CN109677391B - Torque control method and device for hybrid electric vehicle and electronic equipment - Google Patents

Torque control method and device for hybrid electric vehicle and electronic equipment Download PDF

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Publication number
CN109677391B
CN109677391B CN201710973209.XA CN201710973209A CN109677391B CN 109677391 B CN109677391 B CN 109677391B CN 201710973209 A CN201710973209 A CN 201710973209A CN 109677391 B CN109677391 B CN 109677391B
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value
engine
torque
clutch
speed difference
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CN109677391A (en
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赵沂
耿鹏
李德晴
张鹏君
武笛
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SAIC Motor Corp Ltd
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SAIC Motor Corp Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • 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

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
  • Hybrid Electric Vehicles (AREA)

Abstract

The invention provides a torque control method, a device and electronic equipment for a hybrid electric vehicle, wherein the method comprises the following steps: when the fact that the depth value of the accelerator pedal is larger than the depth threshold value is detected, the rotating speed difference value of the driving end and the driven end of the first clutch is calculated in real time; judging whether the absolute values of all the calculated rotation speed difference values in a preset time period are smaller than a rotation speed difference threshold value or not; if not, calculating a required torque value of the driving end of the first clutch, and controlling the engine to adjust the torque value of the engine according to the required torque value and the current rotating speed difference value of the driving end and the driven end of the first clutch; and calculating a torque difference value between the required torque value and the adjusted engine torque value, and controlling the first motor to adjust the torque value of the first motor according to the torque difference value. According to the method disclosed by the invention, the torque values of the engine and the first motor are coordinately controlled according to the required torque value of the driving end of the first clutch, so that the purpose of quickly adjusting the rotating speed of the driving end of the first clutch is achieved, and the smoothness of a driving system in the switching process is also ensured.

Description

Torque control method and device for hybrid electric vehicle and electronic equipment
Technical Field
The invention relates to the technical field of new energy automobiles, in particular to a torque control method and device for a hybrid electric vehicle and electronic equipment.
Background
Fig. 1 is a schematic structural diagram of a power system of a hybrid electric vehicle, wherein the power system comprises three power sources: the engine 10 and the first electric machine 20 are located at the driving end of the first clutch 30, and the second electric machine 60 is located at the driving end of the second clutch 30, wherein the engine 10, the first electric machine 20 and the first clutch 30 are rigidly connected, and the first clutch 30 and the second clutch 50 are connected through the speed change mechanism 40.
At present, a hybrid electric vehicle generally adopts a series-connection driving system and a parallel-connection driving system, wherein in the series-connection driving system, a first clutch is opened, a second clutch is closed, and a second motor drives the vehicle to run; in the parallel type driving system, the first clutch and the second clutch are closed, and the first motor, the second motor and the engine drive the vehicle to run together.
The technical staff in the field needs to solve the problem that how to quickly coordinate the rotation speed consistency of the driving end and the driven end of the first clutch in order to ensure that the driving system is switched from the series connection to the parallel connection, that is, the whole vehicle does not shake in the process of closing the first clutch.
Disclosure of Invention
In view of this, the present invention provides a method, an apparatus and an electronic device for controlling a torque of a hybrid vehicle, so as to solve the problem of how to quickly coordinate the rotational speeds of the driving end and the driven end of the first clutch to be consistent. The technical scheme is as follows:
a torque control method for a hybrid vehicle, comprising:
when the fact that the depth value of the accelerator pedal is larger than the depth threshold value is detected, the rotating speed difference value of the driving end and the driven end of the first clutch is calculated in real time;
judging whether the absolute values of all the calculated rotation speed difference values in a preset time period are smaller than a rotation speed difference threshold value;
if not, calculating a required torque value of the driving end of the first clutch, and controlling an engine to adjust an engine torque value according to the required torque value and the current rotation speed difference value of the driving end and the driven end of the first clutch;
and calculating a torque difference value between the required torque value and the adjusted engine torque value, and controlling the first motor to adjust the torque value of the first motor according to the torque difference value.
Preferably, the method further comprises the following steps:
and if so, generating prompt information for representing that the rotating speeds of the driving end and the driven end of the first clutch are consistent.
Preferably, the calculating the value of the torque required at the driving end of the first clutch includes:
calculating the rotating speed change rate of the driven end of the first clutch in the preset time period, and calculating the compensation torque value of the driving end of the first clutch according to the rotating speed change rate;
calculating an adjusting torque value of the driving end of the first clutch according to all the rotating speed differences calculated in the preset time period and a preset proportional-integral-derivative algorithm;
and calculating a required torque value of the driving end of the first clutch according to the compensation torque value and the adjustment torque value.
Preferably, the controlling the engine to adjust the engine torque value according to the required torque value and the current rotation speed difference value of the driving and driven end of the first clutch includes:
comparing the required torque value with a current engine torque value;
when the required torque value is larger than the current engine torque value, controlling the engine to carry out torque increasing operation on the basis of the current engine torque value according to a preset torque increasing rule;
when the required torque value is smaller than the current engine torque value, judging whether the engine is in a fuel cut-off state;
when the engine is not in an oil cut-off state, judging whether the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is smaller than an oil cut-off rotating speed difference threshold value or not;
when the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is smaller than the oil-cut rotating speed difference threshold value, controlling the engine to perform torque reduction operation on the basis of the current engine torque value according to a preset torque reduction rule;
when the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is not smaller than the oil-cut rotating speed difference threshold value, the engine is switched to an oil-cut state, and the engine is controlled to perform torque reduction operation on the basis of the current engine torque value according to a preset oil-cut torque reduction rate;
when the engine is in an oil cut-off state, judging whether the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is smaller than an oil supply rotating speed difference threshold value or not;
and when the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is smaller than the oil supply rotating speed difference threshold value, switching the engine to an oil supply state, and controlling the engine to perform torque reduction operation on the basis of the current engine torque value according to a preset torque reduction rule.
Preferably, the controlling the engine to perform torque reduction operation on the basis of the current engine torque value according to a preset torque reduction rule includes:
determining an engine torque reduction rate according to the current rotating speed difference value of the driving end and the driven end of the first clutch, the current engine torque value and the maximum torque value of the first motor;
judging whether the torque reduction rate of the engine is greater than a torque reduction rate threshold value;
if so, controlling the engine to adjust an ignition angle according to the torque reduction rate of the engine, and performing torque reduction operation on the adjusted ignition angle on the basis of the current engine torque value;
and if not, controlling the engine to adjust a throttle valve according to the torque reduction rate of the engine, and performing torque reduction operation on the adjusted throttle valve on the basis of the current engine torque value.
A hybrid vehicle torque control device comprising: the device comprises a calculation module, a judgment module, a first calculation control module and a second calculation control module;
the calculation module is used for calculating the rotating speed difference value of the driving end and the driven end of the first clutch in real time when the fact that the depth value of the accelerator pedal is larger than the depth threshold value is detected;
the judging module is used for judging whether the absolute values of all the calculated rotating speed difference values in a preset time period are smaller than a rotating speed difference threshold value; if not, triggering the first calculation control module;
the first calculation control module is used for calculating a required torque value of the driving end of the first clutch and controlling an engine to adjust an engine torque value according to the required torque value and the current rotating speed difference value of the driving end and the driven end of the first clutch;
and the second calculation control module is used for calculating a torque difference value between the required torque value and the adjusted engine torque value and controlling the first motor to adjust the first motor torque value according to the torque difference value.
Preferably, the first calculation control module, configured to calculate a value of the torque required at the active end of the first clutch, is specifically configured to:
calculating the rotating speed change rate of the driven end of the first clutch in the preset time period, and calculating the compensation torque value of the driving end of the first clutch according to the rotating speed change rate; calculating an adjusting torque value of the driving end of the first clutch according to all the rotating speed differences calculated in the preset time period and a preset proportional-integral-derivative algorithm; and calculating a required torque value of the driving end of the first clutch according to the compensation torque value and the adjustment torque value.
Preferably, the first calculation control module, configured to control the engine to adjust the engine torque value according to the required torque value and the current rotation speed difference value at the driving end and the driven end of the first clutch, is specifically configured to:
comparing the required torque value with a current engine torque value; when the required torque value is larger than the current engine torque value, controlling the engine to carry out torque increasing operation on the basis of the current engine torque value according to a preset torque increasing rule; when the required torque value is smaller than the current engine torque value, judging whether the engine is in a fuel cut-off state; when the engine is not in an oil cut-off state, judging whether the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is smaller than an oil cut-off rotating speed difference threshold value or not; when the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is smaller than the oil-cut rotating speed difference threshold value, controlling the engine to perform torque reduction operation on the basis of the current engine torque value according to a preset torque reduction rule; when the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is not smaller than the oil-cut rotating speed difference threshold value, the engine is switched to an oil-cut state, and the engine is controlled to perform torque reduction operation on the basis of the current engine torque value according to a preset oil-cut torque reduction rate; when the engine is in an oil cut-off state, judging whether the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is smaller than an oil supply rotating speed difference threshold value or not; and when the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is smaller than the oil supply rotating speed difference threshold value, switching the engine to an oil supply state, and controlling the engine to perform torque reduction operation on the basis of the current engine torque value according to a preset torque reduction rule.
Preferably, the first calculation control module, configured to control the engine to perform a torque reduction operation on the basis of the current engine torque value according to a preset torque reduction rule, is specifically configured to:
determining an engine torque reduction rate according to the current rotating speed difference value of the driving end and the driven end of the first clutch, the current engine torque value and the maximum torque value of the first motor; judging whether the torque reduction rate of the engine is greater than a torque reduction rate threshold value; if so, controlling the engine to adjust an ignition angle according to the torque reduction rate of the engine, and performing torque reduction operation on the adjusted ignition angle on the basis of the current engine torque value; and if not, controlling the engine to adjust a throttle valve according to the torque reduction rate of the engine, and performing torque reduction operation on the adjusted throttle valve on the basis of the current engine torque value.
An electronic device, comprising: a memory and a processor;
the memory is used for storing programs;
the processor is configured to execute a program stored in the memory, wherein the program is configured to:
when the fact that the depth value of the accelerator pedal is larger than the depth threshold value is detected, the rotating speed difference value of the driving end and the driven end of the first clutch is calculated in real time;
judging whether the absolute values of all the calculated rotation speed difference values in a preset time period are smaller than a rotation speed difference threshold value;
if not, calculating a required torque value of the driving end of the first clutch, and controlling an engine to adjust an engine torque value according to the required torque value and the current rotation speed difference value of the driving end and the driven end of the first clutch;
and calculating a torque difference value between the required torque value and the adjusted engine torque value, and controlling the first motor to adjust the torque value of the first motor according to the torque difference value.
Compared with the prior art, the invention has the following beneficial effects:
the invention discloses a torque control method, a device and electronic equipment for a hybrid electric vehicle, wherein the method determines the switching moment of a driving system by comparing the detected depth value of an accelerator pedal with a depth threshold value, and if the depth value of the accelerator pedal is greater than the depth threshold value, the rotating speed difference value of a driving end and a driven end of a first clutch is calculated in real time; further, whether the rotating speed between the driving end and the driven end of the first clutch needs to be regulated and controlled is determined by judging whether the absolute values of all the rotating speed difference values calculated in a preset time period are smaller than a rotating speed threshold value; if not, the engine and the first motor are controlled to adjust the torque value of the engine and the first motor by calculating the required torque value of the driving end of the first clutch.
Because the rotating speed of the driven end of the first clutch is directly determined by the depth of the accelerator pedal and the engine, the first motor and the first clutch are rigidly connected, the torque values of the engine and the first motor are coordinately controlled according to the required torque value of the driving end of the first clutch based on the method disclosed by the invention, so that the aim of quickly adjusting the rotating speed of the driving end of the first clutch can be achieved, and the smoothness of a driving system in the switching process is also ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of a powertrain configuration of a hybrid vehicle;
FIG. 2 is a flowchart illustrating a method for controlling torque of a hybrid vehicle according to an embodiment of the present invention;
FIG. 3 is a partial method flowchart of a method for controlling torque of a hybrid vehicle according to an embodiment of the present invention;
FIG. 4 is a flowchart of a method for controlling torque of a hybrid vehicle according to an embodiment of the present invention;
FIG. 5 is a flowchart illustrating a method for controlling torque of a hybrid vehicle according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a torque control device of a hybrid vehicle according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a torque control method of a hybrid electric vehicle, and a flow chart of the method is shown in figure 2, and the method comprises the following steps:
s101, when the fact that the depth value of the accelerator pedal is larger than a depth threshold value is detected, calculating a rotating speed difference value of a driving end and a driven end of a first clutch in real time;
in the process of executing the step S101, determining a torque demand of the driver by detecting a depth value of the accelerator pedal, and when the detected depth value of the accelerator pedal is greater than a depth threshold value, indicating that the torque demand of the driver is greater, switching the driving system from a series type driving system to a parallel type driving system, wherein in the series type driving system, the vehicle is driven to run by only the second motor, and the engine and the first motor can be charged according to the electric quantity of the battery;
in addition, in the process of calculating the rotation speed difference value of the driving end and the driven end of the first clutch in real time, the rotation speed values of the driving end and the driven end of the first clutch are firstly obtained, and further, the rotation speed difference value between the driving end and the driven end of the first clutch is calculated.
S102, judging whether absolute values of all rotation speed difference values obtained by calculation in a preset time period are smaller than a rotation speed difference threshold value; if not, executing step S103;
in the process of executing step S102, in the practical application process, there is a certain error in the adjustment of the rotation speed of the driving end and the driven end of the first clutch, so that, to ensure the practicability, the comparison processing between all the rotation speed difference values calculated within the preset time period and the rotation speed difference threshold value can be performed, thereby determining whether the adjustment of the rotation speed of the driving end and the driven end of the first clutch is consistent;
in addition, if the absolute values of all the rotation speed difference values calculated in the preset time period are smaller than the rotation speed difference threshold value, prompt information for representing the consistency of the rotation speeds of the driving end and the driven end of the first clutch is generated; the prompting device receives the prompting information and can prompt that the rotating speeds of the driving end and the driven end of the first clutch are consistent in a preset mode; for example, the prompting device may be a prompting lamp, and the flashing, lighting or changing the display color of the prompting lamp may indicate that the rotation speeds of the driving end and the driven end of the first clutch are consistent.
S103, calculating a required torque value of the driving end of the first clutch, and controlling the engine to adjust the torque value of the engine according to the required torque value and the current rotating speed difference value of the driving end and the driven end of the first clutch;
in a specific implementation process, the step of "calculating the required torque value of the driving end of the first clutch" in step S103 may specifically adopt the following steps, and a flowchart of the method is shown in fig. 3:
s1001, calculating the rotating speed change rate of the driven end of the first clutch in a preset time period, and calculating the compensation torque value of the driving end of the first clutch according to the rotating speed change rate;
in the process of executing step S1001, all rotation speed values of the first clutch driven end in a preset time period are obtained first, and then the first obtained rotation speed value and the last obtained rotation speed value may be selected according to the obtaining time, so as to calculate the rotation speed change rate of the first clutch driven end in the preset time period, or set a rotation speed change rate calculation rule according to actual needs, which is not limited in this embodiment;
in addition, the compensation torque value of the driving end of the first clutch can be calculated according to the following formula (1):
V＝a*(b+c+d) (1)
the compensation torque value of the driving end of the first clutch is V, the rotating speed change rate of the driven end of the first clutch in a preset time period is a, the preset rotating speed inertia of the driving end of the first clutch is b, the preset rotating speed inertia of the rotor of the first motor is c, and the preset rotating speed inertia of the flywheel of the engine is d.
S1002, calculating an adjusting torque value of the driving end of the first clutch according to all the rotating speed differences obtained by calculation in a preset time period and a preset proportional-integral-derivative algorithm;
in the process of calculating the adjusting torque value of the driving end of the first clutch by adopting a preset proportional-integral-derivative algorithm, firstly, calculating a P item adjusting torque value, an I item adjusting torque value and a D item adjusting torque value, and further determining the sum of the P item adjusting torque value, the I item adjusting torque value and the D item adjusting torque value as the adjusting torque value of the driving end of the first clutch;
the P item adjusting torque value is the product of the current rotating speed difference value of the driving end and the driven end of the first clutch and a corresponding P item calibration value, wherein the P item calibration value can be determined according to a mapping relation of an initial rotating speed difference value in a preset time period, the current rotating speed difference value and the P item calibration value, which is generated in advance, wherein the initial rotating speed difference value is the rotating speed value with the earliest acquisition time in the preset time period;
the I item adjusting torque value is an iterative sum of a current rotating speed difference value of a driving end and a driven end of the first clutch, a product of corresponding I item calibration values and the last step length I item adjusting torque value, wherein the I item calibration value can be determined according to a mapping relation of an initial rotating speed difference value in a preset time period, the current rotating speed difference value and the I item calibration value, which is generated in advance, wherein the initial rotating speed difference value is a rotating speed value which is obtained in the earliest time in the preset time period;
the D item adjusting torque value is a product value of a difference between a current rotating speed difference value of a driving end and a driven end of the first clutch and a previous step length current rotating speed difference value and a corresponding D item calibration value, wherein the D item calibration value can be determined according to a mapping relation of an initial rotating speed difference value in a preset time period, the current rotating speed difference value and the I item calibration value, which is generated in advance, and the initial rotating speed difference value is a rotating speed value which is obtained in the earliest time in the preset time period.
S1003, calculating a required torque value of the driving end of the first clutch according to the compensation torque value and the adjustment torque value;
in the process of performing step S1003, the value of the required torque of the driving end of the first clutch may be calculated according to the following equation (2):
W＝e*α+f*β (2)
where W is the demanded torque value of the driving end of the first clutch, e is the compensation torque value, α is the compensation torque weight value, f is the adjustment torque value, β is the adjustment torque weight value, and α + β is 1, preferably α and β are 0.5, respectively.
It should be noted that the calculation sequence of the compensation torque value and the adjustment torque value may be specifically set according to actual needs, that is, step S1001 and step S1002 may be executed simultaneously, or step S1002 and step S1001 may be executed first.
In a specific implementation process, in step S103, "control the engine to adjust the engine torque value according to the required torque value and the current rotation speed difference value of the driving end and the driven end of the first clutch" may specifically adopt the following steps, and a flowchart of the method is shown in fig. 4:
s1004, comparing the required torque value with the current engine torque value;
s1005, when the required torque value is larger than the current engine torque value, controlling the engine to carry out torque-up operation on the basis of the current engine torque value according to a preset torque-up rule;
in the process of executing step S1005, the preset torque-up rule may be specifically set according to actual needs, and may be a preset torque-up rate, or of course, the torque-up rate corresponding to the current engine torque value may also be determined according to a mapping relationship between the pre-generated engine torque value and the torque-up rate, and the engine is further controlled to perform the torque-up operation on the basis of the current engine torque value at the torque-up rate.
S1006, when the required torque value is smaller than the current engine torque value, judging whether the engine is in a fuel cut-off state; when the engine is not in the fuel cut-off state, executing step S1007; when the engine is in the fuel cut-off state, executing step S1010;
s1007, judging whether the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is less than the oil-cut rotating speed difference threshold value; when the absolute value of the current rotation speed difference value of the driving end and the driven end of the first clutch is smaller than the oil-cut rotation speed difference threshold value, executing the step S1008; when the absolute value of the current rotation speed difference value of the driving end and the driven end of the first clutch is not less than the oil-cut rotation speed difference threshold, executing step S1009;
s1008, controlling the engine to perform torque reduction operation on the basis of the current engine torque value according to a preset torque reduction rule;
s1009, switching the engine to an oil-cut-off state, and controlling the engine to perform torque reduction operation on the basis of the current engine torque value according to a preset oil-cut-off torque reduction rate;
s1010, judging whether the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is smaller than an oil supply rotating speed difference threshold value or not; when the absolute value of the current rotation speed difference value of the driving end and the driven end of the first clutch is smaller than the oil supply rotation speed difference threshold, executing step S1011;
and S1011, switching the engine to an oil supply state, and controlling the engine to perform torque reduction operation on the basis of the current engine torque value according to a preset torque reduction rule.
It should be noted that when the required torque value is equal to the current engine torque value, and when the absolute value of the current rotation speed difference value at the driving end and the driven end of the first clutch is not less than the fuel supply rotation speed difference threshold value, no operation is performed.
In a specific implementation process, in steps S1008 and S1011, "controlling the engine to perform the torque reduction operation based on the current engine torque value according to the preset torque reduction rule" may specifically adopt the following steps, and a flowchart of the method is shown in fig. 5:
s10001, determining an engine torque reduction rate according to a current rotating speed difference value of a driving end and a driven end of a first clutch, a current engine torque value and a maximum torque value of a first motor;
in the process of executing step S10001, the engine torque reduction rate corresponding to the current rotation speed difference value, the current engine torque value and the maximum torque value of the first electric machine may be determined according to a mapping relationship among the rotation speed difference value, the engine torque value, the torque value of the first electric machine and the engine torque reduction rate, which are generated in advance.
S10002, judging whether the torque reduction rate of the engine is larger than a torque reduction rate threshold value or not; if yes, go to step S10003; if not, executing step S10004;
s10003, controlling the engine to adjust an ignition angle according to the torque reduction rate of the engine, and performing torque reduction operation according to the adjusted ignition angle on the basis of the current engine torque value;
s10004, controlling the engine to adjust the throttle according to the engine torque reduction rate, and performing torque reduction operation on the adjusted throttle on the basis of the current engine torque value.
S104, calculating a torque difference value between the required torque value and the adjusted engine torque value, and controlling the first motor to adjust the torque value of the first motor according to the torque difference value;
in the process of executing step S104, the required torque value is preferentially satisfied by the engine, and further, the torque difference that is not achieved by the engine is compensated by the first electric machine.
The above steps S1001 to S1003 are only one preferred implementation of the "calculating the required torque value of the driving end of the first clutch" process in step S103 disclosed in the embodiment of the present application, and the specific implementation of this process may be arbitrarily set according to its own requirements, and is not limited herein.
The above steps S1004 to S1011 are only one preferred implementation manner of the process of "controlling the engine to adjust the engine torque value according to the required torque value and the current rotation speed difference value of the driving end and the driven end of the first clutch" in step S103 disclosed in the embodiment of the present application, and the specific implementation manner of this process may be arbitrarily set according to its own requirements, and is not limited herein.
The above steps S10001 to S10004 are only a preferred implementation manner of the process of "controlling the engine to perform the torque reduction operation based on the current engine torque value according to the preset torque reduction rule" in step S1008 and step S1011 disclosed in the embodiment of the present application, and the specific implementation manner of the process may be arbitrarily set according to the own requirement, and is not limited herein.
According to the torque control method for the hybrid electric vehicle disclosed by the embodiment of the invention, the torque values of the engine and the first motor are coordinately controlled according to the required torque value of the driving end of the first clutch, so that the aim of quickly adjusting the rotating speed of the driving end of the first clutch is fulfilled, and the smoothness of a driving system in the switching process is also ensured.
Based on the torque control method of the hybrid electric vehicle disclosed by the embodiment, the embodiment of the invention discloses a torque control device of the hybrid electric vehicle, the structural schematic diagram of which is shown in fig. 6, and the torque control device comprises the following components: the system comprises a calculation module 101, a judgment module 102, a first calculation control module 103 and a second calculation control module 104;
the calculating module 101 is configured to calculate a rotation speed difference value of a driving end and a driven end of the first clutch in real time when it is detected that the depth value of the accelerator pedal is greater than a depth threshold value;
the judging module 102 is configured to judge whether absolute values of all the calculated rotation speed differences within a preset time period are smaller than a rotation speed difference threshold; if not, triggering the first calculation control module 103;
the first calculation control module 103 is used for calculating a required torque value of the driving end of the first clutch and controlling the engine to adjust the torque value of the engine according to the required torque value and the current rotation speed difference value of the driving end and the driven end of the first clutch;
the second calculation control module 104 is configured to calculate a torque difference between the requested torque value and the adjusted engine torque value, and control the first motor to adjust the first motor torque value according to the torque difference.
Preferably, the first calculation control module 103 for calculating the active end of the first clutch torque demand value is specifically configured to:
calculating the rotating speed change rate of the driven end of the first clutch in a preset time period, and calculating the compensation torque value of the driving end of the first clutch according to the rotating speed change rate; calculating an adjusting torque value of the driving end of the first clutch according to all the rotating speed differences obtained by calculation in a preset time period and a preset proportional-integral-derivative algorithm; and calculating a required torque value of the driving end of the first clutch according to the compensation torque value and the adjustment torque value.
Preferably, the first calculation control module 103 is configured to control the engine to adjust the engine torque value according to the required torque value and the current rotation speed difference value of the first clutch driving and driven end, and is specifically configured to:
comparing the required torque value with the current engine torque value; when the required torque value is larger than the current engine torque value, controlling the engine to perform torque increasing operation on the basis of the current engine torque value according to a preset torque increasing rule; when the required torque value is smaller than the current engine torque value, judging whether the engine is in a fuel cut-off state; when the engine is not in the fuel cut-off state, judging whether the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is smaller than the threshold of the fuel cut-off rotating speed difference; when the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is smaller than the oil-cut rotating speed difference threshold value, controlling the engine to perform torque reduction operation on the basis of the current engine torque value according to a preset torque reduction rule; when the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is not smaller than the oil-cut rotating speed difference threshold value, the engine is switched to an oil-cut state, and the engine is controlled to perform torque reduction operation on the basis of the current engine torque value according to a preset oil-cut torque reduction rate; when the engine is in an oil cut-off state, judging whether the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is smaller than an oil supply rotating speed difference threshold value or not; when the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is smaller than the oil supply rotating speed difference threshold value, the engine is switched to an oil supply state, and the engine is controlled to perform torque reduction operation on the basis of the current engine torque value according to a preset torque reduction rule.
Preferably, the first calculation control module 103 is configured to control the engine to perform a torque reduction operation based on the current engine torque value according to a preset torque reduction rule, and specifically is configured to:
determining an engine torque reduction rate according to a current rotating speed difference value of a driving end and a driven end of the first clutch, a current engine torque value and a maximum torque value of the first motor; judging whether the torque reduction rate of the engine is greater than a torque reduction rate threshold value or not; if so, controlling the engine to adjust the ignition angle according to the torque reduction rate of the engine, and performing torque reduction operation according to the adjusted ignition angle on the basis of the current engine torque value; if not, controlling the engine to adjust the throttle according to the engine torque reduction rate, and performing torque reduction operation on the adjusted throttle on the basis of the current engine torque value.
The torque control device for the hybrid electric vehicle disclosed by the embodiment of the invention coordinately controls the torque values of the engine and the first motor according to the required torque value of the driving end of the first clutch, so that the aim of quickly adjusting the rotating speed of the driving end of the first clutch is fulfilled, and the smoothness in the switching process of a driving system is also ensured.
Based on the torque control method and the torque control device for the hybrid electric vehicle provided by the above embodiments, an embodiment of the present invention provides an electronic device, a schematic structural diagram of which is shown in fig. 7, and the electronic device includes: a memory 201 and a processor 202;
a memory 201 for storing a program;
a processor 202 for executing a program stored in the memory 201, wherein the program is for:
when the fact that the depth value of the accelerator pedal is larger than the depth threshold value is detected, the rotating speed difference value of the driving end and the driven end of the first clutch is calculated in real time;
judging whether the absolute values of all the calculated rotation speed difference values in a preset time period are smaller than a rotation speed difference threshold value or not;
if not, calculating a required torque value of the driving end of the first clutch, and controlling the engine to adjust the torque value of the engine according to the required torque value and the current rotating speed difference value of the driving end and the driven end of the first clutch;
and calculating a torque difference value between the required torque value and the adjusted engine torque value, and controlling the first motor to adjust the torque value of the first motor according to the torque difference value.
According to the electronic equipment disclosed by the embodiment of the invention, the torque values of the engine and the first motor are coordinately controlled according to the required torque value of the driving end of the first clutch, so that the purpose of quickly adjusting the rotating speed of the driving end of the first clutch is achieved, and the smoothness of a driving system in the switching process is also ensured.
The torque control method, the torque control device and the electronic device for the hybrid electric vehicle provided by the invention are described in detail, specific examples are applied in the description to explain the principle and the implementation of the invention, and the description of the embodiments is only used to help understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include or include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (8)

1. A torque control method for a hybrid vehicle, comprising:
when the fact that the depth value of the accelerator pedal is larger than the depth threshold value is detected, the rotating speed difference value of the driving end and the driven end of the first clutch is calculated in real time;
judging whether the absolute values of all the calculated rotation speed difference values in a preset time period are smaller than a rotation speed difference threshold value;
if not, calculating a required torque value of the driving end of the first clutch, and controlling an engine to adjust an engine torque value according to the required torque value and the current rotation speed difference value of the driving end and the driven end of the first clutch;
calculating a torque difference value between the required torque value and the adjusted engine torque value, and controlling a first motor to adjust a first motor torque value according to the torque difference value;
wherein, the controlling the engine to adjust the engine torque value according to the required torque value and the current rotation speed difference value of the driving end and the driven end of the first clutch comprises the following steps:
comparing the required torque value with a current engine torque value;
when the required torque value is larger than the current engine torque value, controlling the engine to carry out torque increasing operation on the basis of the current engine torque value according to a preset torque increasing rule;
when the required torque value is smaller than the current engine torque value, judging whether the engine is in a fuel cut-off state;
when the engine is not in an oil cut-off state, judging whether the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is smaller than an oil cut-off rotating speed difference threshold value or not;
when the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is smaller than the oil-cut rotating speed difference threshold value, controlling the engine to perform torque reduction operation on the basis of the current engine torque value according to a preset torque reduction rule;
when the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is not smaller than the oil-cut rotating speed difference threshold value, the engine is switched to an oil-cut state, and the engine is controlled to perform torque reduction operation on the basis of the current engine torque value according to a preset oil-cut torque reduction rate;
when the engine is in an oil cut-off state, judging whether the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is smaller than an oil supply rotating speed difference threshold value or not;
and when the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is smaller than the oil supply rotating speed difference threshold value, switching the engine to an oil supply state, and controlling the engine to perform torque reduction operation on the basis of the current engine torque value according to a preset torque reduction rule.
2. The method of claim 1, further comprising:
and if so, generating prompt information for representing that the rotating speeds of the driving end and the driven end of the first clutch are consistent.
3. The method of claim 1, wherein the calculating the value of the torque required of the driving end of the first clutch includes:
calculating the rotating speed change rate of the driven end of the first clutch in the preset time period, and calculating the compensation torque value of the driving end of the first clutch according to the rotating speed change rate;
calculating an adjusting torque value of the driving end of the first clutch according to all the rotating speed differences calculated in the preset time period and a preset proportional-integral-derivative algorithm;
and calculating a required torque value of the driving end of the first clutch according to the compensation torque value and the adjustment torque value.
4. The method of claim 1, wherein controlling the engine to perform a torque-down operation based on the current engine torque value according to a preset torque-down rule comprises:
determining an engine torque reduction rate according to the current rotating speed difference value of the driving end and the driven end of the first clutch, the current engine torque value and the maximum torque value of the first motor;
judging whether the torque reduction rate of the engine is greater than a torque reduction rate threshold value;
if so, controlling the engine to adjust an ignition angle according to the torque reduction rate of the engine, and performing torque reduction operation on the adjusted ignition angle on the basis of the current engine torque value;
and if not, controlling the engine to adjust a throttle valve according to the torque reduction rate of the engine, and performing torque reduction operation on the adjusted throttle valve on the basis of the current engine torque value.
5. A torque control device for a hybrid vehicle, comprising: the device comprises a calculation module, a judgment module, a first calculation control module and a second calculation control module;
the calculation module is used for calculating the rotating speed difference value of the driving end and the driven end of the first clutch in real time when the fact that the depth value of the accelerator pedal is larger than the depth threshold value is detected;
the judging module is used for judging whether the absolute values of all the calculated rotating speed difference values in a preset time period are smaller than a rotating speed difference threshold value; if not, triggering the first calculation control module;
the first calculation control module is used for calculating a required torque value of the driving end of the first clutch and controlling an engine to adjust an engine torque value according to the required torque value and the current rotating speed difference value of the driving end and the driven end of the first clutch;
the second calculation control module is used for calculating a torque difference value between the required torque value and the adjusted engine torque value and controlling the first motor to adjust the first motor torque value according to the torque difference value;
the first calculation control module is used for controlling an engine to adjust the engine torque value according to the required torque value and the current rotation speed difference value of the driving end and the driven end of the first clutch, and is specifically used for:
comparing the required torque value with a current engine torque value; when the required torque value is larger than the current engine torque value, controlling the engine to carry out torque increasing operation on the basis of the current engine torque value according to a preset torque increasing rule; when the required torque value is smaller than the current engine torque value, judging whether the engine is in a fuel cut-off state; when the engine is not in an oil cut-off state, judging whether the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is smaller than an oil cut-off rotating speed difference threshold value or not; when the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is smaller than the oil-cut rotating speed difference threshold value, controlling the engine to perform torque reduction operation on the basis of the current engine torque value according to a preset torque reduction rule; when the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is not smaller than the oil-cut rotating speed difference threshold value, the engine is switched to an oil-cut state, and the engine is controlled to perform torque reduction operation on the basis of the current engine torque value according to a preset oil-cut torque reduction rate; when the engine is in an oil cut-off state, judging whether the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is smaller than an oil supply rotating speed difference threshold value or not; and when the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is smaller than the oil supply rotating speed difference threshold value, switching the engine to an oil supply state, and controlling the engine to perform torque reduction operation on the basis of the current engine torque value according to a preset torque reduction rule.
6. The apparatus according to claim 5, wherein the first calculation control module for calculating the active end of the required torque value of the first clutch is specifically configured to:
calculating the rotating speed change rate of the driven end of the first clutch in the preset time period, and calculating the compensation torque value of the driving end of the first clutch according to the rotating speed change rate; calculating an adjusting torque value of the driving end of the first clutch according to all the rotating speed differences calculated in the preset time period and a preset proportional-integral-derivative algorithm; and calculating a required torque value of the driving end of the first clutch according to the compensation torque value and the adjustment torque value.
7. The apparatus of claim 5, wherein the first computational control module configured to control the engine to perform a torque down operation based on the current engine torque value according to a preset torque down rule is specifically configured to:
determining an engine torque reduction rate according to the current rotating speed difference value of the driving end and the driven end of the first clutch, the current engine torque value and the maximum torque value of the first motor; judging whether the torque reduction rate of the engine is greater than a torque reduction rate threshold value; if so, controlling the engine to adjust an ignition angle according to the torque reduction rate of the engine, and performing torque reduction operation on the adjusted ignition angle on the basis of the current engine torque value; and if not, controlling the engine to adjust a throttle valve according to the torque reduction rate of the engine, and performing torque reduction operation on the adjusted throttle valve on the basis of the current engine torque value.
8. An electronic device, comprising: a memory and a processor;
the memory is used for storing programs;
the processor is configured to execute a program stored in the memory, wherein the program is configured to:
when the fact that the depth value of the accelerator pedal is larger than the depth threshold value is detected, the rotating speed difference value of the driving end and the driven end of the first clutch is calculated in real time;
judging whether the absolute values of all the calculated rotation speed difference values in a preset time period are smaller than a rotation speed difference threshold value;
if not, calculating a required torque value of the driving end of the first clutch, and controlling an engine to adjust an engine torque value according to the required torque value and the current rotation speed difference value of the driving end and the driven end of the first clutch;
calculating a torque difference value between the required torque value and the adjusted engine torque value, and controlling a first motor to adjust a first motor torque value according to the torque difference value;
wherein, the controlling the engine to adjust the engine torque value according to the required torque value and the current rotation speed difference value of the driving end and the driven end of the first clutch comprises the following steps:
comparing the required torque value with a current engine torque value;
when the required torque value is larger than the current engine torque value, controlling the engine to carry out torque increasing operation on the basis of the current engine torque value according to a preset torque increasing rule;
when the required torque value is smaller than the current engine torque value, judging whether the engine is in a fuel cut-off state;
when the engine is not in an oil cut-off state, judging whether the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is smaller than an oil cut-off rotating speed difference threshold value or not;
when the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is smaller than the oil-cut rotating speed difference threshold value, controlling the engine to perform torque reduction operation on the basis of the current engine torque value according to a preset torque reduction rule;
when the absolute value of the difference value of the current rotating speeds of the driving end and the driven end of the first clutch is not smaller than the threshold of the oil-cut-off rotating speed plus the speed difference, the engine is switched to an oil-cut-off state, and the engine is controlled to perform torque reduction operation on the basis of the torque value of the current engine according to a preset oil-cut-off torque reduction rate;
when the engine is in an oil cut-off state, judging whether the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is smaller than an oil supply rotating speed difference threshold value or not;
and when the absolute value of the current rotating speed difference value of the driving end and the driven end of the first clutch is smaller than the oil supply rotating speed difference threshold value, switching the engine to an oil supply state, and controlling the engine to perform torque reduction operation on the basis of the current engine torque value according to a preset torque reduction rule.
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CN110979307B (en) * 2019-12-31 2022-05-03 义乌吉利动力总成有限公司 Control method and device for switching series-parallel mode of double-motor power system
CN111779773B (en) * 2020-02-21 2022-06-03 义乌吉利动力总成有限公司 Clutch control method and device of double-motor hybrid system
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CN112606816B (en) * 2020-12-18 2022-09-23 潍柴动力股份有限公司 Clutch combination control method, device, equipment, storage medium and product
CN113978442B (en) * 2021-10-30 2024-03-19 蜂巢传动科技河北有限公司 Vehicle control method and unit, vehicle control system and vehicle
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CN114198430B (en) * 2021-12-20 2024-02-20 潍柴动力股份有限公司 Clutch engagement method, device, equipment and medium
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