CN109664873A - Vehicle control system and its control method - Google Patents
Vehicle control system and its control method Download PDFInfo
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- CN109664873A CN109664873A CN201710967222.4A CN201710967222A CN109664873A CN 109664873 A CN109664873 A CN 109664873A CN 201710967222 A CN201710967222 A CN 201710967222A CN 109664873 A CN109664873 A CN 109664873A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
- B60K6/36—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings
- B60K6/365—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings with the gears having orbital motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
-
- 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
- B60W2510/06—Combustion engines, Gas turbines
-
- 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
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0614—Position of fuel or air injector
- B60W2510/0619—Air-fuel ratio
-
- 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
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0638—Engine speed
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Hybrid Electric Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention provides a kind of vehicle control system and its control method, first controller is according to the position acquisition demand torque of the throttle gear；First controller calculates the engine target output torque according to the demand torque, and the engine target output torque is sent to second controller；The second controller calculates the engine reality output torque according to the engine target output torque, and the engine is according to the engine reality output torque output torque；The third controller obtains actual monitoring torque according to the operating condition of the power output shaft, and the actual monitoring torque is provided to the second controller；The second controller goes out engine self study torque according to the engine reality output torque and the actual monitoring torque arithmetic；The second controller obtains the engine reality output torque when calculating the engine reality output torque, according to the engine self study torque.
Description
Technical field
The present invention relates to intelligent automobile technical field, in particular to a kind of vehicle control system and its control method.
Background technique
Even if the change based on same vehicle operation situation (driving condition of the operating condition of the gas pedal amount of depressing, speed)
Change, vehicle acceleration obtained is also greatly different due to the output torque characteristic in driving dynamics source, and actual conditions are drivers
It cannot be obtained and be expected by the variation of vehicle operation situation (driving condition of the operating condition of the gas pedal amount of depressing, speed)
As acceleration.
Therefore, it is necessary to design the vehicle control system and its control method of a kind of accurate response output torque.
Summary of the invention
The purpose of the present invention is to provide a kind of vehicle control system and its control methods, are turned round with solving existing generator
Square cannot accurately respond the problem of drive demand.
In order to solve the above technical problems, the present invention provides a kind of vehicle control system, the vehicle control system control one
Vehicle, the vehicle include engine, driving motor, throttle gear and power output shaft, and the vehicle control system includes the
One controller, second controller and third controller, in which:
First controller is according to the position acquisition demand torque of the throttle gear；
First controller calculates the engine target output torque according to the demand torque, and by the hair
Motivation target output torque is sent to second controller；
The second controller calculates the engine reality output torque according to the engine target output torque,
The engine is according to the engine reality output torque to the power output shaft output torque；
The third controller obtains actual monitoring torque according to the operating condition of the power output shaft, and by the reality
Border monitoring torque is provided to the second controller；
The second controller goes out to start according to the engine reality output torque and the actual monitoring torque arithmetic
Machine self study torque；
The second controller is when calculating the engine reality output torque, according to the engine self study torque
Obtain the engine reality output torque.
Optionally, in the vehicle control system, the vehicle further includes battery system, the first controller root
The engine mesh is provided to the engine and the driving motor according to the electricity of the demand torque and the battery system
Mark output torque and motor target output torque.
Optionally, in the vehicle control system, the power output shaft includes planet row outer gear ring, planet row branch
Frame and planet row sun gear, in which:
The planet row outer gear ring connects a crankshaft of the engine, and the planet row sun gear connects the driving electricity
The rotor of machine, the planet row bracket connect the wheel of the vehicle.
Optionally, in the vehicle control system, the second controller is entered by first mode or by the second mould
Formula enters torque self study process, goes out engine according to the engine reality output torque and the actual monitoring torque arithmetic
Self study torque.
Optionally, in the vehicle control system, when the travel speed of the vehicle, engine coolant temperature,
When engine air-fuel ratio, time since engine start, battery system electricity and engine stabilizer runing time reach requirement, described
Two controllers enter torque self study process by first mode.
Optionally, travel speed, engine reality output torque in the vehicle control system, when the vehicle
It is described with the difference of actual monitoring torque, engine air-fuel ratio, with last torque self study when differing the time and reaching requirement
Second controller enters torque self study process by second mode.
Optionally, in the vehicle control system, before the second controller enters torque self study process, to institute
It states the first controller and sends torque self study request signal.
Optionally, in the vehicle control system, first controller allows the second controller to enter torsion
After square self study process, revolving speed, engine target output torque and the runing time of engine are set.
Optionally, in the vehicle control system, the list of the actual monitoring torque is arranged in the second controller
Bit period chooses multiple sampled points in each unit period, and obtains maximum sampled point and minimum sampled point, is adopted by maximum
Sampling point and minimum sampled point obtain intermediate samples point.
Optionally, in the vehicle control system, the intermediate samples point calculates as follows:
SensedEngTrqRef=ary [min]+(ary [max]-ary [min])/2
Wherein: SensedEngTrqRef is intermediate samples point, and ary [min] is minimum sampled point, and ary [max] is maximum
Sampled point.
Optionally, in the vehicle control system, the second controller obtains filtering defeated according to intermediate samples point
Access point, the filtering input point are the difference of the engine reality output torque and the intermediate samples point.
Optionally, in the vehicle control system, the second controller is to the filtering input point and last time
Engine self study torque carry out integral filtering, obtain new engine self study torque.
The present invention also provides a kind of control method of vehicle control system, the control method packet of the vehicle control system
It includes:
The engine and driving motor of vehicle control system vehicle according to the throttle shift control of a vehicle, and to institute
State the power output shaft output torque of vehicle；
First controller is according to the position acquisition demand torque of the throttle gear；
First controller calculates the engine target output torque according to the demand torque, and by the hair
Motivation target output torque is sent to second controller；
The second controller calculates the engine reality output torque according to the engine target output torque,
The engine is according to the engine reality output torque to the power output shaft output torque；
The third controller obtains actual monitoring torque according to the operating condition of the power output shaft, and by the reality
Border monitoring torque is provided to the second controller；
The second controller goes out to start according to the engine reality output torque and the actual monitoring torque arithmetic
Machine self study torque；
The second controller is when calculating the engine reality output torque, according to the engine self study torque
Obtain the engine reality output torque.
In vehicle control system provided by the invention and its control method, the third controller is defeated according to the power
The operating condition of shaft obtains actual monitoring torque, and the actual monitoring torque is provided to the second controller；It is described
Second controller goes out engine self study torque according to the engine reality output torque and the actual monitoring torque arithmetic；
The second controller obtains described when calculating the engine reality output torque according to the engine self study torque
Engine reality output torque, can be with, it can be achieved that second controller adjusts output torque each time according to self study result
Identify the difference between engine reality output torque and actual monitoring torque, therefore the second control can be responded more accurately
Demand torque.
In addition, since third controller is electric machine controller, the more accurate reaction requirement of actual monitoring torque of measurement
The responsiveness of torque, the present invention pass through third controller (control driving motor) and second controller (control engine) and the
Torque information between one controller (vehicle power coordination) is shared, and the topological structure of mixed electrical automobile power assembly is suited；It is existing
Engine torque self study is to enter torque self study process by first mode, and first mode belongs to passive type (after entering operating condition
Trigger self study), the torque self study process carried out usually under the general case of vehicle driving and environment exists to vehicle
There is no reference significances for special travel situations and environment, and second controller can be entered torque self-study by first mode in the present invention
Habit process can also be entered torque self study process by second mode, combine automatic identification operating condition enter (being additionally related to multi-functional passive entry) and
Activly request enters self study two ways, not only has reference significance under general travel situations to vehicle, to some special
Vehicle driving situation also there is reference significance, flexibility is good；In addition, the control method in the present invention is related to a kind of software design
Method is not related to hardware cost.Using third controller, i.e., the advantage that electric machine controller accurately calculates torque can make up mixed dynamic nothing
The torque self study of idling operation.Torque self study in control method in the present invention is not by the limit of engine speed and torque
System theoretically can carry out self study in the section of most of range of speeds and load.The learning process time is short, under normal circumstances
It can be completed in 15s-30s.
Detailed description of the invention
Fig. 1~2 are vehicle control system of the embodiment of the present invention and its control method schematic diagram；
It is as shown in the figure: 11- throttle gear；12- power output shaft；The first controller of 21-；22- second controller；23-
Three controllers.
Specific embodiment
Vehicle control system proposed by the present invention and its control method are made into one below in conjunction with the drawings and specific embodiments
Step is described in detail.According to following explanation and claims, advantages and features of the invention will be become apparent from.It should be noted that attached
Figure is all made of very simplified form and using non-accurate ratio, only to convenient, lucidly the aid illustration present invention is real
Apply the purpose of example.
Core of the invention thought is to provide a kind of vehicle control system and its control method, to solve existing power generation
Machine torque cannot accurately respond the problem of drive demand.
To realize above-mentioned thought, the present invention provides a kind of vehicle control system and its control method, the vehicle control
System controls a vehicle, and the vehicle includes engine, driving motor, throttle gear and power output shaft, the vehicle control
System includes the first controller, second controller and third controller, in which: first controller is according to the throttle gear
Position acquisition demand torque；First controller calculates the engine target output according to the demand torque and turns round
Square, and the engine target output torque is sent to second controller；The second controller is according to the engine mesh
Mark output torque calculates the engine reality output torque, the engine according to the engine reality output torque to
The power output shaft output torque；The third controller obtains actual monitoring according to the operating condition of the power output shaft
Torque, and the actual monitoring torque is provided to the second controller；The second controller is real according to the engine
Border output torque and the actual monitoring torque arithmetic go out engine self study torque；The second controller is calculating the hair
When motivation reality output torque, the engine reality output torque is obtained according to the engine self study torque.
<embodiment one>
The present embodiment provides a kind of vehicle control system, the vehicle control system controls a vehicle, and the vehicle includes
Engine, driving motor, throttle gear and power output shaft, the vehicle control system are controlled including the first controller 21, second
Device 22 and third controller 23 processed, in which: first controller 21 is turned round according to the position acquisition demand of the throttle gear 11
Square；First controller 21 calculates the engine target output torque according to the demand torque, and starts described
Machine target output torque is sent to second controller 22；The second controller 22 is according to the engine target output torque meter
Calculate the engine reality output torque, the engine is according to the engine reality output torque to the power output
Axis output torque；The third controller 23 obtains actual monitoring torque according to the operating condition of the power output shaft 12, and
The actual monitoring torque is provided to the second controller 22；The second controller 22 is actually defeated according to the engine
Torque and the actual monitoring torque arithmetic go out engine self study torque out；The second controller 22 starts described in the calculating
When machine reality output torque, the engine reality output torque is obtained according to the engine self study torque.
Specifically, the vehicle further includes battery system in the vehicle control system, first controller 21
The engine is provided to the engine and the driving motor according to the electricity of the demand torque and the battery system
The motor target output torque of target output torque and driving motor.The power output shaft 12 includes planet row outer gear ring, row
Star arranges bracket and planet row sun gear, in which: the planet row outer gear ring connects a crankshaft of the engine, the planet row
Sun gear connects the rotor of the driving motor, and the planet row bracket connects the wheel of the vehicle.
Further, in the vehicle control system, the second controller 22 is entered by first mode or by the
Two modes enter torque self study process, are set out according to the engine reality output torque and the actual monitoring torque arithmetic
Motivation self study torque.When the travel speed of the vehicle, engine coolant temperature, engine air-fuel ratio, engine start
When time, battery system electricity and engine stabilizer runing time reach requirement, the second controller 22 by first mode into
Enter torque self study process.When the travel speed of the vehicle, engine reality output torque and actual monitoring torque difference,
Engine air-fuel ratio, with last torque self study when differing the time and reaching requirement, the second controller 22 is by the second mould
Formula enters torque self study process.
As shown in Fig. 2, the second controller 22 enters torque self study process in the vehicle control system
Before, the first controller of Xiang Suoshu 21 sends torque self study request signal.First controller allows the second controller
Into after torque self study process, revolving speed, engine target output torque and the runing time of engine are set.Second control
After device processed enters torque self study process, the unit period of the actual monitoring torque is set, is chosen in each unit period
Multiple sampled points, and maximum sampled point and minimum sampled point are obtained, it obtains centre by maximum sampled point and minimum sampled point and adopts
Sampling point.In the vehicle control system, the intermediate samples point calculates as follows:
SensedEngTrqRef=ary [min]+(ary [max]-ary [min])/2
Wherein: SensedEngTrqRef is intermediate samples point, and ary [min] is minimum sampled point, and ary [max] is maximum
Sampled point.
Further, in the vehicle control system, the second controller is filtered according to intermediate samples point
Input point, the filtering input point are the difference of the engine reality output torque and the intermediate samples point.Described second
Controller carries out integral filtering to the filtering input point and last engine self study torque, obtains new engine certainly
Learn torque.
In vehicle control system provided in this embodiment, the third controller is according to the operation of the power output shaft
Situation obtains actual monitoring torque, and the actual monitoring torque is provided to the second controller；The second controller
Go out engine self study torque according to the engine reality output torque and the actual monitoring torque arithmetic；Second control
It is practical that device processed obtains the engine when calculating the engine reality output torque, according to the engine self study torque
Output torque can identify engine, it can be achieved that second controller adjusts output torque each time according to self study result
Difference between reality output torque and actual monitoring torque, therefore the second control can more accurately respond demand torque.
To sum up, the various configuration of vehicle control system is described in detail in above-described embodiment, and certainly, the present invention includes
But be not limited in above-mentioned implementation cited configuration, it is any converted on the basis of configuration provided by the above embodiment in
Hold, belongs to the range that the present invention is protected.Those skilled in the art can draw inferences about other cases from one instance according to the content of above-described embodiment.
<embodiment two>
The present embodiment provides a kind of control method of vehicle control system, the control method packet of the vehicle control system
Include: vehicle control system controls the engine and driving motor of the vehicle according to the throttle gear 11 of a vehicle, and to described
12 output torque of power output shaft of vehicle；First controller 21 is turned round according to the position acquisition demand of the throttle gear 11
Square；First controller 21 calculates the engine target output torque according to the demand torque, and starts described
Machine target output torque is sent to second controller 22；The second controller 22 is according to the engine target output torque meter
Calculate the engine reality output torque, the engine is according to the engine reality output torque to the power output
Axis output torque；The third controller 23 obtains actual monitoring torque according to the operating condition of the power output shaft 12, and
The actual monitoring torque is provided to the second controller 22；The second controller 22 is actually defeated according to the engine
Torque and the actual monitoring torque arithmetic go out engine self study torque out；The second controller 22 starts described in the calculating
When machine reality output torque, the engine reality output torque is obtained according to the engine self study torque.
Specifically, first controller 21 according to the electricity of the battery system in the demand torque and the vehicle to
The engine and the driving motor provide the engine target output torque and motor target output torque.The power
Planet row outer gear ring on output shaft 12 connects a crankshaft of the engine, and the engine passes through crankshaft to planet row external tooth
Circle provides torque, and the planet row sun gear connects the rotor of the driving motor, described in the rotor of the driving motor drives
Planet row sun gear rotates and provides torque for power output shaft, and the planet row bracket connects the wheel of the vehicle, planet
It arranges holder pivots and drives vehicle wheel rotation.
Further, in the control method of the vehicle control system, the second controller 22 is by first mode
Enter torque self study process into or by second mode, is turned round according to the engine reality output torque and the actual monitoring
Square calculates engine self study torque.When the travel speed of the vehicle, engine coolant temperature, engine air-fuel ratio,
When time since engine start, battery system electricity and engine stabilizer runing time reach requirement, the second controller 22 by
First mode enters torque self study process, specifically includes: speed is less than calibration value CAL1, and engine coolant temperature is less than mark
Definite value CAL2, for air-fuel ratio between LAMCAL1 and LAMCAL2, time since engine start is greater than calibration value CAL3, and high-tension battery packet is surplus
Remaining electricity is less than calibration value CAL4, and runing time is greater than CAL5 under engine stabilizer operating status.When the traveling of the vehicle
Speed, the difference of engine reality output torque and actual monitoring torque, engine air-fuel ratio, with last torque self study
When the difference time reaches requirement, the second controller 22 enters torque self study process by second mode, specifically includes: starting
Under machine steady operational status, such as 1200 revs/min of revolving speed, when torque exports 50Nm, air-fuel ratio is in LAMCAL1 and LAMCAL2
Between, it is greater than CAL7 away from engine continuous runing time after last time success self study, and including the following conditions:
|EngTrqClh-SensedEngTrq|>CAL6
Wherein: EngTrqClh is engine reality output torque, and SensedEngTrq is actual monitoring torque.
As shown in Fig. 2, the second controller 22 enters torque certainly in the control method of the vehicle control system
Before study course, the first controller of Xiang Suoshu 21 sends torque self study request signal, i.e. torque self study request flag position.Such as
The first controller of fruit 21 allows second controller 22 to enter torque self study process, then allows access into torsion to second controller transmission
Square self study process tag position TrqAdapSTFlag, second controller 22, which receives, allows access into torque self study process tag position
TrqAdapSTFlag starts self study, starts timer.
After first controller allows the second controller to enter torque self study process, turning for engine is set
Speed, engine target output torque and runing time.After the second controller enters torque self study process, the reality is set
Border monitors the unit period of torque, and multiple sampled points are chosen in each unit period, and obtains maximum sampled point and minimum is adopted
Sampling point obtains intermediate samples point by maximum sampled point and minimum sampled point.In the vehicle control system, the centre
Sampled point calculates as follows:
SensedEngTrqRef=ary [min]+(ary [max]-ary [min])/2
Wherein: SensedEngTrqRef is intermediate samples point, and ary [min] is minimum sampled point, and ary [max] is maximum
Sampled point.
Further, in the control method of the vehicle control system, the second controller 22 is adopted according to centre
Sampling point obtains filtering input point, and the filtering input point is the difference of the engine reality output torque and the intermediate samples point
Value, the calculating for filtering input point are as follows:
Dtrq=EngTrqClh-SensedEngTrqRef
Wherein: Dtrq is filtering input point；EngTrqClh is engine reality output torque, and SensedEngTrqRef is
Intermediate samples point.The second controller carries out integral filter to the filtering input point and last engine self study torque
Wave obtains new engine self study torque EngTrqAdp.Wherein, second controller 22 needs the input filter time parameter to be
Tpmt。
Consider that safety and robustness, the value of engine self study torque EngTrqAdp are provided with maximum calibration magnitude
TrqMax and minimum calibration magnitude TrqMin, if the value of engine self study torque EngTrqAdp is greater than maximum calibration magnitude
When TrqMax, the value that maximum calibration magnitude TrqMax is engine self study torque EngTrqAdp is directly taken, if engine is certainly
The value for learning torque EngTrqAdp is less than minimum calibration magnitude TrqMin, and directly taking minimum calibration magnitude TrqMin is engine
The value of self study torque EngTrqAdp.
Before self study process, second controller 22 sets self study setting number, and practical prison is chosen in each self study
The sampled point for surveying a unit period of torque judges whether to be more than setting number, if do not had after completing a self study
It is more than second controller 22 is chosen back to sampled point link is chosen in another unit period of actual monitoring torque
Sampled point carries out integral filter to the filtering input point and upper primary engine self study torque in the second controller 22
In wave step, last engine self study torque be on actual monitoring torque the corresponding engine of a unit period from
Learn torque EngTrqAdp, in the first unit period, engine self study torque is carried out in integral filtering step, last time hair
The selection of motivation self study torque can directly choose a preset value or initial value, can also choose last torque and learn by oneself
Result in habit process.When self study number be more than self study set number, be considered as and complete this self study, second controller
22 judge whether torque self study is completed, if completed, save data, and second controller 22 is by engine self study torque
EngTrqAdp update is deposited into second controller 22, i.e. memory block, and reset timer are not lost in power down in chip；Instead
Self study is presented as a result, engine self study torque EngTrqAdp is sent to the first controller 21, be then log out torque self study into
Journey；If it is not complete, then directly exiting torque self study process.
Traditional vehicle control device can be intended to the torque demand of accurately response driver according to driver's acceleration and deceleration, and
Engine torque self study is between the torque responsive accuracy different engines and in the different life of same engine
There is vital effect.
But existing engine torque self-learning method is opened up in part plug-in hybrid-power automobile or special power assembly
It flutters in framework and cannot achieve torque self study or effect is poor, due to the vehicle of traditional monomotor driving, the self-study of engine
It practises and being carried out based on traditional proportional-integral-differential (PID) idle speed control, rely heavily on target idling and actual idle speed
Deviation, and in mixed motor-car due to motor and engine Topology connection mode and it is mixed move control strategy, most cases issue
The not traditional idling operation of motivation (traditional idling operation: under the conditions of neutral gear and release the gas pedal, the torsion of engine output
Square does not do work externally outside running resistance square and each accessory losses for overcoming), and since motor is to engine output torque
Balanced action, engine speed fluctuations and target difference are smaller when operating, therefore can not be micro- by traditional proportional, integral-
Idle speed control is divided to carry out self study.The present invention is inserted by intermediate value and filtering method, using other calculation methods instead of ratio-
Integrated Derivative idle speed control carries out self study, is suitble to the topological structure of mixed electrical automobile power assembly.
In vehicle control system provided by the invention and its control method, the third controller is defeated according to the power
The operating condition of shaft obtains actual monitoring torque, and the actual monitoring torque is provided to the second controller；It is described
Second controller goes out engine self study torque according to the engine reality output torque and the actual monitoring torque arithmetic；
The second controller obtains described when calculating the engine reality output torque according to the engine self study torque
Engine reality output torque, can be with, it can be achieved that second controller adjusts output torque each time according to self study result
Identify the difference between engine reality output torque and actual monitoring torque, therefore the second control can be responded more accurately
Demand torque.
In addition, since third controller is electric machine controller, the more accurate reaction requirement of actual monitoring torque of measurement
The responsiveness of torque, the present invention pass through third controller (control driving motor) and second controller (control engine) and the
Torque information between one controller (vehicle power coordination) is shared, and the topological structure of mixed electrical automobile power assembly is suited；It is existing
Engine torque self study is to enter torque self study process by first mode, and first mode belongs to passive type (after entering operating condition
Trigger self study), the torque self study process carried out usually under the general case of vehicle driving and environment exists to vehicle
There is no reference significances for special travel situations and environment, and second controller can be entered torque self-study by first mode in the present invention
Habit process can also be entered torque self study process by second mode, combine automatic identification operating condition enter (being additionally related to multi-functional passive entry) and
Activly request enters self study two ways, not only has reference significance under general travel situations to vehicle, to some special
Vehicle driving situation also there is reference significance, flexibility is good；In addition, the control method in the present invention is related to a kind of software design
Method is not related to hardware cost.Using third controller, i.e., the advantage that electric machine controller accurately calculates torque can make up mixed dynamic nothing
The torque self study of idling operation.Torque self study in control method in the present invention is not by the limit of engine speed and torque
System theoretically can carry out self study in the section of most of range of speeds and load.The learning process time is short, under normal circumstances
It can be completed in 15s-30s.
The present invention is based on the progress of the power assembly topological structure of hybrid vehicle simplified as follows: air conditioning for automobiles, air blast
Machine, steering resistence pump, the conventional loads such as brake pump and headlight are not needed to do torque compensation by engine and be reserved.Intermediate manufacturer
First controller and third controller collection are become same power control unit (power train control unit), we
Engine torque self-learning strategy in method is equally applicable to such case.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment
For, due to corresponding to the methods disclosed in the examples, so being described relatively simple, related place is referring to method part illustration
?.
Foregoing description is only the description to present pre-ferred embodiments, not to any restriction of the scope of the invention, this hair
Any change, the modification that the those of ordinary skill in bright field does according to the disclosure above content, belong to the protection of claims
Range.
Claims (13)
1. a kind of vehicle control system, the vehicle control system controls a vehicle, and the vehicle includes engine, driving electricity
Machine, throttle gear and power output shaft, which is characterized in that the vehicle control system includes the first controller, second controller
With third controller, in which:
First controller is according to the position acquisition demand torque of the throttle gear；
First controller calculates the engine target output torque according to the demand torque, and by the engine
Target output torque is sent to second controller；
The second controller calculates the engine reality output torque according to the engine target output torque, described
Engine is according to the engine reality output torque to the power output shaft output torque；
The third controller obtains actual monitoring torque according to the operating condition of the power output shaft, and the reality is supervised
It surveys torque and is provided to the second controller；
The second controller goes out engine certainly according to the engine reality output torque and the actual monitoring torque arithmetic
Learn torque；
The second controller is obtained when calculating the engine reality output torque according to the engine self study torque
The engine reality output torque.
2. vehicle control system as described in claim 1, which is characterized in that the vehicle further includes battery system, and described
One controller provides institute to the engine and the driving motor according to the electricity of the demand torque and the battery system
State engine target output torque and motor target output torque.
3. vehicle control system as described in claim 1, which is characterized in that the power output shaft includes planet row external tooth
Circle, planet row bracket and planet row sun gear, in which:
The planet row outer gear ring connects a crankshaft of the engine, and the planet row sun gear connects the driving motor
Rotor, the planet row bracket connect the wheel of the vehicle.
4. vehicle control system as described in claim 1, which is characterized in that the second controller by by first mode into
Enter or torque self study process is entered by second mode, according to the engine reality output torque and the actual monitoring torque
Calculate engine self study torque.
5. vehicle control system as claimed in claim 4, which is characterized in that when the travel speed of the vehicle, engine are cold
But liquid temperature, engine air-fuel ratio, time since engine start, battery system electricity and engine stabilizer runing time reach requirement
When, the second controller enters torque self study process by first mode.
6. vehicle control system as claimed in claim 4, which is characterized in that when the travel speed of the vehicle, engine are real
Border output torque reaches with the difference of actual monitoring torque, engine air-fuel ratio, with the time that differs of last torque self study
It is required that when, the second controller enters torque self study process by second mode.
7. vehicle control system as claimed in claim 4, which is characterized in that the second controller enter torque self study into
Cheng Qian, the first controller of Xiang Suoshu send torque self study request signal.
8. vehicle control system as claimed in claim 7, which is characterized in that first controller allows second control
After device enters torque self study process, revolving speed, engine target output torque and the runing time of engine are set.
9. vehicle control system as claimed in claim 4, which is characterized in that the actual monitoring is arranged in the second controller
The unit period of torque chooses multiple sampled points in each unit period, and obtains maximum sampled point and minimum sampled point, leads to
It crosses maximum sampled point and minimum sampled point obtains intermediate samples point.
10. vehicle control system as claimed in claim 9, which is characterized in that the intermediate samples point calculates as follows:
SensedEngTrqRef=ary [min]+(ary [max]-ary [min])/2
Wherein: SensedEngTrqRef is intermediate samples point, and ary [min] is minimum sampled point, and ary [max] is maximum sampling
Point.
11. vehicle control system as claimed in claim 10, which is characterized in that the second controller is according to intermediate samples point
Filtering input point is obtained, the filtering input point is the difference of the engine reality output torque and the intermediate samples point.
12. vehicle control system as claimed in claim 11, which is characterized in that the second controller inputs the filtering
Point and last engine self study torque carry out integral filtering, obtain new engine self study torque.
13. a kind of control method of vehicle control system, which is characterized in that the control method of the vehicle control system includes:
The engine and driving motor of vehicle control system vehicle according to the throttle shift control of a vehicle, and to the vehicle
Power output shaft output torque；
First controller is according to the position acquisition demand torque of the throttle gear；
First controller calculates the engine target output torque according to the demand torque, and by the engine
Target output torque is sent to second controller；
The second controller calculates the engine reality output torque according to the engine target output torque, described
Engine is according to the engine reality output torque to the power output shaft output torque；
The third controller obtains actual monitoring torque according to the operating condition of the power output shaft, and the reality is supervised
It surveys torque and is provided to the second controller；
The second controller goes out engine certainly according to the engine reality output torque and the actual monitoring torque arithmetic
Learn torque；
The second controller is obtained when calculating the engine reality output torque according to the engine self study torque
The engine reality output torque.
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| CN102774374A (en) * | 2011-05-12 | 2012-11-14 | 上海汽车集团股份有限公司 | Torque monitoring system for hybrid electric vehicle |
| JP2013141917A (en) * | 2012-01-11 | 2013-07-22 | Denso Corp | Power output device of vehicle |
| CN104071147A (en) * | 2013-03-26 | 2014-10-01 | 北汽福田汽车股份有限公司 | Hybrid electric vehicle, and torque control method and device thereof |
| CN106467109A (en) * | 2015-08-17 | 2017-03-01 | 广州汽车集团股份有限公司 | A kind of torque control method of hybrid vehicle |
| CN206141309U (en) * | 2016-11-04 | 2017-05-03 | 广州汽车集团股份有限公司 | Hybrid synergy drive system and have its hybrid vehicle |
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Patent Citations (5)
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|---|---|---|---|---|
| CN102774374A (en) * | 2011-05-12 | 2012-11-14 | 上海汽车集团股份有限公司 | Torque monitoring system for hybrid electric vehicle |
| JP2013141917A (en) * | 2012-01-11 | 2013-07-22 | Denso Corp | Power output device of vehicle |
| CN104071147A (en) * | 2013-03-26 | 2014-10-01 | 北汽福田汽车股份有限公司 | Hybrid electric vehicle, and torque control method and device thereof |
| CN106467109A (en) * | 2015-08-17 | 2017-03-01 | 广州汽车集团股份有限公司 | A kind of torque control method of hybrid vehicle |
| CN206141309U (en) * | 2016-11-04 | 2017-05-03 | 广州汽车集团股份有限公司 | Hybrid synergy drive system and have its hybrid vehicle |
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