CN109383486A - Mixing dynamical vehicle torsional moment control method and hybrid power automobile power system - Google Patents
Mixing dynamical vehicle torsional moment control method and hybrid power automobile power system Download PDFInfo
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- CN109383486A CN109383486A CN201710660518.1A CN201710660518A CN109383486A CN 109383486 A CN109383486 A CN 109383486A CN 201710660518 A CN201710660518 A CN 201710660518A CN 109383486 A CN109383486 A CN 109383486A
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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
- 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
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
Abstract
The present invention relates to mixing dynamical vehicle torsional moment control method and hybrid power automobile power systems, first, obtain the demand torque of vehicle, then, when the demand torque of vehicle is greater than the upper limited torque of engine optimum working zone, the upper limited torque of engine output optimum working zone, and motor enters drive mode, the driving torque of motor is equal to the difference of the upper limited torque of demand torque and engine optimum working zone, when the practical driving torque of motor is greater than the maximum drive torque of motor, in order to guarantee power output, this is most basic, it is also most important requirement, control increases the reality output torque of engine, guarantee automobile power output.Therefore, this control mode can be avoided vehicle and cast anchor, and can also guarantee vehicle under specific demand, such as the power output that needs when going up a slope avoids vehicle from slipping by slope backward, and then avoid the occurrence of traffic accidents.
Description
Technical field
The present invention relates to mixing dynamical vehicle torsional moment control method and hybrid power automobile power systems, belong to hybrid power
Automobile power control technology field.
Background technique
The hybrid power wide popularization and application in city bus, during low speed, engine is shut down, using electricity
Machine driving, carries out engine load adjusting by motor at a high speed, the work operating condition of engine is made to work in optimum operating condition as far as possible,
To realize energy-saving and emission-reduction.But in highway passenger vehicle, mainly in city and high-speed cruising, power source mainly starts vehicle
Machine, in order to improve acceleration, general power reserve is higher, and the at high cost and oil consumption initially bought is also higher.It is such in order to be promoted
The economy of vehicle, by the progress " peak load shifting " to vehicle power of motor, realization is Engine Downsizing, while not losing
Dynamic property, and recycle the energy regenerating in moderating process.
A kind of hybrid vehicle is disclosed in the Chinese patent application file that application publication number is CN105774799A
Torque compensation method obtains engine demand torque and motor according to the gas pedal aperture and current vehicle speed of current vehicle first
Demand torque, and the reality output torque of current time engine is detected, then calculate engine demand torque and reality output
The difference of torque, and motor demand torque is adjusted to compensate engine demand torque according to the difference.Although this method can be real
The compensation and adjusting of existing torque still regardless of the power-control method of sample, most basic requirement and most important are wanted
Seeking Truth guarantees that automobile has certain power output, and popular point is said, is ensuring that automobile can walk.Even if the torque of automobile distributes
And compensation way is very rationally and science, if it cannot be guaranteed that automobile traveling, without practical significance.So above-mentioned public
In the torque compensation method opened, if demand torque is excessive, engine output and the sum of motor compensating are turned round still without demand is reached
The level of square, then, automobile does not have power output, will not walk, and therefore, this method can not accomplish when demand torque is very big
Guarantee the power output of automobile.
Summary of the invention
The object of the present invention is to provide a kind of mixing dynamical vehicle torsional moment control methods, to solve existing torque compensation
Method can not guarantee the problem of power output of automobile when demand torque is very big.Present invention simultaneously provides a kind of hybrid power vapour
Vehicle dynamical system.
To achieve the above object, the solution of the present invention includes a kind of mixing dynamical vehicle torsional moment control method, including following
Step:
(1) demand torque of vehicle is obtained；
(2) size for comparing the demand torque of vehicle and the upper limited torque of engine optimum working zone, when the need of vehicle
When torque being asked to be greater than the upper limited torque of the engine optimum working zone, the upper limit that engine exports optimum working zone is turned round
Square, and motor enters drive mode, the driving torque of motor is equal to the demand torque and the engine optimum working zone
Upper limited torque difference, when the practical driving torque of motor be greater than motor maximum drive torque when, increase the reality of engine
Border output torque.
When carrying out moment of torsion control, if the demand torque of vehicle is greater than the upper limited torque of engine optimum working zone,
Other than the upper limited torque of engine output optimum working zone, motor enters drive mode, and driving torque is turned round equal to demand
The difference of the upper limited torque of square and engine optimum working zone, can guarantee effective output of demand torque in this way, that is, guarantee
The normal operation of vehicle, still, if demand torque is greater than the upper limited torque of engine optimum working zone and the maximum of motor
The sum of driving torque, that is to say, that even if the upper limited torque of engine output optimum working zone, the practical driving torque of motor
Equal to maximum drive torque, it is still unsatisfactory for demand, then, in order to guarantee power output, this is most basic and most important
It is required that control increases the reality output torque of engine, although engine no longer operates in optimum working zone after increasing,
It is that engine is still able to operate normally, also, this method guarantees that automobile has certain power output.Therefore, this method is not
At present by engine run on optimum working zone for the purpose of torque control mode, but completely contradict with these existing ways
Mode improve the output torque of engine when demand is very big, so that engine is no longer operated in optimum working zone, improve
Power output, avoids vehicle from casting anchor, is particularly suitable for vehicle under specific demand, such as the power output that while going up a slope needs,
It avoids vehicle from slipping by slope backward, and then avoids the occurrence of traffic accidents.In addition, in order to promote the economy of vehicle, using motor
Current retarder is substituted, realization is Engine Downsizing, while not losing dynamic property, and recycles the energy in moderating process and return
It receives, achieves energy-saving and emission reduction purposes.
When the maximum drive torque for being greater than motor when the practical driving torque of motor, motor exports maximum drive and turns round
Square, the reality output torque of engine are adjusted to the difference of the maximum drive torque of demand torque and motor.
The size for comparing the lower limited torque of demand torque and engine optimum working zone, when demand torque is less than the hair
The lower limited torque of motivation optimum working zone, and the SOC of power battery be less than given threshold when, motor enters power generation mode, electricity
The power generation torque of machine is equal to the lower limited torque of the engine optimum working zone and the difference of demand torque.
When the SOC of power battery is greater than the high power threshold of setting, the maximum drive torque of motor is set as specified torsion
Square；When the SOC of power battery is less than the low battery threshold value of setting, the maximum drive torque of motor is set as setting ratio coefficient
With the product of nominal torque, the setting ratio coefficient is the numerical value less than 1；When the SOC of power battery is less than or waits
In the setting high power threshold and when being more than or equal to the low battery threshold value of the setting, the maximum drive of motor is turned round
The electricity of square and power battery is proportional, and with the electricity linear change of power battery.
It when vehicle braking, is tabled look-up to obtain energy regenerating power according to the aperture of current vehicle speed and brake pedal, if institute
Stating energy regenerating power allows charge power greater than power battery, then controls braking resistor work, the consumption power of braking resistor
Equal to the difference that the energy regenerating power and the power battery allow charge power.
The present invention also provides a kind of hybrid power automobile power systems, including engine, motor and power battery, are carrying out
When moment of torsion control, (1) obtains the demand torque of vehicle；(2) compare the demand torque and engine optimum working zone of vehicle
The size of upper limited torque, when the demand torque of vehicle is greater than the upper limited torque of the engine optimum working zone, engine
The upper limited torque of optimum working zone is exported, and motor enters drive mode, the driving torque of motor is equal to the demand torque
With the difference of the upper limited torque of the engine optimum working zone, driven when the practical driving torque of motor is greater than the maximum of motor
When dynamic torque, increase the reality output torque of engine.
When the maximum drive torque for being greater than motor when the practical driving torque of motor, motor exports maximum drive and turns round
Square, the reality output torque of engine are adjusted to the difference of the maximum drive torque of demand torque and motor.
The size for comparing the lower limited torque of demand torque and engine optimum working zone, when demand torque is less than the hair
The lower limited torque of motivation optimum working zone, and the SOC of power battery be less than given threshold when, motor enters power generation mode, electricity
The power generation torque of machine is equal to the lower limited torque of the engine optimum working zone and the difference of demand torque.
When the SOC of power battery is greater than the high power threshold of setting, the maximum drive torque of motor is set as specified torsion
Square；When the SOC of power battery is less than the low battery threshold value of setting, the maximum drive torque of motor is set as setting ratio coefficient
With the product of nominal torque, the setting ratio coefficient is the numerical value less than 1；When the SOC of power battery is less than or waits
In the setting high power threshold and when being more than or equal to the low battery threshold value of the setting, the maximum drive of motor is turned round
The electricity of square and power battery is proportional, and with the electricity linear change of power battery.
It when vehicle braking, is tabled look-up to obtain energy regenerating power according to the aperture of current vehicle speed and brake pedal, if institute
Stating energy regenerating power allows charge power greater than power battery, then controls braking resistor work, the consumption power of braking resistor
Equal to the difference that the energy regenerating power and the power battery allow charge power.
Detailed description of the invention
Fig. 1 is a kind of specific structure chart of hybrid power automobile power system；
Fig. 2 is the overall flow figure of mixing dynamical vehicle torsional moment control method；
Fig. 3 is engine optimum-curve for operation figure；
Fig. 4 is the software module composition schematic diagram of control module.
Specific embodiment
The present invention will be further described in detail with reference to the accompanying drawing.
The present embodiment provides a kind of hybrid power automobile power system, core component is engine, motor and power battery,
It in addition to this, further include clutch, gearbox and braking resistor etc..As shown in Figure 1, dynamic for a kind of specific hybrid vehicle
Force system structure chart, including engine 1, clutch 2, motor 3, power battery 4, gearbox 5, braking resistor 6 etc..Certainly, this
A kind of only specific structure type can also be public in application publication number CN105774799A as other embodiments
The dynamic structure opened.Therefore, inventive point of the invention is torque control method, is not intended to the particular hardware knot of dynamical system
Structure, any associated power structure based on the torque control method are within the scope of the invention.Also, the moment of torsion control
The applicable vehicle of method also without limitation, can be manual automobile, be also possible to automatic gearshift automobile.
Enter different mode operations according to the operating status of hybrid power, the core of the torque control method is to drive
The specific implementation strategy of paralleling model.Driving paralleling model refers to: motor and engine work together to form parallel system, control
Motor guarantees demand, improves the economy of vehicle to " peak load shifting " of engine working area.
As shown in Fig. 2, torque control method includes following two big steps:
Step 1: obtaining the demand torque of vehicle.
The present embodiment provides a kind of acquisition modes of demand torque, during vehicle low speed, when power battery SOC >
The SOC_low of setting, Gear=D, when Clutch=1 (be closed), according to speed (Velocity) and vehicle throttle (Acc_
Ped demand (i.e. the aperture of gas pedal)) is tabled look-up to obtain demand torque T_demand, which is speed, gas pedal
Aperture and demand torque mapping table, i.e. T_demand=f (Acc_Ped, Velocity), throttle is bigger, and speed is got over
It is low, then the demand torque of vehicle is bigger.Above-mentioned mapping table belongs to routine techniques, just no longer illustrates here, also, due to
The acquisition modes of demand torque also belong to routine techniques, so, the present invention is also not limited to acquisition side provided in this embodiment
Formula is also possible to other existing acquisition modes.
Second step is specific moment of torsion control.
Engine has an optimum working zone, and the boundary value of the working region is that optimum working zone lower limit is turned round respectively
Limited torque on square and optimum working zone.Compare the big of the demand torque of vehicle and the upper limited torque of engine optimum working zone
Small, when the demand torque of vehicle is greater than the upper limited torque of engine optimum working zone, the torque of engine output is best
The upper limited torque of working region, even if at this time engine output optimum working zone upper limited torque can not meet demand, that
, motor enters drive mode, and to compensate inadequate torque, also, the driving torque of motor is equal to demand torque and engine
The difference of the upper limited torque of optimum working zone, i.e. motor driving torque (T_motor)=demand torque (T_Demand)-are started
The upper limited torque (T_Engineopt) of machine optimum working zone, then, by motor output torque, make the driving torque of motor
It is equal to demand torque with the sum of the upper limited torque of engine optimum working zone, meets the power demand of vehicle.Moreover, on if
State the motor driving torque acquired, i.e. the practical driving torque of the motor maximum drive torque that is greater than motor, for example vehicle is going up a slope
When demand torque increase, then, the sum of upper limited torque of motor maximum drive torque and engine optimum working zone still less than
Demand torque, even if motor exports maximum drive torque, engine exports the upper limited torque of optimum working zone, still cannot expire
Sufficient demand, then, in order to guarantee power output it is necessary to increase the reality output torque of engine, vehicle can be made actually defeated
Torque meet demand out.Further, it is that its maximum is driven that the output torque of motor and engine, which is respectively as follows: the output torque of motor,
Dynamic torque, engine reality output torque are adjusted to the difference of the maximum drive torque of demand torque and motor.In this case, real
Border output is met the requirements, and still, obtained engine reality output torque is greater than the upper limited torque of optimum working zone, starts
Machine just no longer works in optimum working zone.Although engine does not operate at optimum working zone, engine is still
It can operate normally, and this control mode meets the power demand of vehicle, guarantee vehicle power output, reduce and start
The peak load of machine works.
In addition, it is generally the case that the maximum drive torque of motor is a constant, is not changed, but in fact, electricity
The maximum drive torque of machine and the electricity of power battery are related, i.e., related to the maximum allowable discharge power of power battery, motor
Maximum drive torque=min (maximum drive torque, the maximum allowable discharge power of power battery), and power battery is maximum allowable
The electricity of discharge power and power battery is closely related.So: when the SOC of power battery is greater than the high power threshold (ratio of setting
When such as 60%), the maximum drive torque of motor is set as the nominal torque of motor；When the SOC of power battery is less than the low of setting
When power threshold (such as 30%), the maximum drive torque of motor is set as the product of setting ratio coefficient and nominal torque, should
The value range of setting ratio coefficient is (0,1), for example is taken as 0.3, i.e., maximum drive torque is set as Rated motor torque
0.3 times；When the SOC of power battery is less than or equal to the high power threshold of setting and is more than or equal to the low battery of setting
When threshold value, the maximum drive torque of motor and the electricity of power battery are proportional, and with the electricity linear change of power battery.
If demand torque is less than the lower limited torque of engine optimum working zone, and the SOC of power battery is less than setting
When threshold value (such as 30%), motor enters power generation mode, and the excessive torque except demand is stored in power battery, to make
The power generation torque of electric quantity balancing, motor is equal to the lower limited torque of engine optimum working zone and the difference of demand torque.
In short, making engine operation in optimization curves as far as possible by the adjusting of motor, realize engine in optimum point work
To make, reaches the target of energy-saving and emission-reduction, Fig. 3 is engine optimum-curve for operation figure, wherein abscissa is engine speed/rpm,
Ordinate is engine torque/Nm.But if demand torque is excessive, it is necessary to guarantee that vehicle has a power defeated first
Out.
When vehicle is in high speed slide or braking, and D grades, vehicle enters Brake energy recovery mode, when clutch closes
When conjunction, tabled look-up to obtain corresponding energy regenerating power with the aperture of brake pedal according to current vehicle speed, this table is according to vehicle parameter
It is calculated, deceleration cannot be greater than the requirement of emergency braking, and must be gradually increased smoothly, and table 1 provides motor braking
The corresponding table of torque (i.e. energy regenerative power) and motor speed (i.e. speed) and brake pedal aperture.Certainly, energy regenerating function
Rate and speed and brake pedal aperture to should belong to the prior art, table 1 is a kind of specific data corresponding relationship, the present invention
It is not limited to specific data described in the table.
Table 1
If energy regenerating power, which is greater than power battery, allows charge power, i.e. power battery cannot store all energy
Amount then controls braking resistor work, consumes part energy by braking resistor.The consumption power of braking resistor is returned equal to energy
Receiving power and power battery allows the difference of charge power, i.e. consumption power (P_Res)=energy regenerating power of braking resistor
(P_gen)-power battery allows charge power (P_Batchar).Certainly, energy regenerating power has a maximum value, i.e. electricity system
Maximum consumption power (P_Resmax)+power battery of dynamic maximum power limitation (P_genmax)=braking resistor is maximum allowable
Charge power (P_Batcharmax).
When vehicle high-pressure system breaks down, vehicle enters fault mode, disconnects high-pressure system, and vehicle is tradition operation
Mode is run；When automobile gear level, throttle etc. in the event of failure, handled according to neutral gear, vehicle can be operated normally conventionally, but
Instrument shows corresponding error code, and driver is prompted to safeguard.
In addition, due to torque control strategy be loaded in the control module in a manner of software program, so, the control mould
The software function module composition of software program in block is as shown in Figure 4.
Specific embodiment is presented above, but the present invention is not limited to described embodiment.Base of the invention
This thinking is torque control method, it is not limited to specific dynamical system.
Claims (10)
1. a kind of mixing dynamical vehicle torsional moment control method, which comprises the following steps:
(1) demand torque of vehicle is obtained；
(2) size for comparing the demand torque of vehicle and the upper limited torque of engine optimum working zone, when the demand of vehicle is turned round
When square is greater than the upper limited torque of the engine optimum working zone, engine exports the upper limited torque of optimum working zone, and
Motor enters drive mode, and the driving torque of motor is equal to the upper limit of the demand torque and the engine optimum working zone
The difference of torque increases the reality output of engine when the practical driving torque of motor is greater than the maximum drive torque of motor
Torque.
2. mixing dynamical vehicle torsional moment control method according to claim 1, which is characterized in that the reality when motor
When driving torque is greater than the maximum drive torque of motor, motor exports maximum drive torque, the reality output torque tune of engine
The whole difference for demand torque and the maximum drive torque of motor.
3. mixing dynamical vehicle torsional moment control method according to claim 1 or 2, which is characterized in that compare demand torque
With the size of the lower limited torque of engine optimum working zone, when demand torque be less than the engine optimum working zone under
Limited torque, and when the SOC of power battery is less than given threshold, motor enters power generation mode, and the power generation torque of motor is equal to described
The lower limited torque of engine optimum working zone and the difference of demand torque.
4. mixing dynamical vehicle torsional moment control method according to claim 1 or 2, which is characterized in that when power battery
When SOC is greater than the high power threshold of setting, the maximum drive torque of motor is set as nominal torque；When the SOC of power battery is small
When the low battery threshold value of setting, the maximum drive torque of motor is set as the product of setting ratio coefficient and nominal torque, institute
Stating setting ratio coefficient is the numerical value less than 1；When the SOC of power battery is less than or equal to the high electricity threshold of the setting
When being worth and being more than or equal to the low battery threshold value of the setting, the maximum drive torque of motor and the electricity of power battery are in
Direct ratio, and with the electricity linear change of power battery.
5. mixing dynamical vehicle torsional moment control method according to claim 1 or 2, which is characterized in that when vehicle braking,
It is tabled look-up to obtain energy regenerating power according to the aperture of current vehicle speed and brake pedal, if the energy regenerating power is greater than power
Battery allows charge power, then controls braking resistor work, the consumption power of braking resistor be equal to the energy regenerating power with
The power battery allows the difference of charge power.
6. a kind of hybrid power automobile power system, which is characterized in that including engine, motor and power battery, turned round
When square controls, (1) obtains the demand torque of vehicle；(2) compare the upper of the demand torque of vehicle and engine optimum working zone
The size of limited torque, when the demand torque of vehicle is greater than the upper limited torque of the engine optimum working zone, engine is defeated
The upper limited torque of optimum working zone out, and motor enters drive mode, the driving torque of motor be equal to the demand torque with
The difference of the upper limited torque of the engine optimum working zone, when the practical driving torque of motor is greater than the maximum drive of motor
When torque, increase the reality output torque of engine.
7. hybrid power automobile power system according to claim 6, which is characterized in that the practical driving when motor
When torque is greater than the maximum drive torque of motor, motor exports maximum drive torque, and the reality output torque of engine is adjusted to
The difference of the maximum drive torque of demand torque and motor.
8. hybrid power automobile power system according to claim 6 or 7, which is characterized in that compare demand torque and hair
The size of the lower limited torque of motivation optimum working zone, when the lower limit that demand torque is less than the engine optimum working zone is turned round
Square, and when the SOC of power battery is less than given threshold, motor enters power generation mode, and the power generation torque of motor is equal to described start
The lower limited torque of machine optimum working zone and the difference of demand torque.
9. hybrid power automobile power system according to claim 6 or 7, which is characterized in that when the SOC of power battery is big
When the high power threshold of setting, the maximum drive torque of motor is set as nominal torque；When the SOC of power battery is less than setting
Low battery threshold value when, the maximum drive torque of motor is set as the product of setting ratio coefficient and nominal torque, the setting
Proportionality coefficient is the numerical value less than 1；When power battery SOC be less than or equal to the setting high power threshold and
More than or equal to the setting low battery threshold value when, the maximum drive torque of motor and the electricity of power battery are proportional,
And with the electricity linear change of power battery.
10. hybrid power automobile power system according to claim 6 or 7, which is characterized in that when vehicle braking, root
It tables look-up to obtain energy regenerating power according to the aperture of current vehicle speed and brake pedal, if the energy regenerating power is greater than power electric
Pond allows charge power, then controls braking resistor work, and the consumption power of braking resistor is equal to the energy regenerating power and institute
Stating power battery allows the difference of charge power.
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| CN110696812A (en) * | 2019-10-30 | 2020-01-17 | 一汽解放青岛汽车有限公司 | Hybrid electric vehicle slope-sliding prevention control method, hybrid electric vehicle and storage medium |
| CN111016874A (en) * | 2019-12-05 | 2020-04-17 | 浙江吉利汽车研究院有限公司 | Torque distribution method and torque distribution device for hybrid electric vehicle |
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| CN111645667A (en) * | 2020-04-23 | 2020-09-11 | 吉泰车辆技术（苏州）有限公司 | Torque control method, device and equipment for parallel mode of hybrid vehicle and vehicle |
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