CN109572666B - Planetary hybrid electric vehicle engine start-stop control method - Google Patents

Planetary hybrid electric vehicle engine start-stop control method Download PDF

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CN109572666B
CN109572666B CN201811372931.9A CN201811372931A CN109572666B CN 109572666 B CN109572666 B CN 109572666B CN 201811372931 A CN201811372931 A CN 201811372931A CN 109572666 B CN109572666 B CN 109572666B
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engine
starting
motor
request
gear
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CN109572666A (en
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曾小华
刘通
庄晓
王秀鹏
王星琦
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Jilin University
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Jilin University
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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
    • B60W10/08—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
    • 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
    • B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
    • B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18018—Start-stop drive, e.g. in a traffic jam
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02N—STARTING OF COMBUSTION ENGINES; STARTING AIDS FOR SUCH ENGINES, NOT OTHERWISE PROVIDED FOR
    • F02N11/00—Starting of engines by means of electric motors
    • F02N11/08—Circuits or control means specially adapted for starting of engines
    • F02N11/0803—Circuits or control means specially adapted for starting of engines characterised by means for initiating engine start or stop
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02N—STARTING OF COMBUSTION ENGINES; STARTING AIDS FOR SUCH ENGINES, NOT OTHERWISE PROVIDED FOR
    • F02N11/00—Starting of engines by means of electric motors
    • F02N11/08—Circuits or control means specially adapted for starting of engines
    • F02N11/0814—Circuits or control means specially adapted for starting of engines comprising means for controlling automatic idle-start-stop
    • F02N11/0818—Conditions for starting or stopping the engine or for deactivating the idle-start-stop mode
    • F02N11/0822—Conditions for starting or stopping the engine or for deactivating the idle-start-stop mode related to action of the driver
    • 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
    • B60W2510/083—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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/24—Energy storage means
    • B60W2510/242—Energy storage means for electrical energy
    • B60W2510/244—Charge state
    • 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
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems
    • 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

Abstract

The invention provides a start-stop control method for a planetary hybrid electric vehicle engine, which adopts two starting modes of starting by a starter and starting by a motor 1, fully considers the influence of the input of a driver and the state of a power system on start-stop control, ensures the safety and reliability of the engine during start-stop and improves the driving experience of the driver. The invention comprises the following contents: (1) judging an engine working/closing request, and judging whether the engine meets start-stop conditions or not according to a key signal and idle start-stop conditions; (2) selecting a starting mode, namely selecting the starting type of the engine according to signals such as SOC (system on chip), temperature and the like; (3) the engine start-stop control is carried out, and the starting torque and the starting time are determined according to the working mode of the engine, the temperature of the engine and the rotating speed when the motor 1 is started; (4) and judging the starting and stopping result, judging whether the starting and stopping are successful according to the state change of the engine in the starting process, and if the starting or the closing of the engine fails, not allowing the engine to be started again.

Description

Planetary hybrid electric vehicle engine start-stop control method
Technical Field
The invention belongs to the technical field of hybrid electric vehicle control, and particularly relates to a start-stop control method for an engine of a planetary hybrid electric vehicle, which is particularly suitable for a planetary hybrid electric system which takes a super capacitor as a power supply and has no clutch.
Background
The planetary hybrid electric vehicle does not need a clutch and a speed changer, and has the advantages of compact structure and convenient arrangement. The planetary hybrid electric vehicle can realize decoupling of the rotating speed and torque of the engine and the load of the road surface within a constraint range, is easy to realize the optimized control of the engine and obtains good fuel economy. Meanwhile, the planetary hybrid power system has the function of stepless speed regulation, so that the vehicle has good dynamic property. The idling start-stop of the engine is an effective means for realizing energy conservation and emission reduction of the hybrid electric vehicle, and the hybrid electric vehicle is provided with the motor with higher power and can quickly start the engine, so that the idling time of the engine can be reduced as much as possible on the premise of not influencing the driving characteristics, and the idling oil consumption is reduced. Engine idle start-stop control has received significant attention.
The invention discloses an engine start-stop control method in the switching of working modes of a strong hybrid electric vehicle, which is disclosed in the invention patent application with the publication number of CN101947915A and the publication date of 2011, 1 and 19. In addition, the kinetic energy of the engine in the stopping process can be recovered, and the utilization rate of the energy is improved.
Chinese patent application publication No. CN108045372A, published as 2018, 5, month, and 18, discloses a method and a system for controlling start and stop of an engine of a hybrid vehicle. According to the method, the relative distance and the relative speed between the vehicle and the vehicle in front are identified as judgment conditions of starting and stopping of the engine, so that the problem that the engine is frequently started and stopped when the vehicle runs on a congested road can be effectively reduced.
The Chinese patent application with the patent publication number of CN108466614A and the publication date of 2018, 8 and 31 discloses a method for starting an engine of a hybrid electric bus. According to the invention, the electric quantity corresponding to the difference value of the current voltage of the vehicle power battery and the voltage threshold value of the vehicle forced starting engine is adopted to control and start the high-voltage generator, so that the engine is started, a 24V starter is not required to be specially arranged, and resources are effectively saved.
The above patent analyzes the problems of starting and stopping of the engine of the hybrid electric vehicle from the aspects of starting energy consumption, vibration and component cost, and effectively improves the starting and stopping characteristics.
Disclosure of Invention
Compared to other hybrid configurations, the planetary hybrid vehicle may output a backward or forward driving force when the engine is started or stopped, since it does not include a clutch. Therefore, the powertrain requires sufficient braking force to avoid roll-off when starting and stopping the engine. In addition, for a hybrid vehicle using a super capacitor as a power supply, the super capacitor has a small electric quantity and generally does not have a pure electric driving capability, so that an engine needs to be kept working in a driving process. Aiming at the characteristics of the system, the input of a driver and other system states, the invention provides the engine start-stop control method, which fully considers the influence of various factors on the start-stop of the engine, can safely and reliably start and close the engine on the premise of fully ensuring the stable operation of the power system, and improves the adverse influence of the start-stop of the engine on the driving experience.
The power system at least comprises a starter, an engine, a torsional vibration damper, a planet row, a motor 1, a main speed reducer, a motor 1 controller, a super capacitor, a DCDC converter, a motor 2 controller and a 24V storage battery;
the motor 1 is connected with the sun gear, the engine is connected with the planet carrier through the torsional vibration damper, the gear ring is connected with the output shaft, and the motor 2 is coaxially connected with the output shaft; the engine has two starting modes, one is started by a starter, the 24V power supply supplies power when the engine is started, and the other is started by the motor 1 and supplies power by a super capacitor. In order to ensure the starting reliability, the traditional starting mode of a starter of the engine is kept, and when the motor 1 is started, the starting torque is transmitted to the crankshaft of the engine by a sun gear through a planet carrier and a torsional vibration damper; in addition, the power system has three D/N/R gears, and parking braking is realized through a hand brake; the key has three gears Acc/On/Start, the Acc gear sends power-off and engine-off signals, the On gear sends system power-On signals, and the Start gear sends engine starting signals;
the invention adopts the following technical scheme:
a start-stop control method for an engine of a planetary hybrid electric vehicle comprises the following steps:
step 1, judging the engine working/closing request:
the engine work/shut-off request judgment is divided into three parts, namely key request judgment, idle speed request judgment and request arbitration, the request arbitration part integrates key request signals to obtain an engine start-stop request, when the output signal is 1, the engine work is required, and when the output signal is 0, the engine shut-off is required.
A time delay condition Z is used when each part is judged-1Hysteresis condition Relay, and selected output condition Switch. Wherein Z-1A signal value representing a last sampling instant; each hysteresis is described as follows: when the value of the input signal is smaller than the lower limit of the hysteresis loop, the output of the hysteresis loop is false, when the value of the input signal is larger than the upper limit of the hysteresis loop, the output of the hysteresis loop is true, and when the value of the input signal is between the upper limit and the lower limit, the judgment result of the previous moment is output; and in the Switch module, when the if condition is satisfied, the Switch module outputs the signal at the then end, otherwise, the Switch module outputs the signal at the else end.
1) Key request determination
The key request signal determination is as shown in fig. 3, and the input signals are a key position, a brake pedal opening, a hand brake, a vehicle speed, and a high-voltage power-on state. The start-stop demand of key start and key stop is judged separately, and then the engine operation/stop request is outputted synthetically.
(1) Engine on request determination
The key is able to start the engine when the following conditions are all met:
the first gear is an N gear; secondly, pulling up the hand brake; the opening degree of the brake pedal meets a hysteresis condition Relay 1; fourthly, the high-voltage electrification is successful.
When the key is turned to the Start gear, an engine work request signal is sent. The power system has three D/N/R gears, and parking braking is realized through a hand brake, so that the hand brake can be pulled up to prevent starting and slipping when the engine is started. The key is required to step on the brake pedal when starting to initially check whether the brake pedal signal and the parking brake are normal or not so as to ensure the driving safety.
(2) Engine off request determination
The key-off condition is satisfied when the following conditions are all satisfied:
opening degree of a brake pedal meets requirement of hysteresis loop 2 or pull-up of a hand brake; second, the vehicle speed is less than the safe vehicle speed Vmin1When the key is screwed to the Acc gear, an engine off request signal is sent. When the opening degree of the brake pedal meets the requirement of hysteresis loop 2 or the hand brake is pulled upThe braking force is considered to satisfy the braking force demand at the time of safe start.
2) Idle operation/off request judgment:
when the engine is idling, the engine can be shut down on the premise of ensuring the normal work of the power system so as to reduce the idling oil consumption. However, frequent starting and stopping of the engine can affect the driving experience, shorten the service life of the engine, and increase the oil consumption, so that the influence of various factors needs to be fully considered in idling starting and stopping.
And judging whether the engine needs to work according to signals of the opening degree of an accelerator pedal, a gear, a hand brake, the state of the engine, a power system mode, the SOC, the pressure of a brake air chamber, a catalyst heater signal and the speed of the vehicle during idling. The specific description is as follows:
(1) time t after gear is shifted to N gearN1And outputting the work request signal when the delay is confirmed to be true and the accelerator opening meets the judgment of the hysteresis condition Relay 3. In order to simulate the experience of a driver driving a conventional vehicle in the N range, the engine needs to respond to the driver pedal demand. In order to avoid that the control of other modes and the engine are not influenced by the condition that the engine state is switched too fast, the control needs to be kept for a certain time in the N gear.
(2) The gear is N gear and the holding time of N gear is more than tN2And then, the engine is not required to work, and an engine closing request signal is output. After the gear is switched to the N gear, in order to avoid frequent starting and stopping of the engine caused by frequent gear switching, the engine needs to be kept working for a period of time and then closed.
(3) When the SOC of the power system does not meet the set hysteresis condition Relay4 after the driving mode is switched to the neutral mode, the engine is required to work to generate power, and a work request signal is sent. The upper limit and the lower limit of Relay4 are the maximum SOC value SOC allowed after the driving mode is switched to the neutral gear modemax1And minimum value SOCmin1。
(4) When the SOC satisfies a set hysteresis condition Relay5, the engine is allowed to be shut down, and a shut-down request signal is issued. When the SOC is too low, the engine is required to keep working to charge the super capacitor, and the upper limit and the lower limit of Relay5 are respectively the maximum SOC values allowed in the set neutral gearmax2And minimum value SOCmin2. Wherein the SOCmax1＜SOCmax2，SOCmin1≥SOCmin2. Compared with the condition IV, the condition III can effectively avoid the situation that the super capacitor is maintained at a higher SOC after the vehicle is stopped, and reduce the efficiency loss caused by multiple times of energy conversion.
(5) When the pressure of the brake air chamber does not meet the set hysteresis condition Relay6, the engine is required to drive the air pump to inflate, and a work request signal is sent. The upper limit and the lower limit of Relay6 are respectively set brake chamber pressure upper limit values PmaxAnd a lower limit value Pmin。
(6) When the catalyst heater sends a heating request, the engine needs to work, and a work request signal is sent. Engine maintenance is required when the engine catalyst heater temperature is too low.
(7) The vehicle speed is greater than the upper limit V of the safe vehicle speedmin2When the engine is required to work, the engine sends out a work request signal. When the vehicle speed is high enough, if the engine does not work due to other factors, the engine is required to maintain the operation of accessories, and the driving safety is guaranteed.
And further comprehensively judging the seven conditions, and sending an engine closing request if the engine does not need to work in any one of the conditions. Otherwise, the work request is sent out as long as one condition does not meet the closing condition. Due to the structural characteristics of the power system, the driving force can be output in the starting and stopping processes of the engine, so that the phenomenon of vehicle slipping occurs, and the vehicle must keep enough braking force in the starting and stopping processes of the engine. Considering that the braking force cannot be guaranteed when the driver steps on the brake pedal, the hand brake is used as the braking condition. Therefore, the hand brake must be pulled up to start or shut down the engine based on the comprehensive judgment of the engine working/shutting down request, and otherwise, the state of the engine at the previous sampling moment is kept.
3) Key request and idle request arbitration
When the powertrain is not entering the overdrive mode, engine operation or shutdown is determined solely by the key request. After entering the overdrive mode, the engine operation request is true only if both the key request signal and the idle request signal are true. After the engine is started for the first time, the whole power system such as a heat dissipation system, a lubrication system and the like may not be in a proper working state, and at the moment, the engine is kept working for a long time, so that the power system can quickly reach the proper state.
Step 2, selecting the starting mode of the engine
The power system has two starting modes: starting of the starter and starting of the motor 1 in order to quickly start the engine and reduce oil consumption during starting, the motor 1 is preferably selected to start when the engine is started. The motor 1 start-up can be used when the system satisfies the following conditions:
1) SOC is higher than the starting allowable lowest SOC;
2) the super capacitor allows the discharge power to be larger than the maximum electric power consumed by starting the motor 1;
3) the temperature of the super capacitor is not lower than the lower limit of the working temperature;
on the basis of the above conditions, it is also necessary to consider that when the engine is in the starting phase, no change in the manner of starting the engine is allowed regardless of the change in the conditions.
Step 3, engine start control
1) Starter start control
When the engine is started by adopting the starter, the torque of the starter and the fuel injection speed of the engine are controlled by the engine ECU, the specific control method is the same as that of the traditional vehicle, and VCU participation is not needed.
2) Starting control of motor 1
(1) Calculating starting torque:
calculating the starting resistance torque of the engine, and further calculating the starting demand torque of the motor 1 according to the rotational inertia and the transmission efficiency of the engine and the motor 1:
Figure GDA0002707687420000041
in the formula IcRepresenting the moment of inertia of the planet carrier, IeExpressing the rotational inertia of the engine, k expressing the characteristic parameters of the planet row, i.e. the ratio of the number of teeth of the ring gear to the number of teeth of the sun gear, Is1Representing the moment of inertia of the sun wheel, IgThe moment of inertia of the motor 1 is represented,
Figure GDA0002707687420000042
which is indicative of the angular acceleration of the engine,
Figure GDA0002707687420000043
representing angular acceleration, T, of the motor 1eRepresenting engine drag torque, ηgRepresenting the transmission efficiency of the electric machine 1 to the engine, and deltat representing the cranking torque increment.
Wherein, TeIs a lookup table of the amount of engine speed and coolant temperature, Δ T increases and then decreases as the engine speed increases. The delta T not only needs to meet the requirement of quick starting of the engine, but also needs to ensure the stable starting process.
(2) Start-up time control
When the temperature of the engine is higher than the temperature threshold value, the upper limit of the starting time is 5s, and if the temperature is lower than the lower limit of the normal temperature threshold value, the lower the temperature is, the longer the starting time is allowed. After the starting time exceeds the limit value, the starting process is quitted, and the starting torque of the starter or the motor 1 is changed into 0;
(3) engine fuel injection speed control
When the motor 1 is adopted for starting, if the temperature of the engine coolant is higher than a temperature threshold value, oil injection is started when the engine rotating speed is higher than the idling rotating speed; if the coolant temperature is lower than the set temperature threshold, the engine injection speed decreases as the temperature decreases.
3) Engine off control
If the motor 1 does not work when the engine needs to be shut down, the VCU directly sends out a flameout command, and the engine is cut off. If the motor 1 works when the engine needs to be shut down, oil injection of the engine is gradually reduced, the torque of the motor 1 is reduced, and the increase of the rotating speed of the engine caused by too fast torque elimination of the motor 1 is avoided.
Step 4, judging the success of starting and stopping the engine
1) Engine state
And judging whether the starting/closing of the engine is successful according to the change of the engine state. The engine is divided into four working states, namely a closing state, a starting stage, a working state and a closing stage. These four states are switched on the condition that the engine speed and the state holding time are used. The engine state is an important reference condition for the engine start-stop control, in which the off state and the operating state are steady states, and the start phase and the off phase are transient states. When the engine is started, the engine enters a starting stage from a closed state along with the increase of the rotating speed and then further enters an operating state. When the engine is closed, the engine enters a closing stage from a working state and then enters a closing state. The modes are described as follows:
(1) off mode, when the engine speed is less than the starting phase speed threshold ne1The engine is considered to be in the off mode.
(2) Starting phase when the engine speed increases to more than ne1And is less than the working state switching threshold ne2Or the holding time is not more than t in the starting stageuminAt this time, the engine is in a start phase. In order to ensure that the engine can keep stable output after being successfully started, the engine needs to keep a certain time and then outputs power.
(3) Operating state, when the engine speed is gradually increased to be greater than n in the starting stagee2And the holding time is more than t in the starting stageuminThen entering a working mode; the engine needs to be kept for a certain time after entering the starting stage to check whether the starting process is abnormal.
(4) A shut-down phase, if the speed drops below an engine shut-down speed threshold n when the engine is in a start-up phase or operating statee3And then enters a closing stage. And (4) considering that the starting is abnormal when the rotating speed is reduced in the starting process, directly entering a closing stage, and executing engine closing control.
2) Judgment of start-stop result
(1) An engine start is deemed successful if the engine enters an operating state within a defined start time after the start signal is issued.
(2) If the engine is not in the working state within the limited starting time after the starting signal is sent out, the engine is considered to be failed to start when the engine is in any one of the states of the closing mode, the starting stage and the closing stage. There are two cases where the off mode is maintained: firstly, the engine does not enter an over-starting stage; inlet of engineAfter the starting stage, the rotating speed is reduced, and the engine is closed after the closing stage. In the off phase, the engine speed is increased and then decreased, but the engine speed is not decreased to the stop speed threshold ne1。
(3) If the engine enters the shutdown mode within a defined time after the shutdown signal is issued, the engine shutdown is deemed successful.
(4) If the engine does not enter the shutdown mode for a defined time after the shutdown signal is issued, but remains in the operating mode or in the shutdown phase, the engine shutdown is considered to have failed.
After the starting fails, the key starting and the idle starting are both invalid, and the engine can be started only after the key is powered off and then powered on again and started.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of a planetary hybrid electric vehicle powertrain according to the present invention;
FIG. 2 is a flowchart illustrating an overall engine start-stop control method according to the present invention;
FIG. 3 is a flow chart of the key request determination of the present invention;
FIG. 4 is a flow chart illustrating an idle request determination according to the present invention;
FIG. 5 is a flow chart of the key start-stop and idle start-stop arbitration of the present invention;
FIG. 6 is a flow chart illustrating selection of an engine starting mode according to the present invention;
FIG. 7 is a graphical illustration of engine starting torque versus coolant temperature and speed in accordance with the present invention;
FIG. 8 is a plot of engine cranking torque increase versus engine speed in accordance with the present invention;
FIG. 9 is a graph of engine start time limit versus coolant temperature according to the present invention;
FIG. 10 is a graph of engine fuel injection speed versus coolant temperature in accordance with the present invention;
fig. 11 is a flow chart of the engine operating mode switching according to the present invention.
In the figure: 1-a starter; 2, an engine; 3-a torsional vibration damper; 4-planet row sun gear; 5-planet row gear ring; 6-planet row planet carrier; 7, a motor 2; 8-main reducer; 9-motor 2 controller; 10-super capacitor; 11-a DCDC converter; 12-motor 1 controller; 13-electric machine 1; 14-24V storage battery.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
fig. 1 shows a schematic diagram of a planetary hybrid vehicle powertrain implementing the engine start-stop control method of the present invention. The power system should include at least the components described in fig. 1. Wherein the starter is powered by the 24V battery 14 when starting the engine. The electric energy is supplied by the super capacitor 10 when the electric machine 1 starts the engine. When the motor 1 starts the engine, a starting torque is transmitted from the sun gear to the engine crankshaft via the carrier and the torsional damper. During starting or shutting down the engine, the electric machine 1 or the engine torque is transmitted to the ring gear 5, thereby transmitting the driving force to the wheels. In order to avoid vehicle slipping, the hand brake needs to be pulled up or the brake pedal needs to be pressed down when starting or closing. The power system does not have the capacity of pure electric drive because the capacity of the super capacitor is very small, and an engine is required to keep working in the running process. In addition, the hybrid electric vehicle has three D/N/R gears, and parking braking is realized by a hand brake; the key has three gears Acc/On/Start, the Acc gear sends power-off and engine-off signals, the On gear sends system power-On signals, and the Start gear sends engine starting signals;
referring to fig. 2, the start-stop control method of the planetary hybrid electric vehicle according to the present invention includes the following 4 steps:
step 1, judging an engine working/closing request, and judging whether the engine needs to work or not according to the input of a driver and the state of the whole vehicle including the engine; step 2, judging the starting type of the engine, and judging whether the engine needs to be started by a starter or a motor 1 according to the state of the super capacitor; step 3, controlling starting and stopping of the engine, wherein the control comprises starting control of a starter, starting control of a motor 1 and engine closing control; and 4, judging the starting and stopping results of the engine, and judging whether the starting and stopping are successful according to the state change of the engine in the starting process.
Firstly, judging whether the engine needs to be started or shut down by the step 1, when the engine needs to work, judging the type of the engine starting according to the step 2, further controlling the starting torque of the motor 1 and the fuel injection speed of the engine by the VCU to start the engine when the starting condition of the motor 1 is met, ending the starting process after a limited time, and if the engine fails to start, not allowing the engine to be restarted unless the power system is electrified again.
The specific implementation manner of each step is as follows:
step 1, judging the engine working/closing request:
the engine work/shut-off request judgment is divided into three parts, namely key request judgment, idle speed request judgment and request arbitration, the request arbitration part integrates key request signals to obtain an engine start-stop request, when the output signal is 1, the engine work is required, and when the output signal is 0, the engine shut-off is required.
A time delay condition Z is used when each part is judged-1Hysteresis condition Relay, and selected output condition Switch. Wherein Z-1A signal value representing a last sampling instant; each hysteresis satisfies the following criteria: when the value of the input signal is smaller than the lower limit of the hysteresis loop, the output of the hysteresis loop is false, when the value of the input signal is larger than the upper limit of the hysteresis loop, the output of the hysteresis loop is true, and when the value of the input signal is between the upper limit and the lower limit, the judgment result of the previous moment is output; and in the Switch module, when the if condition is satisfied, the Switch module outputs the signal at the then end, otherwise, the Switch module outputs the signal at the else end.
1) Key request determination
The key request signal determination is as shown in fig. 3, and the input signals are a key position, a brake pedal opening, a hand brake, a vehicle speed, and a high-voltage power-on state. The start-stop requirements of key start and key stop are respectively judged, and then the engine operation/stop request is comprehensively judged and output.
(1) Engine on request determination
When the gear is N gear, the hand brake is pulled up, the output of the opening degree of the brake pedal passing through the hysteresis condition Relay1 is true, and the high-voltage electrifying is successful, the key starting condition is met, and the key is turned to the Start gear to send out an engine working request signal.
(2) Engine off request determination
When the opening degree of the brake pedal passes through the hysteresis condition Relay2, the output is true or the hand brake is pulled up, and the vehicle speed is less than the power-off safe vehicle speed VLlimWhen the conditions are met, the engine is considered to meet the key-off condition, and the key is screwed to the Acc gear to send out a key-off signal.
2) Idle operation/shut-off request judgment
As shown in fig. 4, at idle, it is determined whether the engine needs to be operated or not based on the accelerator pedal opening, shift, hand brake, engine state, powertrain mode, SOC, brake chamber pressure, catalyst heater signal, and vehicle speed. The specific description is as follows:
(1) after the gear is shifted to N gear, t passesN1Outputting a work request signal when the delay is confirmed to be true and the opening of the accelerator pedal meets the hysteresis condition Relay 3;
(2) the gear is N gear and the holding time of N gear is more than tN2Then, the engine does not need to work, and an engine closing request signal is output;
(3) when the SOC of the power system does not meet the set hysteresis condition Relay4 after the driving mode is switched to the neutral mode, the power system needs the engine to work to generate power and sends a work request signal; the upper limit and the lower limit of Relay4 are the maximum SOC value SOC allowed after the driving mode is switched to the neutral gear modemax1And minimum value SOCmin1；
(4) When the SOC satisfies a set hysteresis condition Relay5, the engine is allowed to be shut down, and a shut-down request signal is issued. When the SOC is too low, the engine is required to keep working to charge the super capacitor, and the upper limit and the lower limit of Relay5 are respectively the maximum SOC values allowed in the set neutral gearmax2And minimum value SOCmin2(ii) a Wherein the SOCmax1＜SOCmax2，SOCmin1≥SOCmin2；
(5) When the pressure of the brake chamber does not meet the set hysteresis condition Relay6, the engine is required to drive the air pump to inflate, and a working request signal is sent out; the upper and lower limits of Relay6 are respectively set brake chamber pressureUpper limit value PmaxAnd a lower limit value Pmin；
(6) When the catalyst heater sends out a heating request, the engine needs to work, and a work request signal is sent out;
(7) the vehicle speed is greater than the upper limit V of the safe vehicle speedmin2When the engine is required to work, the engine sends out a work request signal.
And further comprehensively judging the seven conditions, and sending an engine closing request if the engine does not need to work in any one of the conditions. Otherwise, the work request is sent out as long as one condition does not meet the closing condition. On the basis of comprehensive judgment of the engine working/closing request, the hand brake must be pulled up to start or close the engine, otherwise, the state of the engine at the previous sampling moment is kept.
3) Key request and idle request arbitration
Key request and idle request arbitration as shown in fig. 5, engine operation or shutdown is determined solely by key request arbitration when the powertrain is not entering the overdrive mode. After entering the overdrive mode, the engine operation request is true only if both the key request signal and the idle request signal are true.
Step 2, selecting the starting mode of the engine
The power system has two starting modes: starter start and motor 1 start. As shown in fig. 6, the motor 1 start-up may be employed when the system satisfies the following conditions:
1) SOC higher than starting allowable lowest value SOCmin3；
2) The allowed discharge power of the super capacitor is larger than the maximum electric power P consumed by starting the motor 1UCmax；
3) The temperature of the super capacitor is not lower than the lower limit T of the working temperatureUCmin；
On the basis of the above conditions, when the engine is in the starting phase, no change in the manner of starting the engine is allowed regardless of the change in the conditions.
Step 3, engine start control
1) Starter start control
When the engine is started by adopting the starter, the torque of the starter and the fuel injection speed of the engine are controlled by the engine ECU, the specific control method is the same as that of the traditional vehicle, and VCU participation is not needed.
2) Starting control of motor 1
(1) Calculating starting torque:
calculating the starting resistance torque of the engine, and further calculating the starting demand torque of the motor 1 according to the rotational inertia and the transmission efficiency of the engine and the motor 1:
Figure GDA0002707687420000091
in the formula IcRepresenting the moment of inertia of the planet carrier, IeExpressing the rotational inertia of the engine, k expressing the characteristic parameters of the planet row, i.e. the ratio of the number of teeth of the ring gear to the number of teeth of the sun gear, Is1Representing the moment of inertia of the sun wheel, IgRepresenting the moment of inertia, T, of the motor 1eRepresenting engine drag torque, ηgRepresenting the transmission efficiency of the electric machine 1 to the engine, and deltat representing the cranking torque increment.
Wherein, TeThe lower the temperature, the greater the total engine resistance, as shown in fig. 7 in relation to the engine speed and coolant temperature, the engine resistance decreases first and then increases as the speed increases, and Δ T increases first and then decreases as the engine speed increases as shown in fig. 8.
(2) Start-up time control
As shown in fig. 9, the upper limit of the starting time is 5s when the engine is at or above the normal temperature value, and the starting time is allowed to be longer as the temperature is lower than the lower limit of the normal temperature threshold. After the starting time exceeds the limit value, the starting process is exited and the starting torque of the starter or motor 1 becomes 0.
(3) Engine fuel injection speed control
As shown in fig. 10, when the motor 1 is used for starting, if the temperature of the engine coolant is higher than the temperature threshold, fuel injection is started when the engine speed is higher than the idle speed (the engine idle speed is 800 rpm); if the coolant temperature is lower than the set temperature threshold, the engine injection speed decreases as the temperature decreases.
3) Engine off control
If the motor 1 does not work when the engine needs to be shut down, the VCU directly sends out a flameout command, and the engine is cut off. If the motor 1 works when the engine needs to be shut down, oil injection of the engine is gradually reduced, the torque of the motor 1 is reduced, and the increase of the rotating speed of the engine caused by too fast torque elimination of the motor 1 is avoided.
Step 4, judging the success of starting and stopping the engine
1) Engine state
And judging whether the starting/closing of the engine is successful according to the change of the engine state. As shown in fig. 11, the engine has four operating states, i.e., an off state, a start phase, an operating state, and an off phase. These four states are switched on the condition that the engine speed and the state holding time are used. The engine state is an important reference condition for the engine start-stop control, in which the off state and the operating state are steady states, and the start phase and the off phase are transient states. When the engine is started, the engine enters a starting stage from a closed state along with the increase of the rotating speed and then further enters an operating state. When the engine is closed, the engine enters a closing stage from a working state and then enters a closing state. The modes are described as follows:
(1) off mode, when the engine speed is less than the starting phase speed threshold ne1Considering the engine in the off mode;
(2) starting phase when the engine speed increases to more than ne1And is less than the working state switching threshold ne2Or the holding time is not more than t in the starting stageuminWhen the engine is in the starting stage; the engine needs to be kept for a certain time after entering a starting stage to check whether the starting process is abnormal;
(3) operating state, when the engine speed is gradually increased to be greater than n in the starting stagee2And the holding time is more than t in the starting stageuminThen entering a working mode;
(4) a closing stage, when the engine speed is reduced to be less than the engine closing speed threshold value n after the starting stage or the working statee3And then enters a closing stage. Get upWhen the rotating speed is reduced in the moving process, the starting is considered to be abnormal, and the closing stage is directly entered.
2) Judgment of start-stop result
(1) Considering the engine to start successfully if the engine enters an operating state within a defined starting time after the start signal is sent;
(2) and if the engine is in any one state of a closing mode, a starting stage and a closing stage within the limited starting time after the starting signal is sent out, the engine is considered to be failed to start. There are two cases where the off mode is maintained: firstly, the engine does not enter an over-starting stage; and secondly, after the engine enters a starting stage, the rotating speed is reduced, and the engine is closed through a closing stage. In the off phase, the engine speed is increased and then decreased, but the engine speed is not decreased to the stop speed threshold ne1；
(3) If the engine enters a shutdown mode within a limited time after sending a shutdown signal, the engine is considered to be successfully shutdown;
(4) if the engine is kept in a working mode or a closing stage within a limited time after the closing signal is sent out and does not enter the closing mode, the engine is considered to be failed to be closed;
after the starting fails, the key starting and the idle starting are both invalid, and the engine can be started only after the key is powered off and then powered on again and started.

Claims (4)

1. The engine start-stop control method of the planetary hybrid electric vehicle is characterized in that a power system of the planetary hybrid electric vehicle at least comprises a starter (1), an engine (2), a torsional vibration damper (3), a planetary row sun gear (4), a planetary row gear ring (5), a planetary row planet carrier (6), a motor 2(7), a main speed reducer (8), a motor 2 controller (9), a super capacitor (10), a DCDC converter (11), a motor 1 controller (12), a motor 1(13) and a 24V storage battery (14);
the motor 1 is connected with a planet row sun gear, an engine is connected with a planet row planet carrier through a torsional vibration damper, a planet row gear ring is connected with an output shaft, the motor 2 is coaxially connected with the output shaft, and the output shaft is connected with a main speed reducer; the DCDC converter is electrically connected with the super capacitor, the motor 1 controller and the motor 2 controller respectively; the engine has two starting modes, one is started by a starter, the 24V storage battery (14) provides electric energy when the engine is started, and the other is started by the motor 1 and the super capacitor provides electric energy; when the engine is started, the torque of the motor 1 is transmitted to an engine crankshaft by a planet row sun gear through a planet row planet carrier and a torsional vibration damper; the power system has three D/N/R gears, and parking braking is realized through a hand brake; the key has three gears Acc/On/Start, the Acc gear sends power-off and engine-off signals, the On gear sends system power-On signals, and the Start gear sends engine starting signals;
the start-stop control method of the engine of the planetary hybrid electric vehicle comprises the following steps:
step 1, judging an engine working/closing request, judging whether the engine needs to work according to the input of a driver and the state of the whole vehicle including the state of the engine, and specifically comprising the following steps:
the engine work/close request judgment is divided into a key request judgment part, an idle speed request judgment part and a request arbitration part, the request arbitration part synthesizes key request signals to obtain an engine start-stop request, when an output signal is 1, the engine work is required, and when the output signal is 0, the engine close is required;
the time delay condition Z is used when each part is judged-1A hysteresis condition Relay and a selected output condition Switch; wherein Z-1A signal value representing a last sampling instant; the hysteresis condition Relay satisfies the following judgment: when the value of the input signal is smaller than the lower limit of the hysteresis loop, the output of the hysteresis loop is false, when the value of the input signal is larger than the upper limit of the hysteresis loop, the output of the hysteresis loop is true, and when the value of the input signal is between the upper limit and the lower limit, the judgment result of the previous moment is output; in the Switch module, when the if condition is satisfied, the signal of the then end is output, otherwise, the signal of the else end is output;
1) key request determination
(1) Engine on request determination
When the key is turned to the Start gear, if the following conditions are met, an engine work request signal is sent out:
the first gear is an N gear; secondly, pulling up the hand brake; the opening degree of the brake pedal meets a hysteresis condition Relay 1; fourthly, high-voltage electrification is successful;
(2) engine off request determination
When the key is turned to the Acc gear, if the following conditions are met, an engine closing request signal is sent out:
opening degree of a brake pedal meets a hysteresis condition Relay2 or a hand brake is pulled up; second, the vehicle speed is less than the safe vehicle speed Vmin1When the key is screwed to the Acc gear, an engine closing request signal is sent;
2) idle operation/off request judgment:
judging whether the engine needs to work or not according to the opening degree of an accelerator pedal, a gear, a hand brake, the state of the engine, the mode of a power system, the SOC, the pressure of a brake air chamber, a signal of a catalyst heater and the speed of the vehicle when the engine is idling;
(1) after the gear is shifted to N gear, t passesN1Outputting a work request signal when the delay is confirmed to be true and the opening degree of an accelerator pedal meets a hysteresis condition Relay 3;
(2) the gear is N gear and the holding time of N gear is more than tN2Then, the engine does not need to work, and an engine closing request signal is output;
(3) when the SOC of the power system does not meet the set hysteresis condition Relay4 after the driving mode is switched to the neutral mode, the power system needs the engine to work to generate power and sends a work request signal; the upper limit and the lower limit of Relay4 are the maximum SOC value SOC allowed after the driving mode is switched to the neutral gear modemax1And minimum value SOCmin1；
(4) When the SOC meets a set hysteresis condition Relay5, the engine is allowed to be closed, and a closing request signal is sent out; the upper limit and the lower limit of Relay5 are respectively the maximum SOC value SOC allowed in the set neutral gearmax2And minimum value SOCmin2(ii) a Wherein the SOCmax1＜SOCmax2，SOCmin1≥SOCmin2；
(5) When the pressure of the brake chamber does not meet the set hysteresis condition Relay6, the engine is required to drive the air pump to inflate, and a working request signal is sent out; the upper limit and the lower limit of Relay6 are respectively set brake chamber pressure upper limit values PmaxAnd a lower limit value Pmin；
(6) When the catalyst heater sends out a heating request, the engine needs to work, and a work request signal is sent out;
(7) the vehicle speed is greater than the upper limit V of the safe vehicle speedmin2When the engine is required to work, sending a work request signal;
issuing an engine shut-down request if engine operation is not required in any of the seven conditions; otherwise, sending out a work request as long as one condition does not meet the closing condition; in addition, the hand brake must be pulled up to start or close the engine on the basis of the comprehensive judgment of the engine working/closing request, otherwise, the state of the engine at the previous sampling moment is kept;
3) key request and idle request arbitration
When the power system does not enter an overdrive mode, engine operation or shutdown is determined only by a key request; after entering the overdrive mode, the engine work request is true only if both the key request signal and the idle request signal are true;
step 2, selecting an engine starting mode, and judging whether the engine is started by adopting a starter or the motor 1 according to the state of the super capacitor;
step 3, controlling starting and stopping of the engine, wherein the control comprises starting control of a starter, starting control of a motor 1 and closing control of the engine; when the motor 1 is adopted for starting, the starting torque of the motor 1, the oil injection of the engine and the starting time are controlled by VCU;
and 4, judging the starting and stopping results of the engine, and judging whether the starting and stopping are successful according to the state change of the engine in the starting process.
2. The engine start-stop control method for planetary hybrid vehicle according to claim 1, wherein said step 2 engine start is selected by starting with the electric machine 1 when the system satisfies the following conditions;
1) SOC is higher than the starting allowable minimum value;
2) the super capacitor allows the discharge power to be larger than the maximum electric power consumed by starting the motor 1;
3) the temperature of the super capacitor is not lower than the lower limit of the working temperature;
on the basis of the above conditions, when the engine is in the starting phase, no change in the manner of starting the engine is allowed regardless of the change in the conditions.
3. The engine start-stop control method for a planetary hybrid vehicle according to claim 1, wherein said step 3 engine start-stop control of the motor 1 and engine stop control is described as follows:
1) motor 1 start control
(1) Calculating starting torque:
calculating the starting resistance torque of the engine, and calculating the starting demand torque of the motor 1 according to the rotational inertia and the transmission efficiency of the engine and the motor 1:
Figure FDA0002707687410000031
in the formula IcIs the moment of inertia of the planet carrier, IeIs the rotational inertia of the engine, k is the characteristic parameter of the planet row, i.e. the ratio of the tooth number of the ring gear to the tooth number of the sun gear, Is1Is the moment of inertia of the sun gear, IgIs the moment of inertia of the motor 1,
Figure FDA0002707687410000032
which is indicative of the angular acceleration of the engine,
Figure FDA0002707687410000033
representing angular acceleration, T, of the motor 1eIs the engine drag torque, ηgFor the transmission efficiency of the motor 1 to the engine, Δ T is the starting torque increment;
wherein, TeThe temperature is related to the engine speed and the coolant temperature, the lower the temperature is, the greater the total resistance of the engine is, the resistance of the engine is firstly reduced and then increased along with the increase of the engine speed, and the delta T is firstly increased and then reduced along with the increase of the engine speed;
(2) start-up time control
When the temperature of the engine is above a normal temperature threshold, the upper limit of the starting time is 5s, and if the temperature is lower than the lower limit of the normal temperature threshold, the lower the temperature is, the longer the starting time is allowed; after the starting time exceeds the limit value, the starting process is quitted, and the starting torque of the starter or the motor 1 is changed into 0;
(3) engine fuel injection speed control
When the motor 1 is adopted for starting, if the temperature of the engine coolant is higher than a set temperature threshold value, oil injection is started when the engine rotating speed is higher than the idling rotating speed; if the temperature of the cooling liquid is lower than the set temperature threshold value, the fuel injection speed of the engine is reduced along with the reduction of the temperature;
2) engine off control
When the engine needs to be shut down, if the motor 1 does not work, the VCU directly sends out a flameout command, and the engine is cut off; if the motor 1 works when the engine needs to be shut down, the engine gradually reduces oil injection, and the torque of the motor 1 is reduced accordingly.
4. The engine start-stop control method for planetary hybrid vehicle according to claim 1, wherein said step 4 engine start-stop result judgment comprises the following:
1) engine state
The engine has four working states, namely a closing state, a starting stage, a working state and a closing stage; the four states are switched on the condition of the engine speed and the state holding time; wherein the shut-down state and the operating state are steady states, and the start-up phase and the shut-down phase are transitional states; when the engine is started, the engine enters a starting stage from a closing state along with the increase of the rotating speed and then further enters a working state; when the engine is closed, the engine enters a closing stage from a working state and then enters a closing state; the modes are as follows:
(1) off mode, when the engine speed is less than the starting phase speed threshold ne1The engine is in an off mode;
(2) starting phase when the engine speed increases to more than ne1And is less than the working state switching threshold ne2Or the holding time is not more than t in the starting stageuminWhen the engine is in the starting stage; the engine needs to be kept for a certain time after entering the starting stage to check that the engine is startedWhether the program is abnormal or not;
(3) operating state, when the engine speed is gradually increased to be greater than n in the starting stagee2And the holding time is more than t in the starting stageuminThen entering a working mode;
(4) a closing phase, if the speed drops below the engine closing speed threshold n when the engine state is a starting phase or a working statee3Then entering a closing stage;
2) judgment of start-stop result
(1) Considering the engine to start successfully if the engine enters an operating state within a defined starting time after the start signal is sent;
(2) if the engine is not in the working state within the limited starting time after the starting signal is sent out, and is in one of the states of a closing mode, a starting stage and a closing stage, the engine is considered to be failed to start;
(3) if the engine enters a shutdown mode within a limited time after sending a shutdown signal, the engine is considered to be successfully shutdown;
(4) if the engine does not enter the shutdown mode within a limited time after sending the shutdown signal, but remains in the working mode or the shutdown phase, the engine shutdown is considered to fail;
after the starting fails, the key starting and the idle starting are both invalid, and the engine can be started only after the key is powered off and then powered on again and started.
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