CN109795470A - An Active Vibration Reduction Method for Power System Based on Engine Instantaneous Torque Observer - Google Patents

An Active Vibration Reduction Method for Power System Based on Engine Instantaneous Torque Observer Download PDF

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CN109795470A
CN109795470A CN201811528655.0A CN201811528655A CN109795470A CN 109795470 A CN109795470 A CN 109795470A CN 201811528655 A CN201811528655 A CN 201811528655A CN 109795470 A CN109795470 A CN 109795470A
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engine
motor
torque
instantaneous torque
signal
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CN109795470B (en
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胡耀东
杨福源
杜磊
张宝迪
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Tsinghua University
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    • 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
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    • Y02T10/62—Hybrid vehicles

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Abstract

本发明提出一种基于发动机瞬时转矩观测器的动力系统主动减振方法，属于发动机、电机或混合动力系统电子控制领域。该方法令发动机按照设定工况运行；在每种工况下，整车控制单元采集发动机状态参数、控制参数以附加传感器信号；发动机瞬时转矩观测器根据上述参数和信号及曲轴信号估计得到发动机瞬时转矩波动信号发送到电机控制器；电机控制器计算目标谐波转矩并生成控制信号发送给电机；电机根据接收到的控制信号产生对应的谐波转矩；发动机的瞬时转矩和电机产生的谐波转矩同时作用在传动轴上，实现动力系统的减振。本发明无需在动力系统上安装额外硬件，在电机上附加高频谐波转矩抑制传动系统振动，提高车辆驾驶的舒适性。

The invention provides an active vibration reduction method for a power system based on an engine instantaneous torque observer, which belongs to the field of electronic control of an engine, a motor or a hybrid power system. The method makes the engine run according to the set working conditions; in each working condition, the vehicle control unit collects the engine state parameters and control parameters to add sensor signals; the engine instantaneous torque observer is estimated based on the above parameters and signals and the crankshaft signal. The instantaneous torque fluctuation signal of the engine is sent to the motor controller; the motor controller calculates the target harmonic torque and generates a control signal to send to the motor; the motor generates the corresponding harmonic torque according to the received control signal; the instantaneous torque of the engine and The harmonic torque generated by the motor acts on the transmission shaft at the same time to realize the vibration reduction of the power system. The invention does not need to install additional hardware on the power system, and adds high-frequency harmonic torque on the motor to suppress the vibration of the transmission system and improve the driving comfort of the vehicle.

Description

A kind of dynamical system active damping method based on motor instant torque observer
Technical field
The invention belongs to engine, motor or hybrid power system field of electric control, one kind especially set out is based on starting The dynamical system active damping method of machine instantaneous torque observer.
Background technique
Engine startup is the key factor for influencing driving procedure comfort.Especially in hybrid power system, hair The high oil consumption operating condition (usually low speed, Smaller load) and idling of motivation are cancelled, and motor can be realized the quick of engine It starts.Therefore, during hybrid car travel, there is frequent starting and shut down in engine.It was started so reducing Vibration in journey is the key that guarantee hybrid vehicle comfort.In starting process, the vibration of engine is mainly derived from Two aspects, first, before engine is under fire (diesel engine is oil spout, and gasoline engine is plug ignition), pure compression and inertia Power will lead to the vibration of shafting；Second, the mutation of torque caused by engine is under fire can also cause the vibration of shafting.Equally, it is sending out During motivation variable load, it is each that the variation of distributive value (diesel engine) or combustion charge (gasoline engine) will lead to engine The gas load of cylinder changes, this will lead to the fluctuation of shafting revolving speed, threatens to the comfort of driving.
Existing dynamical system oscillation damping method mainly solves starting process by designing optimal starting speed curve Vibration problem.This method to engine and starts electric system progress Dynamic Modeling first, during research engine towing astern Shafting vibration characteristic.The index that can characterize level of vibration, such as revolution inhomogeneities coefficient are extracted again, are calculated by optimizing Method designs the optimal starting speed curve of engine, so that vibration index is optimal.Finally by closing for optimal starting speed Ring control, allows motor towing astern engine to start along optimal starting speed curve, with the validity of verification algorithm.But it is this Method needs to establish complicated physical model, and optimum results only realize that vibration index is optimal, it is difficult to compression hair when eliminating towing astern Vibration caused by motivation cylinder interior gas.Moreover, after engine is under fire, motor is usually no longer intervened, it is difficult to processing burning Vibration caused by torque mutation.In traditional engine power system, can also by installation flywheel and/torsion vibration absorber come Cut down the energy of vibration.There are also certain methods by the control parameter in change dynamic process, for example injection timing and exhaust gas are again Cycling rate realizes smooth start or variable load to limit the maximum pressure rate of rise in cylinder.Above-mentioned solution starting and variable load process Although the method for vibration can reduce vibration to a certain extent, the comfort of driving procedure is promoted, does not catch and causes The essential problem of the fluctuation of speed, i.e. torque ripple in engine working process.In hybrid power system, engine and motor There are mechanical couplings, the quick response speed of motor is by the pro-active intervention of motor come when cutting down engine operation, especially The fluctuation of speed in dynamic process provides possibility.
The control system of engine uses the control system based on torque, i.e., according to the accelerator pedal position of driver and starting Machine revolving speed tables look-up to obtain the torque-demand of engine.The based on engine torque-demand of other control parameters and revolving speed are tabled look-up It arrives.The torque-demand is the average torque of engine, rather than the fluctuation of the instantaneous torque of engine.Meanwhile average torque is not It can solve the high frequency problem of hybrid power system, such as vibration problem.
Summary of the invention
The purpose of the present invention is the shortcomings to overcome prior art, provide a kind of based on motor instant torque observation The dynamical system active damping method of device.The present invention does not need to install additional hardware in dynamical system, passes through engine wink When torque observer estimate that the fluctuation of the instantaneous torque of engine, motor control unit MCU passes through processing torque observer The instantaneous torque of estimation fluctuates, the harmonic torque of additional high on motor, inhibits the vibration of transmission system, improves vehicle drive The comfort of process.
The present invention proposes that a kind of dynamical system active damping method based on motor instant torque observer, feature exist In, method includes the following steps:
1) enable engine under the control of control unit of engine according to setting operating condition operation；
2) under every kind of operating condition, full-vehicle control unit acquires state parameter, control parameter and the additional sensing of engine Device signal；
3) motor instant torque observer receiving step 2) it the engine state parameters of acquisition, control parameter, additional passes The crankshaft signal that sensor signal and the encoder measurement by being mounted on crankshaft output end obtain carries out motor instant torque wave Dynamic estimation obtains motor instant torque ripple signal and is sent to electric machine controller；
4) electric machine controller is calculated target harmonic torque and is generated corresponding by motor instant torque ripple signal Control signal be sent to motor；
5) motor generates corresponding harmonic torque according to the control signal received；
6) harmonic torque that the instantaneous torque of engine and motor generate acts on transmission shaft simultaneously, realizes dynamical system Vibration damping.
The features of the present invention and beneficial effect are:
1) present invention need not increase additional hardware, and motor instant torque observer can be to the instantaneous torque of engine Fluctuation is estimated, guarantees the accurate response that motor changes motor torque.
2) instantaneous torque fluctuation of the MCU by processing torque observer estimation, the harmonic torque of additional high on motor, The harmonic torque and motor instant torque ripple collective effect realize the reduction of vibration in power train, in high control frequency domain.
3) active damping of power train, energy are realized in the high frequency control for the estimation and motor that the present invention is fluctuated by instantaneous torque More engine application scenes are enough in, there is very high practical value.
Detailed description of the invention
Fig. 1 is the overall flow figure of the method for the present invention.
Fig. 2 is the embodiment of the present invention using the implementation result schematic diagram after the method for the present invention.
Specific embodiment
The present invention proposes a kind of dynamical system active damping method based on motor instant torque observer, below with reference to The drawings and specific embodiments are further described as follows.
The present invention proposes a kind of dynamical system active damping method based on motor instant torque observer, overall flow As shown in Figure 1, method includes the following steps:
1) engine is enabled (in the present invention, to set under the control of ECU (control unit of engine) according to the operation of setting operating condition Operating condition can be any operating condition, include to start, shut down, accelerate and slow down etc., and there is no limit for application scenarios).
2) under every kind of operating condition, VCU (full-vehicle control unit) acquisition include but is not limited to engine state parameter (into Gas, cooling parameter), control parameter (oil spout, ER EGR Rate parameter) and supplemental sensor signal it is (attached in the present embodiment Adding sensor is that cylinder pressure sensor is installed in each cylinder of engine, and the cylinder pressure sensor acquires cylinder pressure signal；In reality In the operation of border, sensor can according to need addition).
3) motor instant torque observer receiving step 2 of the programming in VCU) acquisition engine state parameters, control Crankshaft signal (the encoder that parameter, supplemental sensor signal and the encoder measurement by being mounted on crankshaft output end processed obtain For obtaining the position of crankshaft, each electric-control motor has encoder, does not need additionally to install), it carries out motor instant and turns The estimation of square fluctuation, obtains motor instant torque ripple signal and is sent to electric machine controller MCU.
4) the target harmonic wave turn that can be realized shafting vibration damping is calculated by motor instant torque ripple signal in MCU Square and generation control signal accordingly and are sent to motor.
5) motor generates corresponding harmonic torque according to the control signal received；
6) harmonic torque that the instantaneous torque of engine and motor generate acts on transmission shaft simultaneously, passes through two kinds of power Cancelling out each other for source output torque fluctuation, reduces the fluctuation of speed of engine, improves the ride comfort of dynamical system, realizes dynamical system The vibration damping of system.
Engine, motor and ECU can use conventional components in the present invention.To realize frequency applications, VCU and MCU's CAN (Controller Area Network, controller local area network) transmission rate should be in the order of magnitude of 1ms.
The step 3) carries out the estimation of motor instant torque ripple, for each cylinder of engine, adoptable public affairs Formula is as follows:
Wherein, r is throw of crankshaft,For crank throw corner, β is connecting rod pivot angle, and λ=r/l is crank to connecting rod length ratio, and l is connecting rod Concentric reducer center is away from D is cylinder bore, pgFor gas in the jar absolute pressure, pbFor crank case gases absolute pressure, IcrankFor song Axis equivalent moment of inertia.Connecting rod pivot angleFor the friction torque of engine, with song Shaft position is related with instantaneous speed of crankshaft, can be obtained by empirical equation or laboratory facilities；mhzFor piston mass, mlAFor connecting rod Microcephaly's equivalent mass, ω are speed of crankshaft；
The target harmonic torque of the step 4) can be used following method and be calculated, for n Cylinder engine:
Wherein, Mt_iThe estimation of the motor instant torque ripple of i-th of cylinder of engine is represented, n is the cylinder number of engine. The implementation result of the method for the present invention is as shown in Figure 2.It is the torque ripple of engine during Typical start in Fig. 2.Grey in figure Dotted line is the fluctuation of speed of transmission system in traditional loading procedure, and solid black lines are using the fluctuation of speed after the method for the present invention. Typical engine startup includes two parts, i.e., before engine is under fire and after being under fire.(for bavin before engine ignition It is oil spout for oil machine, gasoline engine is plug ignition), motor drag engine accelerates.In compression stroke, piston compression cylinder Interior working medium, working medium pushes piston acting in expansion stroke, cylinder, and the variation of torque will lead to starting process during pure compression The fluctuation of middle revolving speed.After engine ignition, fuel combustion discharges heat, so that inner pressure of air cylinder increases suddenly, pushes piston Externally output burning torque.Therefore, the moment that engine is under fire will lead to the mutation of torque, and torque fluctuation range obviously increases. It can be seen that the fluctuation of speed of transmission system is obviously reduced, and ride comfort is improved after using this method.
The result example of attached drawing and above embodiment, which is merely to illustrate, reduces engine by additional motor harmonic torque The method and steps of starting process vibration.It may be noted that the starting process in attached drawing is only a typical case of dynamic process Scene, dynamic process should be including but not limited to the starting of engine, shutdown, variable load and speed changes.In addition, the conventional powertrain of application The algorithm that system or hybrid power configuration, the structure of all parts, model, connection type and manufacture craft and modules use It may be changed, all same transformation and improvement carried out based on the technical solution of the present invention should not arrange In addition in protection scope of the present invention.

Claims (4)

1.一种基于发动机瞬时转矩观测器的动力系统主动减振方法，其特征在于，该方法包括以下步骤：1. a dynamic system active vibration reduction method based on engine instantaneous torque observer, is characterized in that, this method comprises the following steps: 1)令发动机在发动机控制单元的控制下按照设定工况运行；1) Make the engine run according to the set working conditions under the control of the engine control unit; 2)在每种工况下，整车控制单元采集发动机的状态参数、控制参数以及附加传感器信号；2) Under each working condition, the vehicle control unit collects the state parameters, control parameters and additional sensor signals of the engine; 3)发动机瞬时转矩观测器接收步骤2)采集的发动机状态参数、控制参数、附加传感器信号以及由安装在曲轴输出端的编码器测量得到的曲轴信号，进行发动机瞬时转矩波动的估计，得到发动机瞬时转矩波动信号并发送到电机控制器；3) The engine instantaneous torque observer receives the engine state parameters, control parameters, additional sensor signals and the crankshaft signal measured by the encoder installed at the crankshaft output end collected in step 2), and estimates the instantaneous torque fluctuation of the engine to obtain the engine Instantaneous torque fluctuation signal and sent to the motor controller; 4)电机控制器通过发动机瞬时转矩波动信号，计算得到目标谐波转矩并生成相应的控制信号发送给电机；4) The motor controller calculates the target harmonic torque through the instantaneous torque fluctuation signal of the engine and generates a corresponding control signal to send to the motor; 5)电机根据接收到的控制信号产生对应的谐波转矩；5) The motor generates the corresponding harmonic torque according to the received control signal; 6)发动机的瞬时转矩和电机产生的谐波转矩同时作用在传动轴上，实现动力系统的减振。6) The instantaneous torque of the engine and the harmonic torque generated by the motor act on the transmission shaft at the same time to realize the vibration reduction of the power system. 2.如权利要求1所述的方法，其特征在于，所述附加传感器信号为缸内压力信号，该信号通过在发动机每个缸内安装缸压传感器获取。2 . The method of claim 1 , wherein the additional sensor signal is an in-cylinder pressure signal obtained by installing a cylinder pressure sensor in each cylinder of the engine. 3 . 3.如权利要求1所述的方法，其特征在于，所述步骤3)中进行发动机瞬时转矩波动的估计，表达式如下：3. method as claimed in claim 1, is characterized in that, carries out the estimation of engine instantaneous torque fluctuation in described step 3), and expression is as follows: 其中，r为曲柄半径，为曲拐转角，β为连杆摆角，λ＝r/l为曲柄连杆比，l为连杆大小头中心距，D为气缸直径，pg为缸内气体绝对压力，pb为曲轴箱气体绝对压力，Icrank为曲轴等效转动惯量；连杆摆角 为发动机的摩擦转矩；mhz为活塞质量，mlA为连杆小头等效质量，ω为曲轴转速。where r is the crank radius, is the crank angle, β is the swing angle of the connecting rod, λ=r/l is the crank connecting rod ratio, l is the center distance between the large and small heads of the connecting rod, D is the cylinder diameter, p g is the absolute pressure of the gas in the cylinder, and p b is the crankshaft The absolute pressure of the tank gas, I crank is the equivalent moment of inertia of the crankshaft; the connecting rod swing angle is the friction torque of the engine; m hz is the piston mass, m lA is the equivalent mass of the small end of the connecting rod, and ω is the crankshaft speed. 4.如权利要求3所述的方法，其特征在于，所述步骤4)中目标谐波转矩计算表达式如下：4. method as claimed in claim 3, is characterized in that, in described step 4), target harmonic torque calculation expression is as follows: 其中，Mt_i代表发动机第i个缸的发动机瞬时转矩波动的估计，n为发动机的缸数。Among them, M t_i represents the estimation of the engine instantaneous torque fluctuation of the ith cylinder of the engine, and n is the number of cylinders of the engine.
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CN110863912A (en) * 2019-10-11 2020-03-06 清华大学 Engine cylinder deactivation method utilizing active vibration reduction
CN113353053A (en) * 2021-06-23 2021-09-07 精进电动科技股份有限公司 Hybrid power system and method for acquiring engine crank angle in hybrid power system
CN113859216A (en) * 2021-10-28 2021-12-31 北京交通大学 Multi-condition active vibration reduction control method for hybrid power system based on vibration reduction waveform
CN114151216A (en) * 2021-10-29 2022-03-08 清华大学 Active vibration reduction control method and device based on cylinder pressure reconstruction

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CN114151216A (en) * 2021-10-29 2022-03-08 清华大学 Active vibration reduction control method and device based on cylinder pressure reconstruction

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