CN109263629B - 混合动力汽车能量回收解耦控制方法 - Google Patents

混合动力汽车能量回收解耦控制方法 Download PDF

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CN109263629B
CN109263629B CN201810925628.0A CN201810925628A CN109263629B CN 109263629 B CN109263629 B CN 109263629B CN 201810925628 A CN201810925628 A CN 201810925628A CN 109263629 B CN109263629 B CN 109263629B
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CN109263629A (zh
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刘国志
钟发平
周文太
王晨
于海生
张彤
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Jiangxi Dingsheng New Material Technology Co ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08Conjoint 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W20/00Control systems specially adapted for hybrid vehicles
    • B60W20/10Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/13Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W20/00Control systems specially adapted for hybrid vehicles
    • B60W20/10Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/15Control strategies specially adapted for achieving a particular effect
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2510/00Input parameters relating to a particular sub-units
    • B60W2510/06Combustion engines, Gas turbines
    • B60W2510/0638Engine speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2510/00Input parameters relating to a particular sub-units
    • B60W2510/06Combustion engines, Gas turbines
    • B60W2510/0657Engine torque
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2510/00Input parameters relating to a particular sub-units
    • B60W2510/08Electric propulsion units
    • B60W2510/083Torque
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/62Hybrid vehicles

Abstract

本发明提供了一种混合动力汽车能量回收解耦控制方法,首先整车控制器判断车辆是否为急加速后急松油门状态,若是则整车控制器设定发动机需求扭矩A,之后整车控制器再判断发动机实际扭矩是否小于等于发动机需求扭矩A,若是,则在能量回收时大电机、小电机扭矩计算中的行星架角加速度epSt按实际计算值取值;若否,则判断行星架角加速度的实际计算值是否大于等于0,若是,则在能量回收时大电机、小电机扭矩计算中的行星架角加速度epSt按实际计算值取值,否则在能量回收时大电机、小电机扭矩计算中的行星架角加速度epSt取值为0。本发明方法简单可行,可避免能量回收时出现瞬时充电功率较大的现象,提高车辆驾驶平顺性。

Description

混合动力汽车能量回收解耦控制方法
技术领域
本发明涉及混合动力汽车的控制领域,尤其是涉及一种混合动力汽车能量回收解耦控制方法。
背景技术
为了节能减排,混合动力汽车整车控制技术引入能量回馈技术,并且被广泛应用。混合动力汽车在制动或滑行时,将汽车的动能转换为电能,存储在动力电池中,以便在加速或纯电动行车过程中使用。能量回收时,回收能力大小在电池能力满足的情况下,主要取决于电机扭矩大小,而电机扭矩大小又与变速箱输出轴扭矩、发动机扭矩和行星架角加速度相关。驾驶员在大油门加速后松油门瞬间,变速箱输出轴扭矩由正的驱动扭矩转变为负的制动回馈扭矩,尽管已发出较小的发动机扭矩需求,但由于发动机响应较慢,发动机实际扭矩依然很大,行星架角加速度迅速减小(变化较快,短时内就会降至负值),发动机正扭矩、变速箱输出轴制动回馈扭矩、以及拉低发动机转速的负的行星架角加速度均使得电机发电,三者耦合在一起导致电池瞬时充电功率过大,可能导致电池过压。
发明内容
针对现有技术缺陷,本发明旨在提供一种混合动力汽车能量回收解耦控制方法,简单可行,可一定程度上限制能量回收时的瞬时充电功率,防止出现瞬时充电功率较大的现象。
本发明通过以下方案实现:
一种混合动力汽车能量回收解耦控制方法,首先整车控制器判断车辆是否为急加速后急松油门状态,若是则整车控制器设定发动机需求扭矩A,之后整车控制器再判断发动机实际扭矩是否小于等于发动机需求扭矩A,若是,则在能量回收时大电机、小电机扭矩计算中的行星架角加速度epSt按实际计算值取值;若否,则判断行星架角加速度的实际计算值是否大于等于0,若是,则在能量回收时大电机、小电机扭矩计算中的行星架角加速度epSt按实际计算值取值,否则在能量回收时大电机、小电机扭矩计算中的行星架角加速度epSt取值为0。
进一步地,所述行星架角加速度epSt采用PI控制,其值按公式(1)计算得到:
nSt_sub=nEng_req-nEng_actl……………………………………………(2),
其中,nSt_sub为转速差,其值根据公式(2)计算得到;nEng_req为发动机需求转速;nEng_actl为发动机实际转速;Kp为比例系数,其值通过转速差nSt_sub线性插值查nSt_sub与Kp的对应表获得;Ki为积分系数,其值通过转速差nSt_sub线性插值查nSt_sub与Ki的对应表获得;T为积分时间常数,取值范围为0.1~1s。
转速差nSt_sub与比例系数Kp的对应表、转速差nSt_sub与积分系数Ki的对应表均根据实车标定获得,具体为:首先经过仿真计算,初步得出一组根据转速差查表的Kp和Ki值,之后经实车试验验证,得到可确保瞬时功率在允许范围之内的转速差nSt_sub与比例系数Kp的对应表、转速差nSt_sub与积分系数Ki的对应表。
进一步地,所述发动机需求扭矩A为5~10Nm。整车控制器设定的发动机需求扭矩A,是尽量保证车辆在急加速后急松油门状态下平顺行驶且考虑经济性的发动机扭矩值。
本发明的混合动力汽车能量回收解耦控制方法,简单可行,通过行星架角加速度的解耦限制,避免了发动机扭矩、输出轴制动扭矩、行星架角加速度三者叠加,在一定程度上限制了瞬时充电功率,防止出现瞬时充电功率较大的现象,确保回收功率的合理性、稳定性及安全性,达到节油、减排的目的,同时可提高车辆驾驶平顺性,提高车辆驾驶舒适性。
附图说明
图1为本发明使用的混合动力传动装置的结构示意图;
图2为实施例1中混合动力汽车能量回收解耦控制方法的控制流程图。
具体实施方式
以下结合实施例对本发明作进一步说明,但本发明并不局限于实施例之表述。
本发明使用的混合动力传动装置的结构示意图如图1所示,发动机1与双行星排2的行星架相连,双行星排2的小太阳轮S1和小电机E1相连,双行星排2的大太阳轮S2和大电机E2相连,双行星排2的输出齿圈R作为动力输出轴。该结构已在专利名称为双行星排四轴混合动力变速箱(专利号为200920208311.1)和双行星排四轴混合动力传动装置(专利号为200910194470.5)中公开。
实施例1
一种混合动力汽车能量回收解耦控制方法,其控制流程图如图2所示,首先整车控制器判断车辆是否为急加速后急松油门状态,若是则整车控制器设定发动机需求扭矩A,之后整车控制器再判断发动机实际扭矩是否小于等于发动机需求扭矩A,A在5~10Nm中取值,若是,则在能量回收时大电机、小电机扭矩计算中的行星架角加速度epSt按实际计算值取值;若否,则判断行星架角加速度的实际计算值是否大于等于0,若是,则在能量回收时大电机、小电机扭矩计算中的行星架角加速度epSt按实际计算值取值,否则在能量回收时大电机、小电机扭矩计算中的行星架角加速度epSt取值为0;
行星架角加速度epSt采用PI控制,其值按公式(1)计算得到:
nSt_sub=nEng_req-nEng_actl……………………………………………(2),
其中,nSt_sub为转速差,其值根据公式(2)计算得到;nEng_req为发动机需求转速;nEng_actl为发动机实际转速;Kp为比例系数,其值通过转速差nSt_sub线性插值查nSt_sub与Kp的对应表获得;Ki为积分系数,其值通过转速差nSt_sub线性插值查nSt_sub与Ki的对应表获得;T为积分时间常数,取值范围为0.1~1s。

Claims (2)

1.一种混合动力汽车能量回收解耦控制方法,使用的混合动力传动装置中,发动机与双行星排的行星架相连,双行星排的小太阳轮和小电机相连,双行星排的大太阳轮和大电机相连,双行星排的输出齿圈作为动力输出轴,其特征在于:首先整车控制器判断车辆是否为急加速后急松油门状态,若是则整车控制器设定发动机需求扭矩A,之后整车控制器再判断发动机实际扭矩是否小于等于发动机需求扭矩A,若是,则在能量回收时大电机、小电机扭矩计算中的行星架角加速度epSt按实际计算值取值;若否,则判断行星架角加速度的实际计算值是否大于等于0,若是,则在能量回收时大电机、小电机扭矩计算中的行星架角加速度epSt按实际计算值取值,否则在能量回收时大电机、小电机扭矩计算中的行星架角加速度epSt取值为0;
所述行星架角加速度epSt采用PI控制,其值按公式(1)计算得到:
nSt_sub=nEng_req-nEng_actl……………………………………………(2),
其中,nSt_sub为转速差,其值根据公式(2)计算得到;nEng_req为发动机需求转速;nEng_actl为发动机实际转速;Kp为比例系数,其值通过转速差nSt_sub线性插值查nSt_sub与Kp的对应表获得;Ki为积分系数,其值通过转速差nSt_sub线性插值查nSt_sub与Ki的对应表获得;T为积分时间常数,取值范围为0.1~1s。
2.如权利要求1所述的混合动力汽车能量回收解耦控制方法,其特征在于:所述发动机需求扭矩A为5~10Nm。
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