CN109263632A - A kind of mixed dynamic operating mode switching control method of hybrid vehicle - Google Patents
A kind of mixed dynamic operating mode switching control method of hybrid vehicle Download PDFInfo
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- CN109263632A CN109263632A CN201811351466.0A CN201811351466A CN109263632A CN 109263632 A CN109263632 A CN 109263632A CN 201811351466 A CN201811351466 A CN 201811351466A CN 109263632 A CN109263632 A CN 109263632A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/20—Control strategies involving selection of hybrid configuration, e.g. selection between series or parallel configuration
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Abstract
A kind of mixed dynamic operating mode switching control method of hybrid vehicle, defaults motor under electric-only mode and provides driver's all torques of request；Engine provides driver's all torques of request under conventional engines mode；Electric-only mode, assistant mode and power generation mode, which are met certain condition, is directly entered conventional engines mode: when vehicle is in conventional engines mode, moment judges current vehicle speed, requested torque and battery pack electricity SOC value, once speed is less than critical speed X, or driver's requested torque is less than motor maximum torque value, or battery pack electricity SOC be greater than critical value SOC4 when, into electric-only mode；When the torque of driver's request is more than the highest torque that engine and gearbox can transmit under current vehicle speed, and battery pack electricity SOC is greater than certain value SOC2, into assistant mode；Battery pack electricity SOC value is lower than certain value SOC2, while the torque of driver's request is switched to power generation mode lower than the Optimum Economic torque that engine under current vehicle speed can be provided.
Description
Technical field
The present invention relates to the mixed operation mode switching control strategies of starting building of hybrid vehicle, start building more particularly, to one kind is mixed
The method that operation mode can adaptively switch according to vehicle-state.
Background technique
New-energy automobile can solve tail caused by orthodox car engine fuel burns as a kind of new energy vehicles
Gas discharge has the advantages that low environment pollution, low noise, high efficiency, is the important trend of traffic transport industry development from now on.
In new-energy automobile, the existing traditional engine of hybrid electric vehicle has motor again, so there are pure electric vehicle and mixing
Close two kinds of dynamic modes of power.Wherein: pure electric vehicle only has motor to provide power, and operating mode is relatively single；And mixed dynamic model formula phase
To more complicated, according to different engine and motor combination, operating mode can be divided into: pure electricity, power generation, pure engine with
And four kinds of power-assisted, so its control strategy is increasingly complex.The country can grasp mixed motor-car operating mode switching core skill completely at present
The vehicle factor of art is seldom, and is realized with look-up method.As shown in Figure 1, including pure power mode, power generation mode, pure hair
Motivation mode and four kinds of assistant mode.Specific look-up method be input entire car controller calculate the two axis demand torques that export with
And two axis revolving speeds being calculated, it is tabled look-up to obtain current mixed operation mode of starting building according to the table of a large amount of Test data generations.This
Kind method is a kind of discriminant approach of similar empirical equation in fact, needs a large amount of data and later period calibration supports, take
When it is arduously accurate not enough.During vehicle actual development, different automobile types cannot be borrowed mutually, will cause a large amount of people, when, object
Waste.
Summary of the invention
The present invention is in view of the shortcomings of the prior art, propose a kind of mixed operation mode switching control side that starts building of hybrid vehicle
Method constantly automatically switches mixed operation mode of starting building by state machine, it is ensured that vehicle moment work according to vehicle current operating conditions
Make to take into account dynamic property and economy in optimum state.
The technical solution adopted by the present invention:
A kind of mixed dynamic operating mode switching control method of hybrid vehicle will be mixed dynamic according to the real work situation of motor
Operating mode is divided into four kinds of electric-only mode, conventional engines mode, assistant mode and power generation mode operating modes, if pure electricity
Dynamic model formula is default mode；Under conventional engines mode, engine provides driver's all torques of request；Electric-only mode
Lower motor provides driver's all torques of request, and motor provides driver's part torque of request under assistant mode, and generate electricity mould
Motor is used to generate electricity by towing astern under formula；
1) electric-only mode, assistant mode and power generation mode are directly entered conventional engines under the premise of meeting certain condition
Mode:
Electric-only mode enters conventional engines mode: when speed is greater than critical speed X or driver's requested torque is greater than motor
The torque maximum or battery pack electricity SOC < critical value SOC4 of offer；
Assistant mode enters conventional engines mode: driver's requested torque is less than engine efficient routine peak torque；
Power generation mode enters conventional engines mode: driver's requested torque is turned round more than or equal to engine efficient routine minimum
Square；
2) when vehicle is in conventional engines mode, the moment judges current vehicle speed, requested torque and battery pack electricity SOC value,
Once speed is less than critical speed X or driver's requested torque is less than motor maximum torque value or battery pack electricity SOC is greater than
When critical value SOC4, electric-only mode is entered by conventional engines mode；
Vehicle is in conventional engines mode, when the torque of driver's request is more than engine and the gearbox institute under current vehicle speed
Can transmitting highest torque, and when battery pack electricity SOC is greater than certain value SOC2, motor will intervene work, into assistant mode,
Make engine operation in efficient routine region more preferably than traditional mode；
In order to keep battery pack electricity SOC in certain tolerance interval, when needing to be charged to battery pack, dynamical system
Operating mode is arranged to power generation mode；It to be power generation mode from conventional engines pattern switching, battery pack electricity SOC value is necessary
Lower than certain value SOC2, while the Optimum Economic that the torque of driver's request can be provided lower than engine under current vehicle speed is turned round
Square；At this point, engine will work in economic zone operating point more preferably than traditional mode, the torque more than driver's request will
For towing astern motor, electric power generation is made to charge to battery pack.
The mixed dynamic operating mode switching control method of the hybrid vehicle, several state method for determination of amount are such as
Under:
1) the critical speed X of electric-only mode and conventional engines pattern switching, demarcates to obtain by real steering vectors；
2) the torque maximum T_Limit_Mot that motor provides: by the intrinsic external characteristics torque limit value of motor and consider high pressure
Component consumes the Motor torque limits value co-determination after power, and the two is minimized；
3) the battery pack electricity SOC critical value SOC4: the value in electric-only mode and conventional engines mode handover procedure is EV
Minimum battery pack electricity SOC value under operational mode, is defined as 20%；
4) conventional engines pattern switching is the battery pack electricity SOC critical value SOC2 during power generation mode: the value is vehicle
The minimum battery pack electricity SOC value allowed is operated normally, is defined as 11%, when critical state only allows HEV to start；
5) need to judge that battery pack electricity SOC is greater than certain value SOC3: the value when Transmission Engine pattern switching is assistant mode
It is to allow motor-driven critical value, is defined as 15%；
6) engine optimum economic performance region torque range is looked into according to engine speed and engine optimum economic performance curve
Table obtains, and engine optimum economic performance curve is the intrinsic characteristic curve of engine.
The mixed dynamic operating mode switching control method of the hybrid vehicle, adoption status handoff algorithms utilize state
Machine monitoring vehicle real-time working condition, 4 nodes of state machine are exactly four kinds of operating modes, input condition, that is, current vehicle speed of function,
The torque maximum parameter that battery pack electricity SOC value, driver's requested torque, motor provide, four kinds of operating modes are according to state
Machine-cut is changed, and is built algorithm model in Simulink/Stateflow by state machine, is then compiled into machine language, writes with a brush dipped in Chinese ink
To realize algorithm control in controller.
Invention the utility model has the advantages that
1, the mixed dynamic operating mode switching control method of hybrid vehicle of the present invention, using the mixed dynamic Working mould based on state machine
Formula determination strategy, can effectively solve to table look-up and judges the shortcomings that operating mode judges.The invention can be applicable in the mixed dynamic of various
The quick exploitation of operating mode does not need a large amount of real steering vectors data and calibration, can save the period expense of project.
2, the mixed dynamic operating mode switching control method of hybrid vehicle of the present invention, applicable different dynamic structure it is new
Energy vehicle is tested by certain artificial debugging and calibration, can meet the mixed operation mode switching of starting building of new energy vehicle.
3, the mixed dynamic operating mode switching control method of hybrid vehicle of the present invention, by monitoring vehicle real-time working condition,
The parameters such as the torque maximum provided containing current vehicle speed, battery pack electricity SOC value, driver's requested torque, motor, point four kinds of feelings
Condition is switched in Simulink by state machine and is write using layer model, is exported as mixed operation mode of starting building.
Detailed description of the invention
Fig. 1 is mixed operation mode look-up table schematic illustration of starting building；
Fig. 2 is the mixed operation mode state machine method schematic illustration of starting building of the present invention.
Specific embodiment
Below by specific embodiment, technical solution of the present invention is described in further detail.Following embodiment
It is merely to illustrate the present invention, limiting the scope of the present invention should not be constituted.Those skilled in the art are in prior art model
In enclosing, simple combination is carried out using the displacement of conventional techniques and with the prior art, all without departing from the scope of the present invention.
Embodiment 1
Referring to Fig. 1, Fig. 2, the mixed dynamic operating mode switching control method of hybrid vehicle of the present invention, according to the practical work of motor
Make situation, mixed operation mode of starting building is divided into four kinds of electric-only mode, conventional engines mode, assistant mode and power generation mode works
Operation mode, if electric-only mode is default mode；Under conventional engines mode, engine provides driver's all torsions of request
Square；Under other Three models, motor can play different effects, and motor provides driver's all torsions of request under electric-only mode
Square, motor provides driver's part torque of request under assistant mode, and motor is used to generate electricity by towing astern under power generation mode；
1) electric-only mode, assistant mode and power generation mode are directly entered conventional engines under the premise of meeting certain condition
Mode:
Electric-only mode enters conventional engines mode: when speed is greater than critical speed X or driver's requested torque is greater than motor
The torque maximum or battery pack electricity SOC < critical value SOC4 of offer；
Assistant mode enters conventional engines mode: driver's requested torque is less than engine efficient routine peak torque；
Power generation mode enters conventional engines mode: driver's requested torque is turned round more than or equal to engine efficient routine minimum
Square；
2) when vehicle is in conventional engines mode, the moment judges current vehicle speed, requested torque and battery pack electricity SOC value,
Once speed is less than critical speed X or driver's requested torque is less than motor maximum torque value or battery pack electricity SOC is greater than
When critical value SOC4, electric-only mode is entered by conventional engines mode；
Vehicle is in conventional engines mode, when the torque of driver's request is more than engine and the gearbox institute under current vehicle speed
Can transmitting highest torque (efficient routine peak torque), and battery pack electricity SOC be greater than certain value SOC2 when, motor will intervene
Work, into assistant mode, makes engine operation in efficient routine region more preferably than traditional mode；
In order to keep battery pack electricity SOC in certain tolerance interval, when needing to be charged to battery pack, dynamical system
Operating mode is arranged to power generation mode；It to be power generation mode from conventional engines pattern switching, battery pack electricity SOC must be low
In certain value SOC2, while the torque of driver's request is lower than the Optimum Economic torque that engine under current vehicle speed can be provided；
At this point, engine will work in economic zone operating point more preferably than traditional mode, the torque more than driver's request will be used
In towing astern motor, electric power generation is made to charge to battery pack.
Embodiment 2
Referring to Fig. 1, Fig. 2, the mixed dynamic operating mode switching control method of the hybrid vehicle of the present embodiment and embodiment 1
The difference is that: it is further, several quantity of states are determined in the following way:
1) the critical speed X of electric-only mode and conventional engines pattern switching, demarcates to obtain by real steering vectors；
2) the torque maximum T_Limit_Mot that motor provides: by the intrinsic external characteristics torque limit value of motor and consider high pressure
Component consumes the Motor torque limits value co-determination after power, and the two is minimized；
3) the battery pack electricity SOC critical value SOC4: the value in electric-only mode and conventional engines mode handover procedure is EV
Minimum battery pack electricity SOC value under operational mode, is defined as 20%；
4) conventional engines pattern switching is the battery pack electricity SOC critical value SOC2 during power generation mode: the value is vehicle
The minimum battery pack electricity SOC value allowed is operated normally, is defined as 11%, when critical state only allows HEV to start；
5) need to judge that battery pack electricity SOC is greater than certain value SOC3: the value when Transmission Engine pattern switching is assistant mode
It is to allow motor-driven critical value, is defined as 15%；
6) engine optimum economic performance region torque range is looked into according to engine speed and engine optimum economic performance curve
Table obtains, and engine optimum economic performance curve is the intrinsic characteristic curve of engine.
Embodiment 3
Referring to Fig. 1, Fig. 2, the mixed dynamic operating mode switching control method of the hybrid vehicle of the present embodiment, with embodiment 1 and
Embodiment 2 the difference is that: further, adoption status handoff algorithms utilize state machine monitors vehicle real-time working condition, shape
4 nodes of state machine are exactly four kinds of operating modes, and input condition, that is, current vehicle speed of switching function, is driven at battery pack electricity SOC value
The torque maximum parameter that the person's of sailing requested torque, motor provide, four kinds of operating modes switch according to state machine, are existed by state machine
Algorithm model is built in Simulink/Stateflow, is then compiled into machine language, is write with a brush dipped in Chinese ink in controller to realize algorithm
Control.
The state machine is a directed graph, is made of a group node and one group of corresponding switching function, and state machine is logical
It crosses and responds a series of conditions for meeting switching function and " RUN ".When the condition that present condition is switched to next state meets, status
State will automatically switch to next state, and next state becomes new present condition.Be integrated to this patent: 4 nodes of state machine are exactly
Four kinds of operating modes, transfer function are exactly the related content of embodiment 1 and embodiment 2, and the input condition of function is exactly to work as front truck
The several parameter values of torque maximum parameter that speed, battery pack electricity SOC value, driver's requested torque, motor provide.
Fig. 2 is the present invention mixed start building operation mode state machine method schematic illustration, the as schematic diagram of state machine, can also be claimed
For state switching algorithm, according to the state machine in a kind of modularization programming tool of Simulink/Stateflow() in build calculation
Method model, is then compiled into machine language, writes with a brush dipped in Chinese ink the function that algorithm control can be realized in controller.
Each parameter paraphrase occurred in text is as follows: SOC: battery pack electricity residue percentage, unit: %；SOC2: tradition hair
SOC critical value of the motivation pattern switching to power generation mode；SOC3: the SOC of Transmission Engine pattern switching to assistant mode is critical
Value；SOC4: the SOC critical value of conventional engines mode and electric-only mode switching；X: electric-only mode and conventional engines mould
The critical speed of formula switching, unit: Km/h；T_Limit_Mot: the torque maximum that motor provides, unit: Nm；HEV: mixed
Close dynamic mode；EV: electric-only mode.
Claims (3)
1. a kind of mixed dynamic operating mode switching control method of hybrid vehicle will be mixed according to the real work situation of motor
Operation mode of starting building is divided into four kinds of electric-only mode, conventional engines mode, assistant mode and power generation mode operating modes, if pure
Electric model is default mode；Under conventional engines mode, engine provides driver's all torques of request；Pure electric vehicle mould
Motor provides driver's all torques of request under formula, and motor provides driver's part torque of request, power generation under assistant mode
Motor is used to generate electricity by towing astern under mode；It is characterized by:
1) electric-only mode, assistant mode and power generation mode are directly entered conventional engines under the premise of meeting certain condition
Mode:
Electric-only mode enters conventional engines mode: when speed is greater than critical speed X or driver's requested torque is greater than motor
The torque maximum or battery pack electricity SOC < critical value SOC4 of offer；
Assistant mode enters conventional engines mode: driver's requested torque is less than engine efficient routine peak torque；
Power generation mode enters conventional engines mode: driver's requested torque is turned round more than or equal to engine efficient routine minimum
Square；
2) when vehicle is in conventional engines mode, the moment judges current vehicle speed, requested torque and battery pack electricity SOC value,
Once speed is less than critical speed X or driver's requested torque is less than motor maximum torque value or battery pack electricity SOC is greater than
When critical value SOC4, electric-only mode is entered by conventional engines mode；
Vehicle is in conventional engines mode, when the torque of driver's request is more than engine and the gearbox institute under current vehicle speed
Can transmitting highest torque, and when battery pack electricity SOC is greater than certain value SOC2, motor will intervene work, into assistant mode,
Make engine operation in efficient routine region more preferably than traditional mode；
In order to keep battery pack electricity SOC in certain tolerance interval, when needing to be charged to battery pack, dynamical system
Operating mode is arranged to power generation mode；It to be power generation mode from conventional engines pattern switching, battery pack electricity SOC value is necessary
Lower than certain value SOC2, while the Optimum Economic that the torque of driver's request can be provided lower than engine under current vehicle speed is turned round
Square；At this point, engine will work in economic zone operating point more preferably than traditional mode, the torque more than driver's request will
For towing astern motor, electric power generation is made to charge to battery pack.
2. the mixed dynamic operating mode switching control method of hybrid vehicle according to claim 1, it is characterised in that: several
A state method for determination of amount is as follows:
1) the critical speed X of electric-only mode and conventional engines pattern switching, demarcates to obtain by real steering vectors；
2) the torque maximum T_Limit_Mot that motor provides: by the intrinsic external characteristics torque limit value of motor and consider high pressure
Component consumes the Motor torque limits value co-determination after power, and the two is minimized；
3) the battery pack electricity SOC critical value SOC4: the value in electric-only mode and conventional engines mode handover procedure is EV
Minimum battery pack electricity SOC value under operational mode, is defined as 20%；
4) conventional engines pattern switching is the battery pack electricity SOC critical value SOC2 during power generation mode: the value is vehicle
The minimum battery pack electricity SOC value allowed is operated normally, is defined as 11%, when critical state only allows HEV to start；
5) need to judge that battery pack electricity SOC is greater than certain value SOC3: the value when Transmission Engine pattern switching is assistant mode
It is to allow motor-driven critical value, is defined as 15%；
6) engine optimum economic performance region torque range is looked into according to engine speed and engine optimum economic performance curve
Table obtains, and engine optimum economic performance curve is the intrinsic characteristic curve of engine.
3. the mixed dynamic operating mode switching control method of hybrid vehicle according to claim 2, it is characterised in that: adopt
State machine monitors vehicle real-time working condition is utilized with state handoff algorithms, 4 nodes of state machine are exactly four kinds of operating modes, function
Input condition, that is, current vehicle speed, battery pack electricity SOC value, driver's requested torque, motor provide torque maximum parameter,
Four kinds of operating modes switch according to state machine, algorithm model are built in Simulink/Stateflow by state machine, then
It is compiled into machine language, is write with a brush dipped in Chinese ink in controller to realize algorithm control.
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| CN109849892A (en) * | 2019-03-25 | 2019-06-07 | 科力远混合动力技术有限公司 | Power dividing type hybrid vehicle pure electric vehicle drive mode method for handover control |
| CN109849889A (en) * | 2019-03-25 | 2019-06-07 | 科力远混合动力技术有限公司 | Power dividing type hybrid vehicle hybrid power drive mode method for handover control |
| CN110588632A (en) * | 2019-09-23 | 2019-12-20 | 潍柴动力股份有限公司 | Method and device for switching working modes of hybrid electric vehicle |
| CN111645666A (en) * | 2019-09-20 | 2020-09-11 | 长城汽车股份有限公司 | Torque control method and control device for engine |
| CN111791875A (en) * | 2019-04-08 | 2020-10-20 | 上海汽车变速器有限公司 | Electromechanical coupling double-clutch hybrid power system driving mode control system and method |
| CN112590766A (en) * | 2020-12-16 | 2021-04-02 | 北理慧动（常熟）车辆科技有限公司 | Mode switching method of hybrid electric vehicle |
| CN112959897A (en) * | 2021-04-12 | 2021-06-15 | 东风小康汽车有限公司重庆分公司 | Drive control method and device and hybrid electric vehicle |
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| CN109849892B (en) * | 2019-03-25 | 2020-08-28 | 科力远混合动力技术有限公司 | Pure electric drive mode switching control method of power split type hybrid vehicle |
| CN109849889A (en) * | 2019-03-25 | 2019-06-07 | 科力远混合动力技术有限公司 | Power dividing type hybrid vehicle hybrid power drive mode method for handover control |
| CN109849892A (en) * | 2019-03-25 | 2019-06-07 | 科力远混合动力技术有限公司 | Power dividing type hybrid vehicle pure electric vehicle drive mode method for handover control |
| CN109849889B (en) * | 2019-03-25 | 2020-08-28 | 科力远混合动力技术有限公司 | Hybrid power driving mode switching control method of power split type hybrid power vehicle |
| CN111791875A (en) * | 2019-04-08 | 2020-10-20 | 上海汽车变速器有限公司 | Electromechanical coupling double-clutch hybrid power system driving mode control system and method |
| CN111791875B (en) * | 2019-04-08 | 2021-07-30 | 上海汽车变速器有限公司 | Electromechanical coupling double-clutch hybrid power system driving mode control system and method |
| CN111645666A (en) * | 2019-09-20 | 2020-09-11 | 长城汽车股份有限公司 | Torque control method and control device for engine |
| CN110588632A (en) * | 2019-09-23 | 2019-12-20 | 潍柴动力股份有限公司 | Method and device for switching working modes of hybrid electric vehicle |
| CN112590766A (en) * | 2020-12-16 | 2021-04-02 | 北理慧动（常熟）车辆科技有限公司 | Mode switching method of hybrid electric vehicle |
| CN112590766B (en) * | 2020-12-16 | 2022-04-12 | 北理慧动（常熟）车辆科技有限公司 | Mode switching method of hybrid electric vehicle |
| CN112959897A (en) * | 2021-04-12 | 2021-06-15 | 东风小康汽车有限公司重庆分公司 | Drive control method and device and hybrid electric vehicle |
| CN114407875A (en) * | 2022-01-24 | 2022-04-29 | 徐州重型机械有限公司 | Engineering machinery hybrid power control method, hybrid power system and engineering machinery |
| CN114407875B (en) * | 2022-01-24 | 2024-02-13 | 徐州重型机械有限公司 | Engineering machinery hybrid power control method, hybrid power system and engineering machinery |
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