和Wx(C4))。此时,加法部196能够将与上述基本振动分量C1对应的反相扭矩Ty(C1)、与上述谐波分量(C0.5、C2和C4)对应的反相扭矩(Ty(C0.5)、Ty(C2)和Ty(C4))和指令扭矩Tx相加,生成最终指令扭矩Tf。
如上所述,根据本发明的实施例,能够减小混合动力车辆用两缸发动机的振动。另外,通过对与基本振动分量C1的谐波分量(C0.5、C2和C4)各自相对应的基准信号的幅值和相位进行调节,能够减小上述谐波分量。
以上,详细说明了本发明的实施例,但是本发明的权利范围并不限定于此,本领域技术人员利用由权利要求范围所定义的本发明的基本理念而进行的各种变形和改良形态也属于本发明的权利范围。
Claims (13)
1.一种混合动力车辆用两缸发动机的减振装置,其特征在于,包括:
基准信号生成部,基于电机的位置,生成第一基准信号和第一基准相位;
速度计算部,基于所述电机的位置,计算电机的速度;
振动提取部,基于所述电机的速度,提取第一振动信号;
可变滤波部,对所述第一基准信号进行滤波,生成第二基准信号;
滤波系数更新部,对所述可变滤波部的第一滤波系数进行更新,直至所述第一振动信号和第二基准动信号之间的第一相位差成为第一阈值以下;
相位计算部,基于所述电机的速度和第一滤波系数,计算第一基准信号和第一振动信号之间的第二相位差;
相位偏移量补偿部,生成第一补偿值,所述第一补偿值用于补偿由所述振动提取部产生的第一振动信号的延迟;
同步信号生成部,基于从所述基准信号生成部传输来的第一基准相位、从所述相位计算部传输来的第二相位差和从所述相位偏移量补偿部传输来的第一补偿值,生成与第一振动信号同步的第一同步信号;
反相信号生成部,生成所述第一同步信号的第一反相信号;和
扭矩生成部,基于所述第一反相信号,生成最终指令扭矩。
2.如权利要求1所述的混合动力车辆用两缸发动机的减振装置,其特征在于:
所述振动提取部为带通滤波器,所述带通滤波器的截止频率根据发动机的速度确定。
3.如权利要求1所述的混合动力车辆用两缸发动机的减振装置,其特征在于,还包括:
偏差计算部,计算从所述振动提取部传输来的所述第一振动信号和从所述可变滤波部传输来的第二基准信号之间的第一相位差,并将所述第一相位差传输至所述滤波系数更新部。
4.如权利要求1所述的混合动力车辆用两缸发动机的减振装置,其特征在于,还包括:
幅值比确定部,基于所述第一振动信号的大小,确定第一扭矩幅值。
5.如权利要求4所述的混合动力车辆用两缸发动机的减振装置,其特征在于:
所述扭矩生成部包括:
乘法部,将所述第一反相信号与所述第一扭矩幅值相乘,生成第一反相扭矩;和
加法部,将所述第一反相扭矩与指令扭矩相加,生成所述最终指令扭矩。
6.如权利要求1所述的混合动力车辆用两缸发动机的减振装置,其特征在于:
所述同步信号生成部生成第一同步信号,所述第一同步信号具有与如下值对应的相位:该值为从所述基准信号生成部传输来的第一基准相位减去从所述相位计算部传输来的第二相位差再加上从所述相位偏移量补偿部传输来的第一补偿值得到的值。
7.如权利要求1所述的混合动力车辆用两缸发动机的减振装置,其特征在于:
所述基准信号生成部基于所述电机的位置,生成与所述第一振动信号的谐波分量对应的第三基准信号和第二基准相位,
所述振动提取部基于所述电机的速度,提取与所述谐波分量对应的第二振动信号,
所述可变滤波部对所述第三基准信号进行滤波,生成第四基准信号,
所述滤波系数更新部对所述可变滤波部的第二滤波系数进行更新,直至所述第二振动信号和所述第四基准信号之间的第三相位差成为第二阈值以下,
所述相位计算部基于所述电机的速度和第二滤波系数,计算所述第三基准信号和第二振动信号之间的第四相位差,
所述相位偏移量补偿部生成用于补偿所述第二振动信号的延迟的第二补偿值,
所述同步信号生成部基于所述第二基准相位、所述第四相位差和所述第二补偿值,生成与第二振动信号同步的第二同步信号,
所述反相信号生成部生成所述第二同步信号的第二反相信号,
所述扭矩生成部基于所述第二反相信号,生成考虑到所述谐波分量的最终指令扭矩。
8.如权利要求1所述的混合动力车辆用两缸发动机的减振装置,其特征在于:
所述电机通过配置在所述两缸发动机和所述电机之间的发动机离合器选择性地与所述两缸发动机连接。
9.一种混合动力车辆用两缸发动机的减振方法,其特征在于,包括:
基于电机的位置,生成第一基准信号和第一基准相位,并计算电机的速度的步骤;
基于所述电机的速度,提取第一振动信号的步骤;
对所述第一基准信号进行滤波,生成第二基准信号的步骤;
对所述可变滤波部的第一滤波系数进行更新,直至所述第一振动信号和第二基准信号之间的第一相位差成为第一阈值以下的步骤;
基于所述电机的速度和第一滤波系数,计算第一基准信号和第一振动信号之间的第二相位差的步骤;
生成用于补偿所述第一振动信号的延迟的第一补偿值的步骤;
基于所述第一基准相位、所述第二相位差和所述第一补偿值,生成与所述第一振动信号同步的第一同步信号的步骤;
生成所述第一同步信号的第一反相信号的步骤;和
基于所述第一反相信号,生成最终指令扭矩的步骤。
10.如权利要求9所述的混合动力车辆用两缸发动机的减振方法,其特征在于:
所述生成最终指令扭矩的步骤包括:
基于所述第一振动信号的大小,确定第一扭矩幅值的步骤;
将所述第一反相信号与所述第一扭矩幅值相乘,生成第一反相扭矩的步骤;和
将所述第一反相扭矩与指令扭矩相加,生成所述最终指令扭矩的步骤。
11.如权利要求9所述的混合动力车辆用两缸发动机的减振方法,其特征在于:
所述第一同步信号具有与如下值对应的相位,该值为所述第一基准相位减去所述第二相位差再加上所述第一补偿值得到的值。
12.如权利要求9所述的混合动力车辆用两缸发动机的减振方法,其特征在于,还包括:
基于所述电机的位置,生成与所述第一振动信号的谐波分量对应的第三基准信号和第二基准相位的步骤;
基于所述电机的速度,提取与所述谐波分量对应的第二振动信号的步骤;
对所述第三基准信号进行滤波,生成第四基准信号的步骤;
对所述可变滤波部的第二滤波系数进行更新,直至所述第二振动信号和第四基准信号之间的第三相位差成为第二阈值以下的步骤;
基于所述电机的速度和第二滤波系数,计算第三基准信号和第二振动信号之间的第四相位差的步骤;
生成用于补偿所述第二振动信号的延迟的第二补偿值的步骤;
基于所述第二基准相位、所述第四相位差和所述第二补偿值,生成与所述第二振动信号同步的第二同步信号的步骤;
生成所述第二同步信号的第二反相信号的步骤;和
基于所述第二反相信号,生成考虑到所述谐波分量的最终指令扭矩的步骤。
13.如权利要求9所述的混合动力车辆用两缸发动机的减振方法,其特征在于:
所述混合动力车辆用两缸发动机的减振方法在所述两缸发动机和所述电机通过发动机离合器连接的状态下执行。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020160132736A KR20180040883A (ko) | 2016-10-13 | 2016-10-13 | 하이브리드 차량의 진동 저감 장치 및 방법 |
KR10-2016-0132736 | 2016-10-13 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107933545A true CN107933545A (zh) | 2018-04-20 |
CN107933545B CN107933545B (zh) | 2022-03-11 |
Family
ID=61765478
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201611138712.5A Active CN107933545B (zh) | 2016-10-13 | 2016-12-12 | 混合动力车辆的减振装置及其方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10532730B2 (zh) |
KR (1) | KR20180040883A (zh) |
CN (1) | CN107933545B (zh) |
DE (1) | DE102016224855A1 (zh) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101855782B1 (ko) * | 2016-12-13 | 2018-06-20 | 현대자동차 주식회사 | 하이브리드 차량의 진동 제어 장치 및 방법 |
KR101855773B1 (ko) * | 2016-12-13 | 2018-06-20 | 현대자동차 주식회사 | 하이브리드 차량의 진동 제어 장치 및 방법 |
JP6911775B2 (ja) * | 2018-01-12 | 2021-07-28 | トヨタ自動車株式会社 | 車両用制御装置 |
FR3083339B1 (fr) * | 2018-06-28 | 2021-01-22 | Valeo Equip Electr Moteur | Procede de pilotage d'une machine electrique tournante pour compenser les oscillations de couple d'une chaine de traction de vehicule automobile |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE60110528D1 (de) * | 2000-11-27 | 2005-06-09 | Toyota Motor Co Ltd | Gerät und Methode zur Unterdrückung der Erschütterungen, die durch den Start eines Innenverbrennungsmotors verursacht wurden |
CN1963171A (zh) * | 2005-11-07 | 2007-05-16 | 日产自动车株式会社 | 发动机振动消除装置及其消除方法 |
KR20100064603A (ko) * | 2008-12-05 | 2010-06-15 | 현대자동차주식회사 | 하이브리드 차량의 능동형 진동 저감 제어 장치 |
CN104655433A (zh) * | 2015-02-04 | 2015-05-27 | 清华大学 | 混合动力汽车传动系统扭转振动信号的台架检测方法 |
KR101619663B1 (ko) * | 2014-12-09 | 2016-05-18 | 현대자동차주식회사 | 하이브리드 차량의 능동형 진동 저감 제어장치 및 그 방법 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4174061B2 (ja) | 2006-03-23 | 2008-10-29 | 本田技研工業株式会社 | ハイブリッド車両の能動型制振制御装置 |
US9641107B2 (en) * | 2012-10-15 | 2017-05-02 | Mitsubishi Electric Corporation | Motor controller for electric vehicle |
-
2016
- 2016-10-13 KR KR1020160132736A patent/KR20180040883A/ko active Search and Examination
- 2016-12-12 CN CN201611138712.5A patent/CN107933545B/zh active Active
- 2016-12-12 US US15/375,749 patent/US10532730B2/en active Active
- 2016-12-13 DE DE102016224855.3A patent/DE102016224855A1/de active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE60110528D1 (de) * | 2000-11-27 | 2005-06-09 | Toyota Motor Co Ltd | Gerät und Methode zur Unterdrückung der Erschütterungen, die durch den Start eines Innenverbrennungsmotors verursacht wurden |
CN1963171A (zh) * | 2005-11-07 | 2007-05-16 | 日产自动车株式会社 | 发动机振动消除装置及其消除方法 |
KR20100064603A (ko) * | 2008-12-05 | 2010-06-15 | 현대자동차주식회사 | 하이브리드 차량의 능동형 진동 저감 제어 장치 |
KR101619663B1 (ko) * | 2014-12-09 | 2016-05-18 | 현대자동차주식회사 | 하이브리드 차량의 능동형 진동 저감 제어장치 및 그 방법 |
CN104655433A (zh) * | 2015-02-04 | 2015-05-27 | 清华大学 | 混合动力汽车传动系统扭转振动信号的台架检测方法 |
Also Published As
Publication number | Publication date |
---|---|
DE102016224855A1 (de) | 2018-04-19 |
US10532730B2 (en) | 2020-01-14 |
CN107933545B (zh) | 2022-03-11 |
US20180105160A1 (en) | 2018-04-19 |
KR20180040883A (ko) | 2018-04-23 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107933545A (zh) | 混合动力车辆的减振装置及其方法 | |
CN106184215A (zh) | 混合动力车辆的主动减振控制装置和方法 | |
CN110466497A (zh) | 用于减少皮带打滑的装置 | |
CN103863305B (zh) | 混合动力车发动机和电动机最大转速限制控制方法和系统 | |
CN108216192B (zh) | 控制混合动力电动车辆的振动的方法和装置 | |
JP6863233B2 (ja) | ハイブリッド車両の制御装置及び制御システム | |
CN108216205B (zh) | 用于控制混合动力电动车辆的振动的方法和装置 | |
CN108216203B (zh) | 控制混合动力电动车辆的振动的方法和装置 | |
KR101855779B1 (ko) | 하이브리드 차량의 진동 제어 장치 및 방법 | |
CN108216204B (zh) | 控制混合动力电动车辆的振动的方法与设备 | |
CN108216199B (zh) | 用于控制混合动力电动车辆的振动的方法和装置 | |
JP3777841B2 (ja) | 動力出力装置、およびそれを搭載したハイブリッド車両並びに電動発電機制御方法 | |
JP4941255B2 (ja) | ハイブリッド車両の駆動装置 | |
JP2010053804A (ja) | エンジントルク変動検出システム | |
KR101855789B1 (ko) | 하이브리드 차량의 진동 제어 장치 및 방법 | |
JP2023046730A (ja) | トルク脈動抑制システム | |
CN105580265B (zh) | 电力供应系统 |
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 |