CN109591566B

CN109591566B - Hybrid electric vehicle and active vibration damping control method and device thereof

Info

Publication number: CN109591566B
Application number: CN201710922709.0A
Authority: CN
Inventors: 吴圣; 黄毅
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2017-09-30
Filing date: 2017-09-30
Publication date: 2020-08-25
Anticipated expiration: 2037-09-30
Also published as: CN109591566A; WO2019062819A1

Abstract

The invention discloses a hybrid electric vehicle and an active vibration damping control method and device thereof, wherein the method comprises the following steps: when the hybrid electric vehicle is judged to be in a running rumbling condition according to the acceleration sensor signal and the crankshaft sensor signal, a target current value is calculated according to the rotating speed, the vibration period and the vibration amplitude of the engine, and meanwhile, a vehicle speed sensor signal of the hybrid electric vehicle is obtained. Correcting the target current value according to the vehicle speed sensor signal and the rotating speed of the engine to obtain a first corrected current value; acquiring a signal of a camshaft sensor, and acquiring delay time according to the signal of the camshaft sensor; when the delay time is reached, a first correction current value is applied to the actuator to perform vibration damping control of the hybrid vehicle. Therefore, active vibration reduction control under the working condition of driving rolling is realized, high timeliness is achieved, effective time of vibration reduction and noise reduction control is judged in advance by using signals of a camshaft sensor, and vibration reduction effect is more effective.

Description

Hybrid electric vehicle and active vibration damping control method and device thereof

Technical Field

The invention relates to the technical field of automobiles, in particular to an active vibration damping control method of a hybrid electric vehicle, an active vibration damping control device of the hybrid electric vehicle and the hybrid electric vehicle with the active vibration damping control device.

Background

With the progress of social technology, people have higher and higher requirements on comfort, and riding comfort becomes an important index for measuring the performance of automobiles, wherein the main factor influencing the riding comfort is automobile vibration, the reasons for the automobile vibration are many, and the engine vibration is one of the main reasons to be considered. The engine vibration is mainly caused by combustion in an engine cylinder and reciprocating motion of a piston, and the vibration is transmitted to a frame through an engine suspension system and further transmitted into a cab, so that the riding comfort is influenced.

In order to improve the riding comfort, a reasonable suspension system is required to achieve the purpose of damping vibration. The development of the suspension system mainly goes through the processes of rubber suspension, hydraulic suspension and active suspension, wherein the rubber suspension has poor high and low temperature resistance and is not oil-resistant due to the influence of the material of the rubber suspension; the hydraulic suspension can generate a dynamic liquefaction phenomenon under high frequency; the dynamic response of the semi-active suspension is sensitive to structural parameters, and strict design requirements and manufacturing processes are required. Therefore, research into the active mount needs to be increased.

Disclosure of Invention

The present application is made based on the recognition and study of the following problems by the inventors:

in the related art, there is provided a vibration-proof control algorithm that estimates a vibration state of the 1 st cycle of engine vibration based on an output of a sensor that detects engine rotation fluctuation, calculates a cycle length and a target current value waveform, and samples the target current value waveform at a constant sampling cycle to obtain a data set of the target current value. When the target current value is outputted to the drive section, the cycle length of the 3 rd cycle of the engine vibration is estimated based on the predetermined number of crank pulse intervals, and the data set of the obtained target current value is corrected accordingly.

The inventor finds that: the control algorithm is only for fuel vehicles and does not relate to damping control of hybrid vehicles. In addition, the control algorithm estimates the vibration state and the target current value of the 3 rd cycle according to the vibration state and the target current value of the 1 st cycle of the engine vibration, and the like, and has no timeliness, cannot realize real-time adjustment of the vibration, and is not suitable for the relatively special working condition of the engine rotating speed.

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, one objective of the present invention is to provide an active vibration damping control method for a hybrid vehicle, which can realize active vibration damping control of the vehicle under the driving rumble condition, and has higher timeliness, and the effective time of vibration damping and noise reduction control is judged in advance by using the signal of a camshaft sensor, so that the action time of vibration damping control is more accurate, and the vibration damping effect is more effective.

Another object of the present invention is to provide an active vibration damping control apparatus for a hybrid vehicle.

It is a further object of the present invention to provide a hybrid vehicle.

In order to achieve the above object, an embodiment of the invention provides an active damping control method for a hybrid electric vehicle, where the hybrid electric vehicle includes an active suspension system, and the method includes the following steps: when an engine of the hybrid electric vehicle works, acquiring an acceleration sensor signal and a crankshaft sensor signal of the hybrid electric vehicle, and judging whether the hybrid electric vehicle is in a running rumbling working condition or not according to the acceleration sensor signal and the crankshaft sensor signal; if the hybrid electric vehicle is in a running rumble working condition, calculating the rotating speed and the vibration period of the engine according to the crankshaft sensor signal, calculating the vibration amplitude of the engine according to the acceleration sensor signal, calculating the vibration state of the engine according to the rotating speed, the vibration period and the vibration amplitude of the engine, and calculating a target current value according to the vibration state of the engine; when judging whether the hybrid electric vehicle is in a running rumbling working condition or not according to the acceleration sensor signal and the crankshaft sensor signal, acquiring a vehicle speed sensor signal of the hybrid electric vehicle; correcting the target current value according to a vehicle speed sensor signal of the hybrid electric vehicle and the rotating speed of the engine to obtain a first corrected current value; acquiring a signal of a camshaft sensor, acquiring a motion position of a piston in the engine according to the signal of the camshaft sensor, calculating cylinder explosion time of the engine according to the motion position of the piston in the engine and the signal of the crankshaft sensor, and judging the cylinder explosion time in advance to acquire delay time of the first correction current value; and when the delay time is reached, applying the first correction current value to an actuator, and adjusting the dynamic stiffness of an active suspension system of the hybrid electric vehicle by the actuator according to the first correction current value so as to perform vibration damping control on the hybrid electric vehicle.

According to the active vibration damping control method of the hybrid electric vehicle, when an engine of the hybrid electric vehicle works, whether the hybrid electric vehicle is in a running rumbling condition or not is judged according to an acceleration sensor signal and a crankshaft sensor signal, if yes, the rotating speed and the vibration period of the engine are calculated according to the crankshaft sensor signal, the vibration amplitude of the engine is calculated according to the acceleration sensor signal, and then the target current value is obtained according to the rotating speed, the vibration period and the vibration amplitude of the engine. And simultaneously acquiring a vehicle speed sensor signal of the hybrid electric vehicle. Then, the target current value is corrected based on a vehicle speed sensor signal of the hybrid vehicle and the rotation speed of the engine to obtain a first corrected current value. And finally, acquiring the motion position of a piston in the engine according to the camshaft sensor signal, and estimating the cylinder explosion time of the engine according to the motion position of the piston and the crankshaft sensor signal to acquire the delay time of a first correction current value, and applying the first correction current value to the actuator when the delay time is reached so as to perform vibration damping control on the hybrid electric vehicle. Therefore, active vibration reduction control of the automobile under the running rumbling working condition is achieved, high timeliness is achieved, effective time of vibration reduction and noise reduction control is judged in advance by utilizing signals of the camshaft sensor, the action time of vibration reduction control is more accurate, and the vibration reduction effect is more effective.

According to one embodiment of the invention, when judging whether the hybrid electric vehicle is in the running growl condition or not according to the acceleration sensor signal and the crankshaft sensor signal, the active suspension system further confirms whether the current condition of the hybrid electric vehicle is the running growl condition or not in the current communication period through communication with a vehicle control unit of the hybrid electric vehicle.

According to one embodiment of the invention, a driving signal is further output to a driving circuit according to the first corrected current value, so that the actuator is driven to work by the driving circuit.

According to an embodiment of the present invention, the active vibration damping control method for a hybrid vehicle further includes: detecting the output current of the driving circuit to obtain the working temperature of the actuator; and adjusting the first correction current value according to the working temperature of the actuator.

According to an embodiment of the present invention, the active vibration damping control method for a hybrid vehicle further includes: judging whether the current vibration value of the hybrid electric vehicle is larger than a preset vibration threshold value or not according to the vibration amplitude of the engine; and if the current vibration value of the hybrid electric vehicle is larger than a preset vibration threshold value, secondarily correcting the first corrected current value to obtain a second corrected current value, so that the actuator can adjust the dynamic stiffness of an active suspension system of the hybrid electric vehicle according to the second corrected current value to actively control vibration attenuation of the hybrid electric vehicle.

According to one embodiment of the invention, when the active suspension system confirms that the current working condition of the hybrid vehicle is still the running rumbling working condition through communicating with a vehicle control unit of the hybrid vehicle in the next communication period, judging whether the acquired vehicle speed sensor signal and the rotating speed of the engine change, wherein if the vehicle speed sensor signal and the rotating speed of the engine change, correcting the target current value according to the changed vehicle speed sensor signal and the rotating speed of the engine to obtain a third corrected current value so as to apply the third corrected current value to an actuator when the delay time is reached; and if the change does not occur, keeping the working current output to the actuator unchanged.

In order to achieve the above object, an active vibration damping control apparatus for a hybrid vehicle according to another aspect of the present invention includes: the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring an acceleration sensor signal and a crankshaft sensor signal of a hybrid electric vehicle when an engine of the hybrid electric vehicle works; the first judging module is used for judging whether the hybrid electric vehicle is in a running rumbling working condition or not according to the acceleration sensor signal and the crankshaft sensor signal; the vibration period operation module is used for calculating the rotating speed and the vibration period of the engine according to the signal of the crankshaft sensor when the hybrid electric vehicle is in a running rumble working condition, and calculating the vibration amplitude of the engine according to the signal of the acceleration sensor; the piston state detection module is used for acquiring a signal of a camshaft sensor and acquiring the motion position of a piston in the engine according to the signal of the camshaft sensor; a vibration state estimation module for estimating a vibration state of the engine from a rotation speed, a vibration cycle, and a vibration amplitude of the engine; the target current operation module is used for calculating a target current value according to the vibration state of the engine; the main control module is used for acquiring a vehicle speed sensor signal of the hybrid electric vehicle when the first judging module judges whether the hybrid electric vehicle is in a running rumbling working condition or not; the first current correction module is used for correcting the target current value according to a vehicle speed sensor signal of the hybrid electric vehicle and the rotating speed of the engine to obtain a first corrected current value; the delay time acquisition module is used for calculating the cylinder explosion time of the engine according to the motion position of a piston in the engine and the signal of the crankshaft sensor and pre-judging the cylinder explosion time to acquire the delay time of the first correction current value; and the drive control module is used for applying the first correction current value to an actuator when the delay time is up, and the actuator adjusts the dynamic stiffness of an active suspension system of the hybrid electric vehicle according to the first correction current value so as to perform vibration damping control on the hybrid electric vehicle.

According to the active vibration damping control device of the hybrid electric vehicle, when an engine of the hybrid electric vehicle works, whether the hybrid electric vehicle is in a running rumble condition or not is judged according to an acceleration sensor signal and a crankshaft sensor signal, if yes, the rotating speed and the vibration period of the engine are calculated according to the crankshaft sensor signal, the vibration amplitude of the engine is calculated according to the acceleration sensor signal, and then the target current value is obtained according to the rotating speed, the vibration period and the vibration amplitude of the engine. And simultaneously acquiring a vehicle speed sensor signal of the hybrid electric vehicle. Then, the target current value is corrected based on a vehicle speed sensor signal of the hybrid vehicle and the rotation speed of the engine to obtain a first corrected current value. And finally, acquiring the motion position of a piston in the engine according to the camshaft sensor signal, and estimating the cylinder explosion time of the engine according to the motion position of the piston and the crankshaft sensor signal to acquire the delay time of a first correction current value, and applying the first correction current value to the actuator when the delay time is reached so as to perform vibration damping control on the hybrid electric vehicle. Therefore, active vibration reduction control of the automobile under the running rumbling working condition is achieved, high timeliness is achieved, effective time of vibration reduction and noise reduction control is judged in advance by utilizing signals of the camshaft sensor, the action time of vibration reduction control is more accurate, and the vibration reduction effect is more effective.

According to an embodiment of the invention, the main control module is further configured to, when the first judging module judges whether the hybrid electric vehicle is in a driving rumbling condition, determine whether the current condition of the hybrid electric vehicle is the driving rumbling condition in a current communication period by communicating with a vehicle control unit of the hybrid electric vehicle.

According to an embodiment of the present invention, the active vibration damping control device for a hybrid vehicle further includes a driving circuit, wherein the driving control module is further configured to output a driving signal to the driving circuit according to the first corrected current value, so as to drive the actuator to operate through the driving circuit.

According to an embodiment of the present invention, the active vibration damping control device for a hybrid vehicle further includes: the current detection module is used for detecting the output current of the driving circuit so as to obtain the working temperature of the actuator; and the target current correction module is used for adjusting the first correction current value according to the working temperature of the actuator.

According to an embodiment of the present invention, the active vibration damping control device for a hybrid vehicle further includes: and the fourth judgment module is used for judging whether the current vibration value of the hybrid electric vehicle is greater than a preset vibration threshold value or not according to the vibration amplitude of the engine, and correcting the first correction current value through the target current correction module when the current vibration value of the hybrid electric vehicle is greater than the preset vibration threshold value to obtain a second correction current value, so that the actuator can adjust the dynamic stiffness of an active suspension system of the hybrid electric vehicle according to the second correction current value to perform active vibration reduction control on the hybrid electric vehicle.

According to one embodiment of the invention, when the main control module confirms that the current working condition of the hybrid vehicle is still the driving rumbling working condition through communication with a vehicle control unit of the hybrid vehicle in a next communication period, whether the acquired vehicle speed sensor signal and the rotating speed of the engine change or not is judged through a fifth judgment module, wherein if the vehicle speed sensor signal and the rotating speed of the engine change, the first current correction module corrects the target current value according to the changed vehicle speed sensor signal and the rotating speed of the engine to obtain a third corrected current value so as to apply the third corrected current value to an actuator when the delay time is reached; and if the change does not occur, keeping the working current output to the actuator unchanged through the target current correction module.

In order to achieve the above object, an embodiment of another aspect of the present invention provides a hybrid vehicle including the active vibration damping control device of the hybrid vehicle.

According to the hybrid electric vehicle provided by the embodiment of the invention, the active vibration damping control of the vehicle under the driving rumbling working condition can be realized through the active vibration damping control device of the hybrid electric vehicle, the timeliness is higher, and the effective time of vibration damping and noise reduction control is judged in advance by using the signal of the camshaft sensor, so that the action time of vibration damping control is more accurate, and the vibration damping effect is more effective.

Drawings

Fig. 1 is a flowchart of an active vibration damping control method of a hybrid vehicle according to an embodiment of the invention;

FIG. 2 is a graphical illustration of cam pull sensor signals versus target current values for a four cylinder engine in accordance with an embodiment of the present invention;

fig. 3 is a flowchart of active vibration damping control corresponding to a first signal period (n-1) when the hybrid vehicle is in a driving grower condition according to an embodiment of the present invention;

FIG. 4 is a flowchart of active damping control for a second and more signal periods (n ≧ 2) when the hybrid vehicle is in the driving grower condition in accordance with an embodiment of the present invention;

FIG. 5 is a block schematic diagram of an active damping control apparatus of a hybrid vehicle according to an embodiment of the present invention;

FIG. 6 is a block schematic diagram of an active damping control apparatus of a hybrid vehicle according to an embodiment of the present invention; and

fig. 7 is a block schematic diagram of a hybrid vehicle according to an embodiment of the invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

An active vibration damping control method of a hybrid vehicle, an active vibration damping control apparatus of a hybrid vehicle, and a hybrid vehicle having the same, according to embodiments of the present invention, are described below with reference to the accompanying drawings.

Fig. 1 is a flowchart of an active vibration damping control method of a hybrid vehicle according to an embodiment of the present invention. The hybrid electric vehicle comprises an active suspension system. As shown in fig. 1, the active vibration damping control method of the hybrid vehicle may include the steps of:

and S1, when the engine of the hybrid electric vehicle works, acquiring the acceleration sensor signal and the crankshaft sensor signal of the hybrid electric vehicle, and judging whether the hybrid electric vehicle is in the running rumbling working condition or not according to the acceleration sensor signal and the crankshaft sensor signal.

The driving rolling condition refers to rolling caused by sudden change of the engine due to current change of the engine or other state changes during the driving of the automobile. When the automobile is in the working condition, the vibration and the noise of the automobile can be suddenly increased, and the vibration and the noise are specifically reflected on the abnormal rotating speed and the vibration condition of the engine, so that the rotating speed of the engine can be acquired through a crankshaft sensor signal, the vibration amplitude of the engine is acquired through an acceleration sensor signal, whether the rotating speed is in an abnormal state or not is judged, whether the vibration amplitude is overlarge or not is judged, and if the rotating speed is abnormal and the vibration amplitude is overlarge, the automobile is judged to be in a driving rumbling working condition.

S2, if the hybrid electric vehicle is in the running rumble condition, the rotating speed and the vibration period of the engine are calculated according to the signal of the crankshaft sensor, the vibration amplitude of the engine is calculated according to the signal of the acceleration sensor, the vibration state of the engine is estimated according to the rotating speed, the vibration period and the vibration amplitude of the engine, and the target current value is calculated according to the vibration state of the engine. The vibration state of the engine includes a vibration magnitude and a vibration frequency.

Specifically, when an engine of the hybrid electric vehicle works, the active suspension system acquires an acceleration sensor signal and a crankshaft sensor signal and calculates to obtain the rotating speed and the vibration amplitude of the engine, and then judges whether the value of the acquired signal is within the range of the running rumbling condition of the engine. If not, processing other working conditions (such as acceleration, deceleration and the like) is carried out; if so, the rotation speed and vibration period of the engine are calculated according to the crankshaft sensor signal, and the vibration amplitude of the engine is calculated according to the acceleration sensor signal.

Wherein the rotating speed of the engine is equal to the number of revolutions of the crankshaft per minute; the vibration period of the engine can be obtained by calculation according to the number of cylinders of the engine and the rotating speed of the engine, for example, a four-cylinder engine, the crankshaft rotates for two circles in each working cycle of the engine, and in each working cycle, the four cylinders are ignited and exploded respectively according to the sequence 1342, namely, the engine is exploded twice per revolution, namely, the engine vibrates twice per revolution, and if the rotating speed of the engine is 6000r/min, the vibration period of the engine is 1/200 s; the vibration amplitude of the engine may be obtained by sampling the acquired acceleration sensor signal to obtain a discrete signal, and then performing fourier transform on the discrete signal to convert the time domain signal into a frequency domain signal.

After the rotation speed, the vibration period and the vibration amplitude of the engine are calculated, the vibration frequency of the engine can be calculated according to the rotation speed and the vibration period of the engine, and then the required target current value a is calculated according to the vibration frequency and the vibration amplitude of the engine by using a sampling method, a table look-up method or the like, and can be specifically calculated by adopting the prior art.

And S3, acquiring a vehicle speed sensor signal of the hybrid electric vehicle when judging whether the hybrid electric vehicle is in the running rumbling condition according to the acceleration sensor signal and the crankshaft sensor signal.

S4, the target current value is corrected according to the vehicle speed sensor signal of the hybrid vehicle and the engine speed to obtain a first corrected current value.

Specifically, because the speed of the hybrid electric vehicle and the rotation speed of the engine can affect the vibration of the engine, a corresponding correction value is obtained by looking up a table according to the current speed sensor signal of the hybrid electric vehicle and the rotation speed of the engine, and then the target current value A is adjusted according to the correction value to obtain a first correction current value A', so that the corrected target current value better conforms to the actual working condition and is more beneficial to the vibration and noise reduction of the active suspension system.

Wherein, generally, the vehicle speed sensor signal needs to be obtained by the vehicle controller, the communication period between the active suspension system and the vehicle controller is many times larger than the vibration period of the engine, and the change of the crankshaft sensor signal is fast, the change range is large, so in order to make the target current value more consistent with the current state and save the calculation time, a preprocessing (i.e. steps S1-S2) can be set, the preprocessing functions are to continuously obtain the acceleration sensor signal and the crankshaft sensor signal, calculate the rotating speed and the vibration period of the engine according to the crankshaft sensor signal, and obtain the vibration amplitude of the engine according to the acceleration sensor signal, and judge whether the hybrid vehicle is in the running rumbling condition or not and calculate a target current value A in advance, when the target current value A and the vibration state of the engine are needed, such as vibration period, vibration amplitude and the like, can be directly utilized, so that not only is the calculation time saved in the working condition judgment process and the software flow process, but also the target current value can better reflect the current state.

According to one embodiment of the invention, when judging whether the hybrid electric vehicle is in the driving rolling condition or not according to the acceleration sensor signal and the crankshaft sensor signal, the active suspension system also confirms whether the current condition of the hybrid electric vehicle in the current communication period is the driving rolling condition or not by communicating with a vehicle control unit of the hybrid electric vehicle.

In other words, in order to ensure the accuracy of the condition judgment, the vehicle control unit of the hybrid electric vehicle is also communicated to confirm whether the current condition is the driving rumble condition. If yes, the target current value A is corrected according to a vehicle speed sensor signal of the hybrid electric vehicle and the rotating speed of the engine to obtain a first corrected current value A'.

Further, fig. 2 is a schematic diagram of a relationship between a camshaft sensor signal and a target current value of a four-cylinder engine according to an embodiment of the present invention, as shown in fig. 2, i represents an engine camshaft sensor signal; II represents a waveform schematic diagram of a PWM signal required for generating the target current A; a represents that the active suspension system is in a running rolling condition; b represents that the active suspension system is in a dormant working condition after being judged by d and e in sequence; c represents that the active suspension system is in other working conditions after being judged by d and e in sequence; d represents that whether the vehicle is in the running rolling condition is judged by the sensor signal; e represents that whether the vehicle is in the running rolling condition is judged by the communication signal; 1 represents that the active suspension system is in a dormant state; 2, the active suspension system has two working states after being judged by d, namely the active suspension system is in an activated state and is kept in a dormant state, but only 1 of the working states can be selected; and 3, the active suspension system has three working states after being judged by d and e in sequence, wherein the working states are respectively a driving rolling working condition, a sleeping working condition and other working conditions, but only 1 of the working states can be selected.

Specifically, in the driving process of the automobile, the active suspension system is in a dormant state, when the active suspension system is in the dormant state, a tiny current is sent to the active suspension system in advance, so that the active suspension system is communicated with the vehicle control unit to obtain the current working condition and the vehicle speed sensor signal judged by the vehicle control unit, and meanwhile, the active suspension system preprocesses the acceleration sensor signal and the crankshaft sensor signal to obtain the rotating speed, the vibration period and the vibration amplitude of the engine. Since the communication period is many times larger than the vibration period of the engine, firstly, judging d in fig. 2 is carried out, namely, whether the hybrid electric vehicle is in a driving rumbling working condition is judged according to the signal obtained by preprocessing, if so, the active suspension system enters an activated state by preset current, and a target current value A is calculated; otherwise, the sleep state is maintained. Then, judging e in fig. 2, if the vehicle control unit judges that the hybrid electric vehicle is in the running rumbling working condition at the moment, the active suspension system enters a working state, and if the hybrid electric vehicle is judged to be in other working conditions at the moment, the active suspension system enters other working conditions to work; otherwise, the active suspension system continues to maintain the sleep state. After the active suspension system enters a working state, correcting the target current value A according to a vehicle speed sensor signal of the hybrid electric vehicle and the rotating speed of an engine to obtain a first corrected current value A'.

And S5, acquiring a signal of a camshaft sensor, acquiring the motion position of a piston in the engine according to the signal of the camshaft sensor, estimating the cylinder explosion time of the engine according to the motion position of the piston in the engine and the signal of a crankshaft sensor, and judging the cylinder explosion time in advance to acquire the delay time of the first correction current value.

Specifically, a part of the moving points of the piston can be calibrated according to the signal of the camshaft sensor, then the specific moving position of the piston is subdivided according to the signal of the crankshaft sensor, the ignition moment of the engine, namely the explosion moment, can be obtained according to the moving position of the piston, and then the delay time can be obtained by combining the control response time and the mechanical response time.

And S6, when the delay time is reached, applying a first correction current value to the actuator, and adjusting the dynamic stiffness of the active suspension system of the hybrid electric vehicle by the actuator according to the first correction current value to perform vibration damping control on the hybrid electric vehicle.

According to an embodiment of the invention, the driving circuit is further configured to output a driving signal to the driving circuit according to the first corrected current value, so as to drive the actuator to work through the driving circuit.

Specifically, after the target current value a is corrected according to a vehicle speed sensor signal of the hybrid vehicle and the rotation speed of the engine to obtain a first corrected current value a ', a camshaft sensor signal of the engine is acquired, a movement position of a piston in the engine is acquired according to the camshaft sensor signal, a cylinder explosion time of the engine is estimated according to the movement position of the piston in the engine and a crankshaft sensor signal, and the cylinder explosion time is judged in advance to calculate the delay time of the first corrected current value a'. Then, whether the delay time is reached is judged, and if the delay time is reached, a driving signal generated according to the first correction current value A' is input into the driving circuit. The driving circuit outputs working current to the actuator according to the driving signal, and the actuator adjusts the electromagnetic induction device in the active suspension according to the working current to realize the up-and-down movement of the mechanical structure so as to change the damping and dynamic stiffness of the active suspension, thereby realizing the vibration and noise reduction function of the automobile under the idling working condition and improving the riding comfort of a user; otherwise, entering a waiting state until the delay time is reached.

According to the active vibration damping control method of the hybrid electric vehicle, active vibration damping control of the hybrid electric vehicle under the driving rolling condition can be achieved, timeliness is high, an algorithm is accurate, and a vibration damping effect is good. Meanwhile, the effective moment of vibration reduction and noise reduction control is judged in advance by utilizing the signal of the camshaft sensor, so that the action time of vibration reduction control is more convenient and more accurate, and the vibration reduction effect is more effective.

In addition, in practical application, because the temperature can influence the vibration reduction effect of the actuator, in order to achieve a better vibration reduction effect, the working temperature of the actuator is monitored, and the target current value is adjusted according to the working temperature.

According to an embodiment of the present invention, the active vibration damping control method for a hybrid vehicle further includes: detecting the output current of the driving circuit to obtain the working temperature of the actuator; the first correction current value is adjusted according to the working temperature of the actuator.

Specifically, since the resistance of the coil in the driving circuit increases with the increase of the temperature, the output current of the driving circuit can be used to calculate the resistance value of the coil, then calculate the operating temperature of the actuator at that time according to the resistance value, finally calculate the operating state of the actuator according to the operating temperature, adjust the first correction current value a' according to the operating state, and adjust the dynamic stiffness of the active suspension according to the adjusted current value. Therefore, before the vibration reduction effect is not generated, the first correction current value at each moment is adjusted by monitoring the working temperature of the actuator, the influence of the temperature on the actuator is eliminated, the purpose of actively adjusting the vibration reduction effect is achieved, and the vibration reduction effect is better.

After the dynamic stiffness of the active suspension is adjusted, if the vibration reduction effect is not monitored, whether the vibration reduction is effective or not and what vibration reduction effect is achieved cannot be judged, and if the vibration reduction effect can be monitored, the first correction current value of the next period is adjusted according to the current vibration reduction effect, so that the obtained first correction current value is more reasonable, and the vibration reduction effect is better.

According to an embodiment of the present invention, the active vibration damping control method for a hybrid vehicle further includes: judging whether the current vibration value of the hybrid electric vehicle is greater than a preset vibration threshold value or not according to the vibration amplitude of the engine; and if the current vibration value of the hybrid electric vehicle is larger than the preset vibration threshold value, secondarily correcting the first correction current value to obtain a second correction current value, so that the actuator adjusts the dynamic stiffness of the active suspension system of the hybrid electric vehicle according to the second correction current value to actively control vibration attenuation of the hybrid electric vehicle. The preset vibration threshold value can be calibrated according to actual conditions.

Specifically, after the dynamic stiffness of the active suspension is adjusted, the vibration amplitude of the engine is obtained through an acceleration sensor signal, the current vibration value of the automobile can be calculated according to the vibration amplitude, and then the current vibration value is compared with a preset vibration threshold value. If the vibration value is larger than the preset vibration threshold value, the vibration reduction effect is not good, a target current correction signal is output according to the difference value between the vibration value and the preset vibration threshold value, the first correction current value A 'is corrected according to the target current correction signal, then the dynamic stiffness of the active suspension is adjusted according to the corrected target current value, namely the second correction current value A', and therefore the effect of closed-loop control is achieved.

That is to say, after the first correction current value is input into the driving circuit, the vibration damping effect is monitored by using the vibration amplitude of the engine, the condition that the vibration damping effect cannot be met is fed back, the first correction current value is corrected to form closed-loop adjustment, the effectiveness of the vibration damping effect is ensured, and when the two modes are cooperated, the vibration damping effect is more obvious and more stable, and the riding comfort can be greatly improved. In addition, the vibration amplitude of the engine is obtained through signals of the acceleration sensor, so that the acceleration sensor not only participates in the judgment of the working condition of the automobile, but also can obtain the vibration amplitude in real time and feed the vibration amplitude back to the active suspension system so as to adjust the target current value, and the functions of judgment, real-time adjustment and feedback of the working condition are realized.

Further, according to an embodiment of the present invention, when the active suspension system confirms that the current working condition of the hybrid vehicle is still a driving rumbling working condition through communication with a vehicle control unit of the hybrid vehicle in a next communication cycle, it is determined whether the acquired vehicle speed sensor signal and the rotation speed of the engine change, wherein if the vehicle speed sensor signal and the rotation speed of the engine change, the target current value is corrected according to the changed vehicle speed sensor signal and the rotation speed of the engine to obtain a third corrected current value, so as to apply the third corrected current value to the actuator when the delay time arrives; if no change occurs, the operating current output to the actuator is maintained.

Specifically, since the engine vibration changes rapidly, in order to ensure the rapidness and accuracy of calculation, the signal period n after switching to the driving rolling condition for other conditions is set to be 1, and n is more than or equal to 2. When n is more than or equal to 2, if the front and rear working conditions are not changed, the actuator is directly controlled by the target current value finally obtained in the last signal period, so that the operation flow is simplified, and the calculation accuracy is ensured; and if the current value is changed, calling the calculated latest target current value after the preprocessing, and correcting the target current value according to the acquired vehicle speed sensor signal of the hybrid electric vehicle and the rotating speed of the engine to obtain the latest first corrected current value, namely a third corrected current value.

Specifically, after the first signal period of the driving rumble condition is finished, the vehicle continues to communicate with the vehicle control unit so as to acquire the current condition information of the vehicle. And before the signal of the vehicle control unit is acquired, the actuator is controlled by using the target current value finally acquired in the last signal period.

After the signal of the vehicle controller is obtained, judging whether the current vehicle is still in the running rumbling working condition, if not, processing other working conditions; if yes, judging whether the speed sensor signal of the hybrid electric vehicle and the rotating speed of the engine are changed. If not, continuing to use the target current value finally obtained in the last signal period to control the actuator; if yes, calling the latest target current value calculated by preprocessing, correcting the target current value according to the vehicle speed sensor signal and the rotating speed of the engine to obtain a third corrected current value, and then controlling the actuator according to the third corrected current value. Therefore, the process that each signal period needs to be calculated is effectively reduced, the operation amount is simplified, and the calculation accuracy is ensured.

To make the present invention more clear to those skilled in the art, fig. 3 is a flowchart of the active vibration damping control corresponding to the first signal period (n ═ 1) when the hybrid vehicle is in the driving grower condition according to an embodiment of the present invention. As shown in fig. 3, the active damping control of the hybrid vehicle may include the steps of:

and S101, communicating with the vehicle control unit, and judging whether the hybrid electric vehicle is in a running rumbling condition. If yes, go to step S105; if not, entering other judged working conditions.

S102, when the vehicle-mounted controller is communicated with the vehicle controller, signals of an acceleration sensor and signals of a crankshaft sensor are obtained, and further the rotating speed, the vibration period and the vibration amplitude of the engine are obtained.

And S103, judging whether the hybrid electric vehicle is in a running rumbling working condition or not. If yes, go to step S104; if not, entering other judged working conditions.

And S104, activating the active suspension system by using preset current, and acquiring a target current value A required by the driving rolling condition.

And S105, acquiring the speed of the hybrid electric vehicle and the rotating speed of the engine, and correcting A according to the speed and the rotating speed to obtain a first corrected current value A'.

And S106, acquiring a signal of a camshaft sensor, and calculating the motion position of a piston in the engine according to the camshaft sensor.

S107, the combustion time of the engine is estimated according to the motion position of the piston and the signal of the crank sensor, and the delay time is further calculated.

And S108, judging whether the delay time is finished. If yes, go to step S109; if not, return to step S108.

S109, duty ratio control is performed on the drive circuit to obtain a first corrected current value a'.

S110, a first corrected current value a' is input to the driving circuit.

And S111, detecting the working current of the driving circuit.

And S112, adjusting the first correction current value A' according to the working current.

And S113, reading the vibration amplitude of the engine.

And S114, judging whether the vibration reduction effect meets the condition or not according to the vibration amplitude of the engine. If yes, ending vibration reduction and noise reduction of the signal period; if not, step S115 is performed.

And S115, correcting the adjusted first corrected current value A 'according to the vibration damping effect to obtain a second corrected current value A'.

Further, FIG. 4 is a flowchart of the active damping control corresponding to the second and above signal periods (n ≧ 2) when the hybrid vehicle is in the driving growl condition, according to one embodiment of the present invention. As shown in fig. 4, the active damping control of the hybrid vehicle may include the steps of:

and S201, communicating with the vehicle control unit, and judging whether the hybrid electric vehicle is still in the running rumbling working condition. If yes, go to step S202; if not, entering other judged working conditions.

And S202, judging whether the speed of the hybrid electric vehicle and the rotating speed of the engine are changed or not. If yes, go to step S203; if not, step S205 is performed.

At S203, the latest target current value a1 is obtained.

S204, the latest target current value A1 is corrected according to the speed of the hybrid electric vehicle and the rotating speed of the engine, so as to obtain a third corrected current value A1'.

S205, the second corrected current value a ″ is directly obtained.

S206, acquiring a signal of a camshaft sensor, and calculating the motion position of a piston in the engine according to the camshaft sensor.

And S207, estimating the combustion time of the engine according to the motion position of the piston and the signal of the crank sensor, and further calculating the delay time.

And S208, judging whether the delay time is finished. If yes, go to step S209; if not, return to step S208.

At S209, duty control is performed on the drive circuit to obtain third corrected current value a 1' or second corrected current value a ″.

At S210, third corrected current value a 1' or second corrected current value a ″ is input to the drive circuit.

S211, an operating current of the driving circuit is detected.

At S212, the third corrected current value a 1' or the second corrected current value a ″ is adjusted according to the operating current.

And S213, reading the vibration amplitude of the engine.

And S214, judging whether the vibration reduction effect meets the condition or not according to the vibration amplitude of the engine. If yes, ending vibration reduction and noise reduction of the signal period; if not, step S215 is performed.

And S215, correcting the adjusted current value according to the vibration damping effect.

In the embodiment, signals existing in automobiles such as a crankshaft sensor, a camshaft sensor, an acceleration sensor and a vehicle speed sensor are used as input signals for vibration damping control, and signal acquisition is more convenient and efficient. And the effective moment of vibration and noise reduction control is judged in advance by using the signal of the camshaft sensor, so that the action time of vibration reduction control is more accurate, and the vibration reduction effect is more effective. Meanwhile, the working current of the driving circuit is used as an input signal to actively adjust the target current value, and the signal of the acceleration sensor is used as a feedback signal to adjust the target current value in a closed loop manner, so that the signal processing is more rigorous and effective, the vibration and noise reduction control can be better realized, the effects of attenuating vibration and reducing noise are achieved, and the comfort level of a user is improved. And the whole control makes full use of the communication time with the whole vehicle controller, and effectively reduces the calculation time after communication, so that the control is faster.

In addition, it should be noted that, in other embodiments of the present invention, the calculation of the delay time may also be implemented in a preprocessing stage, i.e., steps S106 and S107 in fig. 3 are incorporated into S104, and steps S206 and S207 in fig. 4 are incorporated into S204, although it should be noted that when the vehicle speed and the engine speed of the hybrid vehicle are not changed, the second corrected current value a "is directly used, and the delay time is still the latest delay time obtained. In this way, the calculation of the delay time is incorporated into the preprocessing process, so that the calculation time can be further reduced, and of course, whether the calculation is incorporated into the preprocessing process or not can be determined according to the communication time between the active suspension system and the vehicle control unit.

In summary, according to the active vibration damping control method for the hybrid electric vehicle in the embodiment of the present invention, when the engine of the hybrid electric vehicle is working, whether the hybrid electric vehicle is in the driving rumbling condition is determined according to the acceleration sensor signal and the crankshaft sensor signal, if yes, the rotation speed and the vibration period of the engine are calculated according to the crankshaft sensor signal, the vibration amplitude of the engine is calculated according to the acceleration sensor signal, and then the target current value is calculated according to the rotation speed, the vibration period and the vibration amplitude of the engine. And simultaneously acquiring a vehicle speed sensor signal of the hybrid electric vehicle. Then, the target current value is corrected based on a vehicle speed sensor signal of the hybrid vehicle and the rotation speed of the engine to obtain a first corrected current value. And finally, acquiring the motion position of a piston in the engine according to the camshaft sensor signal, and estimating the cylinder explosion time of the engine according to the motion position of the piston and the crankshaft sensor signal to acquire the delay time of a first correction current value, and applying the first correction current value to the actuator when the delay time is reached so as to perform vibration damping control on the hybrid electric vehicle. Therefore, active vibration reduction control of the automobile under the running rumbling working condition is achieved, high timeliness is achieved, effective time of vibration reduction and noise reduction control is judged in advance by utilizing signals of the camshaft sensor, the action time of vibration reduction control is more accurate, and the vibration reduction effect is more effective.

Fig. 5 is a block schematic diagram of an active vibration damping control apparatus of a hybrid vehicle according to an embodiment of the present invention. As shown in fig. 5, the active vibration damping control apparatus for a hybrid vehicle includes: the device comprises a first obtaining module 11, a first judging module 12, a vibration period operation module 13, a piston state detection module 14, a vibration state presumption module 15, a target current operation module 16, a main control module 17, a first current correction module 18, a delay time obtaining module 19 and a driving control module 20.

The first acquisition module 11 is used for acquiring an acceleration sensor signal and a crankshaft sensor signal of the hybrid electric vehicle when an engine of the hybrid electric vehicle works; the first judging module 12 is used for judging whether the hybrid electric vehicle is in a running rumble condition according to the acceleration sensor signal and the crankshaft sensor signal; the vibration period operation module 13 is used for calculating the rotating speed and the vibration period of the engine according to the signals of the crankshaft sensor when the hybrid electric vehicle is in the running rumble condition, and calculating the vibration amplitude of the engine according to the signals of the acceleration sensor; the piston state detection module 14 is used for acquiring a camshaft sensor signal and acquiring the motion position of a piston in the engine according to the camshaft sensor signal; the vibration state presumption module 15 is used for presuming the vibration state of the engine according to the rotating speed, the vibration period and the vibration amplitude of the engine; the target current operation module 16 is used for calculating a target current value according to the vibration state of the engine. The main control module 17 is configured to obtain a vehicle speed sensor signal of the hybrid vehicle when the first determining module 12 determines whether the hybrid vehicle is in the driving rumble condition. The first current correction module 18 is used for correcting the target current value according to a vehicle speed sensor signal of the hybrid electric vehicle and the rotating speed of the engine to obtain a first corrected current value; the delay time acquisition module 19 is used for calculating the cylinder explosion time of the engine according to the motion position of a piston in the engine and a crankshaft sensor signal, and pre-judging the cylinder explosion time to acquire the delay time of a first correction current value; the driving control module 20 is configured to apply a first correction current value to the actuator 21 when the delay time is reached, and the actuator 21 adjusts the dynamic stiffness of the active suspension system of the hybrid vehicle according to the first correction current value to perform vibration damping control on the hybrid vehicle.

According to an embodiment of the present invention, the active vibration damping control device for a hybrid vehicle further includes a driving circuit 22, wherein the driving control module 19 is further configured to output a driving signal to the driving circuit 22 according to the first corrected current value, so as to drive the actuator 21 to operate through the driving circuit 22.

According to an embodiment of the present invention, as shown in fig. 6, the active vibration damping control device for a hybrid vehicle further includes: the current detection module 23 and the target current correction module 24, wherein the current detection module 23 is used for detecting the output current of the driving circuit 22 to obtain the working temperature of the actuator 21; the target current correction module 24 is configured to adjust the first correction current value according to the operating temperature of the actuator 21.

According to an embodiment of the present invention, as shown in fig. 6, the active vibration damping control device for a hybrid vehicle further includes: and the fourth judging module 25 is configured to judge whether the current vibration value of the hybrid electric vehicle is greater than a preset vibration threshold value according to the vibration amplitude of the engine, and correct the first correction current value through the target current correction module 24 to obtain a second correction current value when the current vibration value of the hybrid electric vehicle is greater than the preset vibration threshold value, so that the actuator 21 adjusts the dynamic stiffness of the active suspension system of the hybrid electric vehicle according to the second correction current value to perform active vibration damping control on the hybrid electric vehicle.

According to an embodiment of the present invention, when the main control module 17 confirms that the current operating condition of the hybrid vehicle is still the driving rumble condition through communication with the vehicle control unit of the hybrid vehicle in the next communication cycle, a fifth judgment module (not specifically shown in the figure) judges whether the acquired vehicle speed sensor signal and the rotation speed of the engine change, wherein if the vehicle speed sensor signal and the rotation speed of the engine change, the first current correction module 18 corrects the target current value according to the changed vehicle speed sensor signal and the rotation speed of the engine to obtain a third corrected current value, so as to apply the third corrected current value to the actuator 21 when the delay time arrives; if no change occurs, the operating current output to the actuator 21 is kept constant by the target current correction module 24.

It should be noted that details that are not disclosed in the active vibration damping control device of the hybrid electric vehicle according to the embodiment of the present invention refer to details that are disclosed in the active vibration damping control method of the hybrid electric vehicle according to the embodiment of the present invention, and are not described herein again.

Fig. 7 is a block schematic diagram of a hybrid vehicle according to an embodiment of the invention. As shown in fig. 7, the vehicle 1000 includes the active vibration damping control device 100 of the hybrid vehicle described above.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. An active damping control method of a hybrid vehicle, the hybrid vehicle including an active suspension system, the method comprising the steps of:

when an engine of the hybrid electric vehicle works, acquiring an acceleration sensor signal and a crankshaft sensor signal of the hybrid electric vehicle, and judging whether the hybrid electric vehicle is in a running rumbling working condition or not according to the acceleration sensor signal and the crankshaft sensor signal;

if the hybrid electric vehicle is in a running rumble working condition, calculating the rotating speed and the vibration period of the engine according to the crankshaft sensor signal, calculating the vibration amplitude of the engine according to the acceleration sensor signal, calculating the vibration state of the engine according to the rotating speed, the vibration period and the vibration amplitude of the engine, and calculating a target current value according to the vibration state of the engine;

when judging whether the hybrid electric vehicle is in a running rumbling working condition or not according to the acceleration sensor signal and the crankshaft sensor signal, acquiring a vehicle speed sensor signal of the hybrid electric vehicle;

correcting the target current value according to a vehicle speed sensor signal of the hybrid electric vehicle and the rotating speed of the engine to obtain a first corrected current value;

acquiring a signal of a camshaft sensor, acquiring a motion position of a piston in the engine according to the signal of the camshaft sensor, calculating cylinder explosion time of the engine according to the motion position of the piston in the engine and the signal of the crankshaft sensor, and judging the cylinder explosion time in advance to acquire delay time of the first correction current value;

and when the delay time is reached, applying the first correction current value to an actuator, and adjusting the dynamic stiffness of an active suspension system of the hybrid electric vehicle by the actuator according to the first correction current value so as to perform vibration damping control on the hybrid electric vehicle.

2. The active vibration damping control method of a hybrid vehicle according to claim 1, wherein when it is determined whether the hybrid vehicle is in a driving growl condition based on the acceleration sensor signal and the crank sensor signal, the active suspension system further confirms whether the current condition of the hybrid vehicle in the current communication period is the driving growl condition by communicating with a vehicle control unit of the hybrid vehicle.

3. The active vibration damping control method for a hybrid vehicle according to claim 1, wherein a drive signal is further outputted to a drive circuit in accordance with the first corrected current value to drive the actuator to operate by the drive circuit.

4. The active vibration damping control method of a hybrid vehicle according to claim 1, characterized by further comprising:

detecting the output current of a driving circuit to obtain the working temperature of the actuator;

and adjusting the first correction current value according to the working temperature of the actuator.

5. The active vibration damping control method of a hybrid vehicle according to claim 1, characterized by further comprising:

judging whether the current vibration value of the hybrid electric vehicle is larger than a preset vibration threshold value or not according to the vibration amplitude of the engine;

and if the current vibration value of the hybrid electric vehicle is larger than a preset vibration threshold value, secondarily correcting the first corrected current value to obtain a second corrected current value, so that the actuator can adjust the dynamic stiffness of an active suspension system of the hybrid electric vehicle according to the second corrected current value to actively control vibration attenuation of the hybrid electric vehicle.

6. The active vibration damping control method of a hybrid vehicle according to any one of claims 2-5, characterized in that it is judged whether the acquired vehicle speed sensor signal and the rotational speed of the engine change when the active suspension system confirms that the current operating condition of the hybrid vehicle is still the driving booming condition by communicating with a vehicle control unit of the hybrid vehicle in a next communication cycle, wherein,

if the change occurs, correcting the target current value according to the changed vehicle speed sensor signal and the rotating speed of the engine to obtain a third corrected current value, and applying the third corrected current value to an actuator when the delay time is reached;

and if the change does not occur, keeping the working current output to the actuator unchanged.

7. An active vibration damping control device of a hybrid vehicle, characterized by comprising:

the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring an acceleration sensor signal and a crankshaft sensor signal of a hybrid electric vehicle when an engine of the hybrid electric vehicle works;

the first judging module is used for judging whether the hybrid electric vehicle is in a running rumbling working condition or not according to the acceleration sensor signal and the crankshaft sensor signal;

the vibration period operation module is used for calculating the rotating speed and the vibration period of the engine according to the signal of the crankshaft sensor when the hybrid electric vehicle is in a running rumble working condition, and calculating the vibration amplitude of the engine according to the signal of the acceleration sensor;

the piston state detection module is used for acquiring a signal of a camshaft sensor and acquiring the motion position of a piston in the engine according to the signal of the camshaft sensor;

a vibration state estimation module for estimating a vibration state of the engine from a rotation speed, a vibration cycle, and a vibration amplitude of the engine;

the target current operation module is used for calculating a target current value according to the vibration state of the engine;

the main control module is used for acquiring a vehicle speed sensor signal of the hybrid electric vehicle when the first judging module judges whether the hybrid electric vehicle is in a running rumbling working condition or not;

the first current correction module is used for correcting the target current value according to a vehicle speed sensor signal of the hybrid electric vehicle and the rotating speed of the engine to obtain a first corrected current value;

the delay time acquisition module is used for calculating the cylinder explosion time of the engine according to the motion position of a piston in the engine and the signal of the crankshaft sensor and pre-judging the cylinder explosion time to acquire the delay time of the first correction current value;

and the drive control module is used for applying the first correction current value to an actuator when the delay time is up, and the actuator adjusts the dynamic stiffness of an active suspension system of the hybrid electric vehicle according to the first correction current value so as to perform vibration damping control on the hybrid electric vehicle.

8. The active vibration damping control device of a hybrid electric vehicle according to claim 7, wherein the main control module is further configured to, when the first determining module determines whether the hybrid electric vehicle is in a driving growl condition, determine whether the current condition of the hybrid electric vehicle in the current communication period is the driving growl condition by communicating with a vehicle control unit of the hybrid electric vehicle.

9. The active vibration damping control device for a hybrid vehicle according to claim 7, further comprising a driving circuit, wherein the driving control module is further configured to output a driving signal to the driving circuit according to the first corrected current value, so as to drive the actuator to operate through the driving circuit.

10. The active vibration damping control device of a hybrid vehicle according to claim 7, characterized by further comprising:

the current detection module is used for detecting the output current of the driving circuit so as to obtain the working temperature of the actuator;

and the target current correction module is used for adjusting the first correction current value according to the working temperature of the actuator.

11. The active vibration damping control device of a hybrid vehicle according to claim 7, characterized by further comprising:

and the fourth judgment module is used for judging whether the current vibration value of the hybrid electric vehicle is greater than a preset vibration threshold value or not according to the vibration amplitude of the engine, and correcting the first correction current value through the target current correction module when the current vibration value of the hybrid electric vehicle is greater than the preset vibration threshold value to obtain a second correction current value, so that the actuator can adjust the dynamic stiffness of an active suspension system of the hybrid electric vehicle according to the second correction current value to perform active vibration reduction control on the hybrid electric vehicle.

12. The active vibration damping control device of a hybrid vehicle according to any one of claims 7 to 11, characterized in that when the main control module confirms that the current operating condition of the hybrid vehicle is still the driving grower condition through communication with a vehicle control unit of the hybrid vehicle in a next communication cycle, it is judged by a fifth judgment module whether the acquired vehicle speed sensor signal and the rotation speed of the engine change, wherein,

if the change occurs, the first current correction module corrects the target current value according to the changed vehicle speed sensor signal and the rotating speed of the engine to obtain a third corrected current value so as to apply the third corrected current value to an actuator when the delay time is reached;

and if the change does not occur, keeping the working current output to the actuator unchanged through the target current correction module.

13. A hybrid vehicle characterized by comprising the active vibration damping control apparatus of a hybrid vehicle according to any one of claims 7 to 12.