CN110077409A - A kind of Series-Parallel HEV dynamic coordinate control method - Google Patents

A kind of Series-Parallel HEV dynamic coordinate control method Download PDF

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Publication number
CN110077409A
CN110077409A CN201910327270.6A CN201910327270A CN110077409A CN 110077409 A CN110077409 A CN 110077409A CN 201910327270 A CN201910327270 A CN 201910327270A CN 110077409 A CN110077409 A CN 110077409A
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China
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engine
torque
speed
control
motor
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CN201910327270.6A
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杜常清
廖英杰
张佩
颜伏伍
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Wuhan University of Technology WUT
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Wuhan University of Technology WUT
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Priority to CN201910327270.6A priority Critical patent/CN110077409A/en
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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
    • B60W10/02—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
    • B60W10/06—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
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B60W10/11—Stepped gearings
    • 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
    • B60W20/20—Control strategies involving selection of hybrid configuration, e.g. selection between series or parallel configuration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/19—Improvement of gear change, e.g. by synchronisation or smoothing gear shift
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/20—Reducing vibrations in the driveline
    • 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
    • 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
    • B60W2510/0657—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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0676—Engine temperature
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/08—Electric propulsion units
    • B60W2510/083—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles

Abstract

The invention discloses a kind of hybrid vehicle dynamic coordinate control methods, it is driven for front axle by engine+BSG motor+automatic mechanical transmission (AMT), rear axle is by driving motor+retarder driving hybrid power system, in mode handover procedure, BSG motor quick start engine simultaneously cooperates engine to carry out the control of PID speed closed loop synchronous variable-speed, it recycles the engine speed model that experiment is established in advance to help the tuning process of PID controller parameter with engine resistance torque model, finally carries out compensated torque control using rear-guard motor；It is using the closed-loop control of BSG motor speed that target gear engaging sleeve principal and subordinate moved end revolving speed is synchronous after reducing engine air throttle aperture and gearbox and exiting from current shift in gear handoff procedure.The present invention has comprehensively considered the state control of engine, BSG motor, rear-guard motor and clutch, meets in hybrid vehicle pattern switching and gear handoff procedure to ride comfort requirement.

Description

A kind of Series-Parallel HEV dynamic coordinate control method
Technical field
The invention belongs to the technical field of hybrid vehicle control, in particular to a kind of Series-Parallel HEV is dynamic State control method for coordinating.
Background technique
Hybrid vehicle has engine and the big power source of motor two, by vehicle driving between two kinds of power sources The advantages of mutual cooperation makes it have both conventional fuel oil automobile and pure electric automobile becomes and solves environmental problem and the energy in a short time The best vehicle of problem.
The drive mode of hybrid power automobile power system includes engine drive mode, pure electric vehicle drive mode and mixes Close drive mode.Wherein combination drive mode includes engine driving and drives the driving power generation mode of electric power generation and start again The motor assistant mode of machine driving and motor power-assisted.It can be seen that the operating mode of multiplicity and its between switching be that mixing is dynamic The key of power automotive energy-saving emission-reducing.
Hybrid vehicle due to its engine requirement command response phase especially also need engine ignition start, In the case where speed regulation, torque responsing speed is many slowly compared to motor, if this is resulted in pattern switching only according to original The target torque of first engine and motor will lead to the unstable or even controller pair of power transmission to control torque output The overshoot of engine, while hybrid vehicle energy management strategies will certainly add to reach the good purpose of fuel economy The complexity of acute dynamic process, thus the Dynamic coordinated control of hybrid vehicle directly affect vehicle driving ride comfort with Comfort is one of core control problem of hybrid vehicle.
At present the control method about hybrid vehicle dynamic coordinate be concentrated mainly on it is uniaxial it is parallel start it is mechanical, electrical Machine, speed changer are located on same shaft-driven hybrid electric vehicle, and for front axle by engine+BSG motor+automatic mechanical type Speed changer (AMT) driving, the dynamic coordinate control method for the hybrid power system that rear axle is driven by driving motor+retarder is but not It is common.
Summary of the invention
The present invention provides a kind of Series-Parallel HEV Dynamic coordinated control aiming at the deficiencies in the prior art Method.
To achieve the goals above, the Series-Parallel HEV dynamic coordinate control method designed by the present invention, It is characterized in that
Using the BSG motor in Series-Parallel HEV to the Dynamic coordinated control mistake of pattern switching and gear switching Engine output shaft in journey carries out PID speed closed loop control to reduce the impact of transmission system, guarantees the smooth of dynamic process Property；And pass through when the engine pedestal test carried out in advance establishes engine zero load with engine air throttle aperture α (%) and hair The engine speed model n=f (α, T) of motivation environment temperature T (DEG C) variation, and with engine speed n (r/min) and engine The engine resistance torque model T of environment temperature T (DEG C) variationf=F (n, T) helps the tuning process of PID controller parameter, reaches Stablize the time to shortening system and improves the purpose of the applicability of PID controller at different ambient temperatures.
In hybrid power system work-mode switching process:
(1) mistake that engine participates in the operating mode of driving is switched in the operating mode that no engine participates in driving Cheng Zhong:
Using BSG motor quick start engine and engine is cooperated to synchronize speed regulating control, works as engine output shaft Control clutch combines when revolving speed and clutch output revolving speed are consistent, then passes through the change of preset engine air throttle aperture Rate limits the output of engine dynamic torque, and carries out compensated torque to wheel demand torque using rear-guard motor；
(2) mistake that no engine participates in the operating mode of driving is switched in the operating mode for having engine to participate in driving Cheng Zhong:
The throttle opening of control engine declines according to preset aperture change rate, and controlling rear-guard motor need to wheel Ask torque carry out compensated torque, to engine torque drop to a certain extent after, gear box control unit TCU control clutch Disconnection, rear-guard motor makes an immediate response the target torque of itself at this time, and engine stop work, handoff procedure finishes；
During hybrid power system gear switching control:
After reducing engine air throttle aperture reduction engine output torque, gearbox is withdrawn into neutral gear, BSG motor Carrying out speed regulating control to engine output shaft makes it meet shift demand, executes into gear, and the input torque for restoring gearbox arrives The desired value of driver.
Further, in hybrid power system gear handoff procedure, BSG motor makes the control of engine output shaft revolving speed It meets shift demand specifically: speed changer target gear engaging sleeve principal and subordinate moved end rotational speed difference is made to narrow down to 50 (r/min) below.
Further, the engine air throttle aperture change rate value range is at [30%/s, 50%/s].
Further, engine rig test measurement engine is carried out in advance in preset throttle opening change rate Under, engine output torque and the relationship Map of engine air throttle aperture scheme under different engine speed, and in practical mould The real-time output torque of engine is obtained in formula handoff procedure by interpolation calculation of tabling look-up.
The present invention has the advantages that
In pattern switching, according to different mode switch cases, engine, BSG motor, rear-guard motor have been comprehensively considered With clutch this state control, be utilized BSG motor and engine cooperation synchronize speed regulating control and rear-guard motor Compensated torque control, effectively improve the ride comfort in mode handover procedure, and utilize the engine that experiment is established in advance Revolving speed model and engine resistance torque model have helped the tuning process of PID controller parameter；In gear switching, it is utilized BSG motor effectively reduces the transmission system punching in gear handoff procedure to the speed closed loop control of engine output shaft revolving speed It hits, improves driver comfort.
Detailed description of the invention
Fig. 1 is hybrid vehicle structural schematic diagram of the invention.
Fig. 2 is hybrid vehicle pattern switching dynamic coordinate control method flow chart of the invention.
Fig. 3 is hybrid-power automobile shift switching dynamic coordinate control method flow chart of the invention.
In figure:
VCU --- entire car controller；
BSG --- belt starts motor；
EMS --- engine management system；
MCU --- electric machine controller；
TCU --- gear box control unit；
AMT --- automatic mechanical transmission.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments:
Present invention is generally directed to front axles to be driven by engine+BSG motor+automatic mechanical transmission (AMT), and rear axle is by driving Move motor+retarder driving hybrid power system, Series-Parallel HEV Dynamic coordinated control designed by the present invention Method is specific as follows:
Fig. 1 is mixed power system structure figure of the invention, mainly includes rear-guard motor, BSG motor, electric machine controller MCU, engine, engine management system EMS, power battery, electrical load, entire car controller VCU, AMT gearbox, clutch Device, gear box control unit TCU, antero posterior axis main reducing gear.Wherein VCU coordinates EMS, MCU and TCU by CAN bus Accelerator pedal signal is controlled and acquires, EMS is used to limit engine air throttle rate of change and control engine output order turns Square, MCU are used to control motor output order torque, and TCU is used to monitor and manipulate the switching of gearbox gear and controls clutch Engaging process.
As shown in Fig. 2, hybrid vehicle progress mode handover procedure is specific as follows:
(1) mistake that engine participates in the operating mode of driving is switched in the operating mode that no engine participates in driving Cheng Zhong:
Step S201, driver's gas pedal aperture is obtained according to VCU and then the demand torque of vehicle, then base is calculated Judge whether current operating mode needs in the information such as demand torque and power battery electricity and in conjunction with vehicle energy management strategies Switch；
Step S202, VCU calculates engine at this time and driving motor according to hybrid vehicle energy management strategies Target torque, and control instruction is passed into engine management system EMS and electric machine controller MCU by CAN bus；
Step S203, after using BSG motor quick start engine, pattern switching Dynamic coordinated control enters clutch Combination stage, clutch output revolving speed when being switched at this time using emergence pattern is as rotating speed of target control BSG motor to starting Machine output shaft revolving speed carries out PID speed closed loop control, during which controls engine air throttle aperture and increases from zero to certain air throttle and open Degree definite value makes engine and BSG motor synchronize speed regulation, and utilizes and started in advance by what engine pedestal test was established The output data of machine revolving speed model and engine resistance torque model helps the tuning process of PID controller parameter；
In clutch combination stage, it can only be issued just since engine dynamic response is slow, and compared to for motor Torque, therefore engine response process when being adjusted the speed is slower and easy overshoot, the present invention utilize series parallel hybrid power vapour The distinctive design feature of vehicle, using the speed regulation capacity of the BSG motor of motor head ensure engine speed change it is steady and from Clutch principal and subordinate moved end is synchronous rapidly and combines, and substantially reduces the impact of clutch cohesive process.By carrying out engine bed in advance Start when engine zero load is established in frame experiment with what engine air throttle aperture α (%) and engine environmental temperature T (DEG C) changed Machine revolving speed model n=f (α, T) is hindered with the engine with engine speed n (r/min) and engine environmental temperature T (DEG C) variation Moment model Tf=F (n, T) helps PID control using the output of the engine speed model and engine resistance torque model The tuning process of device parameter simultaneously sets controller output limit value, can achieve system damping and rationally adjusts, when shortening system is stablized Between, it prevents controller control overshoot and improves the purpose of the applicability of PID controller at different ambient temperatures.If aforementioned synchronization Certain aperture definite value that the engine air throttle aperture of control increases from zero to is α0(%), wherein α0(%) is according to the engine The rotating speed of target n of revolving speed models coupling engine governed speed0(r/min) and the engine air throttle that estimates of actual ambient temperature Opening value.
Step S204, judge whether engine output shaft revolving speed is consistent with clutch output revolving speed, determined with this Whether continue to carry out speed regulating control to engine output shaft；
Step S205, the gear box control unit when engine output shaft revolving speed and clutch output revolving speed are consistent The combination of TCU control clutch；
Step S206, pattern switching Dynamic coordinated control enters the torque adjusting stage, passes through preset engine air throttle Rate of change limits the output of engine dynamic torque, reduces the process of engine dynamic response, improves engine output torque Stability；
In the present invention, if the preset throttle opening change rate of engine is Δ α/s (%/s), pass through engine pedestal reality Test tries under certain engine speed, the output oil consumption of engine and emission behaviour under different solar terms door aperture change rate, choosing Oil consumption is taken to rise small, discharge increases small throttle change rate range, and in order to keep the time of pattern switching short as far as possible, change rate is not Energy selection is too small, according to the experimental data to certain 1.6L natural aspiration gasoline engine, chooses throttle change rate Δ α/s (%/s) Value range be [30%/s, 50%/s], specific value should according to driver in real vehicle mode handover procedure to switching when Between determined with the judgement of the evaluation index of switching ride comfort, after determining engine and presetting throttle opening change rate, lead to It crosses and carries out engine rig test measurement in advance when engine air throttle aperture change rate is Δ α/s (%/s), turn in difference Fast n1(r/min)、n2(r/min)、n3(r/min)、n4(r/min) ... lower engine output torque and engine air throttle aperture Relationship Map figure, therefore in realistic model handoff procedure only need to can obtain the real-time of engine by interpolation calculation of tabling look-up Output torque.
Step S207, electric machine controller MCU is according to whole road wheel end demand torque TreqWith engine reality output torque Teng Compensation torque is calculated according to the following equation, and controls rear-guard motor and carries out compensated torque control, and specific formula is as follows:
In formula, igFor front axle AMT gearbox gear transmission ratio, i0For front axle final driver ratio, iretFor rear axle master Retarder transmission ratio.Therefore, by TmotCompensated torque is carried out with this as rear-guard motor target torque, so that mode handover procedure The actual wheel end output torque of middle dynamical system, which meets while driver takes turns the torque of end demand, guarantees that system torque adjusts the stage Ride comfort, and reduce engine transient fuel consumption and discharge.
It can satisfy the demand of hybrid vehicle mode handover procedure ride comfort through the above steps.
(2) mistake that no engine participates in the operating mode of driving is switched in the operating mode for having engine to participate in driving Cheng Zhong:
The throttle opening of control engine declines according to preset aperture change rate, makes engine output torque TengUnder Change in process is dropped to mitigate；Electric machine controller MCU is according to whole road wheel end demand torque TreqWith engine reality output torque TengIt presses Compensation torque is calculated according to the formula, and controls rear-guard motor and carries out compensated torque control, it is flat in Assured Mode handoff procedure It is pliable, to engine torque drop to a certain extent after, gear box control unit TCU control clutch disconnection, at this time after It drives motor to make an immediate response itself target torque, engine stop work, handoff procedure finishes.
As shown in figure 3, hybrid vehicle progress gear handoff procedure is specific as follows:
Step S301, judge whether the related operating parameter of automobile at this time reaches according to the shift schedule of vehicle first Shifting points judge whether gear is needed to switch at this time with this；
Step S302, the throttle opening for reducing engine reduces the output torque of engine, turns the output of engine Square is within the limit of power that BSG motor torque is adjusted；
Step S303, gear box control unit TCU controls gearbox and is withdrawn into neutral gear from current shift；
Step S304, what it is with target gear is to control mesh into gear synchronous rotational speed (speed changer target gear driven gear revolving speed) Mark, electric machine controller MCU controls BSG motor and carries out PID speed closed loop control to engine output shaft revolving speed, so that speed changer mesh It is synchronous to mark gear engaging sleeve principal and subordinate moved end revolving speed, greatly reduces shift shock；
Step S305, judge speed changer target gear engaging sleeve principal and subordinate moved end rotational speed difference whether narrow down to 50r/min hereinafter, Judge whether to need to continue to carry out speed regulating control to engine output shaft with this；
Step S306, after engine output shaft speed regulating control, gear box control unit TCU controls gearbox and executes It is operated into gear, hangs up target gear；
Step S307, the input torque of gearbox is restored to the expectation torque of driver after shift, guarantees gear Normal vehicle operation after the handoff procedure of position.
In gear handoff procedure, in order to guarantee the ride comfort of gear switching it is required that speed changer target gear engaging sleeve Principal and subordinate moved end realizes that revolving speed is synchronous, and the present invention utilizes the distinctive design feature of Series-Parallel HEV, before engine The BSG motor at end carries out PID speed closed loop control to engine output shaft revolving speed, reaches wanting for ride comfort in gear handoff procedure It asks.In the process, if the throttle opening of engine is from α1(%) drops to α2(%), corresponding motor torque is from Teng1 (Nm) drop to Teng2(Nm), wherein engine air throttle aperture α2(%) and corresponding torque Teng2It (Nm) is basis What the torque adjustable range of actual hybrid vehicle BSG motor determined, principle is so that the output that engine drops to turns Square Teng2(Nm) in the torque adjustable range of BSG motor, BSG motor is made to have the ability to adjust engine output shaft revolving speed Speed control, guarantees the ride comfort in gear handoff procedure.
The present invention uses above-mentioned dynamic coordinate control method, in pattern switching, according to different mode switch cases, Engine, BSG motor, rear-guard motor and clutch this state are comprehensively considered to control, BSG motor are utilized and starts Machine cooperation synchronizes the compensated torque control of speed regulating control and rear-guard motor, effectively improves smooth in mode handover procedure Property, and PID controller parameter has been helped using the engine speed model and engine resistance torque model that experiment is established in advance Tuning process；In gear switching, BSG motor is utilized to the speed closed loop control of engine output shaft revolving speed, effectively drops Transmission system impact in low gear handoff procedure, improves driver comfort.
Above embodiments are merely to illustrate design philosophy and feature of the invention, and its object is to make technology in the art Personnel can understand the content of the present invention and implement it accordingly, and protection scope of the present invention is not limited to the above embodiments.So it is all according to It is within the scope of the present invention according to equivalent variations made by disclosed principle, mentality of designing or modification.

Claims (4)

1. a kind of Series-Parallel HEV dynamic coordinate control method, the structure of the Series-Parallel HEV include It is rear-guard motor, BSG motor, electric machine controller MCU, engine, engine management system EMS, power battery, electrical load, whole Vehicle controller VCU, AMT gearbox, clutch, gear box control unit TCU, antero posterior axis main reducing gear；Wherein engine and BSG Motor driven front axle, rear-guard motor driven rear axle；
It is characterized by:
The Dynamic coordinated control is calculated whole by entire car controller VCU acquisition driver's gas pedal aperture The demand torque of vehicle, current based on vehicle energy management strategies judgement in conjunction with the information such as the demand torque and power battery electricity Operating mode simultaneously completes torque distribution, then the target torque of engine and motor is passed to engine management by CAN bus System and electric machine controller；
(1) hybrid power system operating mode switching control method:
During the operating mode that no engine participates in driving is switched to the operating mode of engine participation driving, Clutch combination stage ensures that engine speed variation is steady and clutch principal and subordinate moved end is fast with the speed regulation capacity of BSG motor Speed is synchronous and combines, and substantially reduces the impact of clutch cohesive process；
System torque after clutch combination adjusts the stage, and the air throttle rate of change by presetting engine limits engine Dynamic torque output, improves the stability of motor torque output, electric machine controller MCU is according to whole road wheel end demand torque Treq With engine reality output torque TengIt is as follows to control rear-guard motor output torque:
In formula, igFor front axle AMT gearbox gear transmission ratio, i0For front axle final driver ratio, iretFor the main deceleration of rear axle Device transmission ratio；By TmotCompensated torque control is carried out as rear-guard motor target torque, guarantees that system torque adjusts the smooth of stage Property；
During the operating mode for having engine to participate in driving is switched to the operating mode of no engine participation driving, control The throttle opening of engine processed declines according to preset aperture change rate, so that engine output torque TengIn decline process Middle variation mitigates；Electric machine controller MCU is according to whole road wheel end demand torque TreqWith engine reality output torque TengAccording to upper Formula calculates compensation torque, and controls rear-guard motor and carry out compensated torque control, and the ride comfort in Assured Mode handoff procedure is pending Motivation torque drop to a certain extent after, gear box control unit TCU controls the disconnection of clutch, and rear-guard motor is immediately at this time The target torque of itself, engine stop work are responded, handoff procedure finishes；
(2) hybrid power system gear method for handover control；
Hybrid power system reduces engine output torque in gear handoff procedure, by reducing engine air throttle aperture, Speed changer carries out BSG motor speed closed-loop control immediately after being withdrawn into neutral gear from current shift, control engine output revolving speed is fast Speed tracking target gear into gear synchronous rotational speed (speed changer target gear driven gear revolving speed), make speed changer target gear engage Set principal and subordinate moved end rotational speed difference narrows down to 50r/min rapidly hereinafter, then switching to target gear rapidly, greatly reduces shift punching It hits.
2. a kind of Series-Parallel HEV dynamic coordinate control method according to claim 1, it is characterised in that:
In the pattern switching Dynamic coordinated control, after using BSG motor quick start engine, with hybrid power vapour Vehicle start at this time carry out pattern switching when clutch output (transmission input shaft) revolving speed as rotating speed of target, motor control Device MCU controls BSG motor and carries out PID speed closed loop control to engine output shaft revolving speed and export corresponding motor torque, phase Between, control engine air throttle aperture increases from zero to certain throttle opening definite value and engine is synchronized with BSG motor Speed regulation, when input terminal (engine output end) revolving speed of clutch is consistent with output end (transmission input) revolving speed, Clutch is engaged, speed regulation process terminates.
3. a kind of Series-Parallel HEV dynamic coordinate control method according to claim 1, it is characterised in that:
In the pattern switching Dynamic coordinated control, controlled in the practical PID controller of engine and BSG motor synchronous variable-speed During parameter tuning, for parameter setting, unreasonable to cause system control overshoot or system to stablize the time longer with environment temperature Degree influences the problems such as function of the engine makes the universal adaptability of practical PID controller bad, by being sent out in advance With engine air throttle aperture α (%) and engine environmental temperature T (DEG C) variation when motivation platform experiment establishes engine zero load Engine speed model n=f (α, T), with the hair with engine speed n (r/min) and engine environmental temperature T (DEG C) variation Motivation moment of resistance model Tf=F (n, T) is helped using the output of the engine speed model and engine resistance torque model The tuning process of PID controller parameter simultaneously sets controller output limit value.
4. a kind of Series-Parallel HEV dynamic coordinate control method according to claim 1, it is characterised in that:
In the gear switching Dynamic coordinated control, the throttle opening for reducing engine reduces the output torque of engine, So that the adjusting of engine output torque within the limit of power that BSG motor torque is adjusted, is moved back in speed changer from current shift Out to after neutral gear with target gear into gear synchronous rotational speed (speed changer target gear driven gear revolving speed) be control target, motor Controller MCU is immediately controlled BSG motor and carries out PID speed closed loop control to engine output shaft revolving speed and export corresponding motor Torque, when speed changer target gear engaging sleeve principal and subordinate moved end, rotational speed difference narrows down to 50r/min or less, gear box control unit TCU control gearbox enters target gear immediately.
CN201910327270.6A 2019-04-23 2019-04-23 A kind of Series-Parallel HEV dynamic coordinate control method Pending CN110077409A (en)

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CN113771835A (en) * 2021-10-25 2021-12-10 吉林大学 Dynamic coordination control method for power domain of hybrid commercial vehicle
CN114228691A (en) * 2021-12-03 2022-03-25 清华大学苏州汽车研究院（吴江） Dynamic coordination control method and device for engine of hybrid electric vehicle
CN117416337A (en) * 2023-12-14 2024-01-19 南昌大学 Synchronous ring-free 3DHT power gear shifting control method
CN114228691B (en) * 2021-12-03 2024-04-26 清华大学苏州汽车研究院（吴江） Dynamic coordination control method and device for engine of hybrid electric vehicle

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CN112441006A (en) * 2019-08-28 2021-03-05 比亚迪股份有限公司 Engine torque compensation method, whole vehicle driving system and hybrid vehicle
CN110871780A (en) * 2019-10-17 2020-03-10 重庆蓝黛动力传动机械股份有限公司 Series-parallel hybrid electric vehicle system based on AMT and control method
CN110723133A (en) * 2019-10-25 2020-01-24 中国汽车技术研究中心有限公司 Gear shifting coordination control method for input distribution type planetary hybrid electric vehicle with AMT (automated mechanical transmission)
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CN113525335A (en) * 2020-03-30 2021-10-22 北京宝沃汽车股份有限公司 Method and device for regulating engine speed, medium and vehicle
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CN113619556A (en) * 2021-07-27 2021-11-09 江苏大学 Hybrid power mode switching coordination control method and system without clutch sliding mill
CN113771835A (en) * 2021-10-25 2021-12-10 吉林大学 Dynamic coordination control method for power domain of hybrid commercial vehicle
CN113771835B (en) * 2021-10-25 2023-10-24 吉林大学 Dynamic coordination control method for power domain of hybrid commercial vehicle
CN114228691A (en) * 2021-12-03 2022-03-25 清华大学苏州汽车研究院（吴江） Dynamic coordination control method and device for engine of hybrid electric vehicle
CN114228691B (en) * 2021-12-03 2024-04-26 清华大学苏州汽车研究院（吴江） Dynamic coordination control method and device for engine of hybrid electric vehicle
CN117416337A (en) * 2023-12-14 2024-01-19 南昌大学 Synchronous ring-free 3DHT power gear shifting control method
CN117416337B (en) * 2023-12-14 2024-03-29 南昌大学 Synchronous ring-free 3DHT power gear shifting control method

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