CN110103948A - Power dividing type hybrid vehicle pattern switching control method for coordinating based on compensation sliding formwork control - Google Patents

Power dividing type hybrid vehicle pattern switching control method for coordinating based on compensation sliding formwork control Download PDF

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CN110103948A
CN110103948A CN201910332314.4A CN201910332314A CN110103948A CN 110103948 A CN110103948 A CN 110103948A CN 201910332314 A CN201910332314 A CN 201910332314A CN 110103948 A CN110103948 A CN 110103948A
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torque
control
motor
engine
sliding formwork
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蔡英凤
窦磊
陈龙
施德华
朱镇
胡东海
田翔
汪佳佳
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Jiangsu University
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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
    • B60W10/04—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
    • B60W20/20—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
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/40—Controlling the engagement or disengagement of prime movers, e.g. for transition between prime movers
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the vehicle
    • 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
    • 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
    • B60W2510/24—Energy storage means
    • B60W2510/242—Energy storage means for electrical energy
    • B60W2510/244—Charge state
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses the power dividing type hybrid vehicle pattern switching control method for coordinating based on compensation sliding formwork control, coordinated control is carried out to the power dividing type hybrid vehicle mode handover procedure of double planet wheel rows of mixing structure, handoff procedure is related to the starting of engine and the introducing of motor torque, due to the sluggishness of the torque transient response of engine, the torque for making dynamical system in handoff procedure is caused to have larger fluctuation, compensation control and adaptive sliding-mode observer based on fixed edge interlayer is respectively adopted for the mode of two engines, stability analysis is carried out to sliding formwork control.Comprising establishing auto model and carrying out pattern switching coordinated control according to the auto model；The auto model of foundation has: establishing vehicle dynamic model, the torque establishing each planet row torque balance equation, establish under four modes divides formula, establishes each stage actuation system models；Pattern switching coordinated control includes that engine drags the compensation control for turning the stage, the sliding formwork control in combination drive stage.

Description

Power dividing type hybrid vehicle pattern switching based on compensation sliding formwork control is coordinated Control method
Technical field
The invention belongs to hybrid vehicle control technology fields, and in particular to a kind of power based on compensation sliding formwork control Shunt hybrid vehicle pattern switching control method for coordinating.
Background technique
It is rapidly developed recently as auto industry, car ownership persistently rises, and the energy and environmental problem are increasingly convex It is aobvious.The new technology that major automobile vendor constantly explores and reduces oil consumption, reduces discharge by a series of engine modifications technologies, becomes The means such as fast device technology, vehicle body design can realize different degrees of vehicle oil-saving effect.And hybrid vehicle has multiple rows Sail mode, when low speed can electric-only mode downward driving, high speed can be in engine drive mode or combined drive dynamic model Formula downward driving, it is possible to reduce the chance that engine works in non-economy oil consumption area, and then reduce oil consumption and discharge.Hybrid power vapour Vehicle becomes research hotspot, becomes the important form of current new energy and energy-saving automobile.
Transient process of the hybrid vehicle system between two stable states of pure electric vehicle and combination drive is that mixing is dynamic The dynamic response process of power, the process are related to clutch combination, engine quick start, engine and motor speed response.By In engine and the response speed difference of motor and the nonlinear characteristic of clutch, the torque for causing dynamical system to export occurs Larger fluctuation influences vehicle running smoothness to generate impact.
In view of the above-mentioned problems, the control of hybrid vehicle is divided into torque management and dynamic coordinate control at first by Tsinghua University System, the former is the target for controlling hybrid vehicle engine and motor in the case where when carrying out state switching and each state Torque；The latter controls stateful switchover process.Main present Research is engine mockup, the motor mould for foundation Type；The coordination control strategy that different phase in handoff procedure is fluctuated by motor compensating motor torque；It is controlled by PI Motor torque is adjusted, engine is made to remain idling mode in handoff procedure, reduces fluctuation；By being combined to clutch The control of journey, when handoff procedure it is smooth, but clutch sliding wear stage control is relative complex, to weaken clutch's jointing process band Come torsional impact, devise with clutch end speed difference for input, ideal engaging speed be export outer ring PI controller, with from The feedback inner ring PI controller of the practical pedal position tracking ideal position of clutch；There is tracking for HEV motor control process to miss Difference and stator internal resistance perturbation phenomenon, devise motor robust controller, and phase has been determined by Lyapunov stability theory Close the weight coefficient scope of application；In engine ignition boost phase, it is contemplated that the sluggishness and dynamic resistance of engine output torque The fluctuation of square devises the sliding formwork ISG Motor torque controller with interference free performance.It is synchronous with clutch rotational speed in engine Stage devises by model prediction feedforward control and robust compensation feedback control combined tracking strategy.But existing coordinated control It is mostly the main control by controlling clutch cohesive process, control object being made to concentrate on clutch after addition clutch The sliding formwork stage processed.But clutch cohesive process, with regard to stronger non-linear, uncontrollable factor is more, and model simplification is serious.? To coordination control strategy establish on the basis of engine, clutch moment of torque are the hypothesis of ideal output or torque is estimated more, But situations such as there are many time lags, overshoot, errors in actual torque control, estimation procedure, meanwhile, HEV itself is in dynamic process In there is a variety of time-varying parameters (such as each component rotary inertia, motor internal resistance, the engine start moment of resistance, clutch friction system Number etc.) and external interference (such as sensor noise), it is certain that this results in coordination control strategy that must make in practical application Modification and correction.
Summary of the invention
The present invention carries out coordinated control to the power dividing type hybrid vehicle mode handover procedure of double planet wheel rows of mixing structure, Handoff procedure is related to the starting of engine and the introducing of motor torque, due to the sluggishness of the torque transient response of engine, leads It causes to make the torque of dynamical system have larger fluctuation in handoff procedure, compensation is respectively adopted in the mode for being related to engine for two Control and the adaptive sliding-mode observer based on fixed edge interlayer, and stability analysis is carried out to sliding formwork control.The specific skill used Art scheme is as follows:
Power dividing type hybrid vehicle pattern switching control method for coordinating based on compensation sliding formwork control, comprising: build It founds auto model and pattern switching coordinated control is carried out according to the auto model；
The auto model of the foundation includes: to establish vehicle dynamic model, establish each planet row torque balance equation, build Torque under vertical four modes divides formula, establishes each stage actuation system models；
The pattern switching coordinated control includes: that engine drags the compensation control for turning the stage, the sliding formwork in combination drive stage Control.
Further, the method for establishing vehicle dynamic model:
According to Newtonian mechanics establishing equation vehicle longitudinal dynamics mathematical model, Automobile drive power-running resistance balance side Journey are as follows:
Ftrac=Ff+Fw+Fi+Fa (1)
In formula, FtracFor driving force, FfFor rolling resistance, FwFor air drag, FiFor grade resistance, FaFor acceleration resistance.
Rolling resistance, air drag, grade resistance, acceleration resistance are as follows:
Ff=fmgcos α (2)
Fi=mgsin α (4)
In above formula, m is complete vehicle quality；G is acceleration of gravity；α is road surface inclination angle；ρ is atmospheric density；CDFor air drag Coefficient；AVFor front face area；V is speed；F is surface friction coefficient；δ is correction coefficient of rotating mass；To travel acceleration.
Further, the method for establishing each planet row torque balance equation:
Revolving speed equilibrium relation
ωs1+K1ωR1=(1+K1)ωC1 (10)
ωS2+K2ωR2=(1+K2)ωC2 (11)
ωC1=ωR2 (12)
ωS1=ωMG1 (13)
ωS2=ωMG2 (14)
Wherein, TSFor sun gear torque；TCFor planet carrier torque；T1For planet row 1 planet carrier to planet row 2 gear ring Torque；T2For planet row 1 gear ring to output shaft torque,；TOUTFor output torque；JRRing gear against rotation inertia；JCTurn for planet carrier Dynamic inertia；JSFor sun gear rotary inertia；ωSFor sun wheel speed；ωRFor gear ring revolving speed；ωCFor planet carrier revolving speed；ωMG1For Motor MG1 revolving speed；ωMG2For motor MG2 revolving speed；K1、K2For front and back planet row gearing factor.
Further, the torque established under each mode divides the method for formula:
Electric-only mode 1:
TMG1=0 (15)
Electric-only mode 2:
Engine, which drags, turns the stage:
The hybrid power stage:
In formula, TMGFor motor MG1 torque；TMG2For motor MG2 torque；TCB1Brake CB1 torque；TCB1_2For starting hair Torque required for motivation, value are (900*pi/30/0.4) * JE+ 20, JEFor engine moment inertia；TETurn for engine output Square.
Further, the method for establishing each stage actuation system models:
Electric-only mode 1 and 2:
Engine, which drags, to be turned:
In formula:
The combination drive stage:
In formula:
Wherein, JMG1、JMG2For the rotary inertia of motor MG1, MG2；ωEFor engine speed；bEFor engine drag system Number；ωOUTFor output shaft revolving speed.
Further, the engine drags the compensating control method for turning the stage:
After brake CB1 is fully opened, motor MG1 starts to drag forwarding motivation, the torque T under electric-only modeMGOn add Add the torque T ' for dragging forwarding motivationMG1, while in the torque T of motor MG2MGAddition compensation torque T 'MG,
The torque for compensating front motor MG1, MG2 is formula (19), shown in (20), and torque distributes formula when being stable state, does not consider The moment of resistance and rotary inertia when engine start, after considering opposite compensation, the target torque of the stage motor MG1, MG2 It is respectively as follows:
Further, the sliding-mode control in the combination drive stage:
Using the adaptive sliding-mode observer based on fixed edge interlayer, by fixed certain thick boundary layer, for eliminating cunning The flutter that may cause in mould control process；By the uncertain of the deviation and system parameter of vehicle demand speed and actual vehicle speed Deviation caused by property has a fling at the distracter of system；
Combination drive stage Longitudinal Dynamic Model is formula (27), into after the combination drive stage, by adjusting turning for MG2 Square realizes corresponding control target；The kinetics equation of this stage hybrid power system output shaft end is rewritten are as follows:
Wherein, u is the control law of sliding mode controller；
Carry out the design of sliding formwork tangential-hoop method:
Define tracking error:
E=ωreq-ωout (31)
In formula, ωreqFor the output shaft revolving speed of vehicle demand, ωoutFor vehicle reality output axis revolving speed.
Sliding formwork tangential-hoop method are as follows:
S (t)=e+ λ ∫ e (t) dt (32)
In formula, λ is normal number；
Carry out sliding mode controller design:
When system is in sliding formwork movement, meetIt can obtain:
Obtain this stage sliding formwork control equivalence control rule u are as follows:
To eliminate flutter, the arrival control of sliding formwork control uses the fixed edge interlayer sliding formwork control based on sat function, definition Sat function are as follows:
Δ is boundary layer；
According to formula (34), (35), coordinated control in this mode is restrained are as follows:
η is normal number.
Further, four modes are specific as follows:
When electric-only mode 1, tail-off, generator MG1 are closed, motor MG2 work, brake CB1 combination, are made Dynamic device CB2 separation；
When electric-only mode 2, tail-off, generator MG1 are closed, motor MG2 work, brake CB1 separation, are made Dynamic device CB2 separation；
When engine drags rotary-die type, engine operation, generator MG1 work, motor MG2 work, brake CB1 points From, brake CB2 separation；
When combination drive mode, engine operation, generator MG1 work, motor MG2 works, brake CB1 is separated, Brake CB2 separation.
Beneficial effects of the present invention:
(1) transient dynamic model for establishing power dividing type hybrid power automobile power system acquires under each mode It is distributed in the torque of perfect condition, the corresponding target torque of each power source is obtained with this, to solve power dividing type The coupled problem of hybrid power multiple degrees of freedom polyergic source.
(2) put forward to carry out whole process thin from pure electric vehicle to the control strategy in combination drive mode handover procedure Point after to engine drag turn and combination drive mode individually controlled, inhibit the torque of the dynamical system in each stage respectively Fluctuation and impact.
(3) engine is dragged and turns the stage using motor compensating control, compensate torque by adding to motor MG1, MG2, with This come inhibit drive engine process caused by torque ripple；The combination drive stage uses based on the adaptive of fixed edge interlayer Sliding formwork control, to eliminate since the torque transient response of engine is slower, can not as motor moment reach perfect condition institute Caused torque ripple, while by fixed certain thick boundary layer, for eliminating quivering of may cause in sliding mode control process Vibration.
(4) the torque coordination control strategy that entire handoff procedure uses can effectively reduce the torque ripple of handoff procedure With the impact of transmission system, the ride comfort of vehicle driving is improved.
Detailed description of the invention
Fig. 1 power system architecture schematic diagram；
Fig. 2 pattern switching coordinated control flow chart；
Fig. 3 engine, which drags, turns stage control block diagram；
Fig. 4 combination drive stage control block diagram；
Fig. 5 operational mode；
Fig. 6 operator demand torque and actual torque；
Fig. 7 operator demand speed and actual vehicle speed；
The engine speed comparison of Fig. 8 control front and back；
The shock extent comparison of Fig. 9 control front and back；
The motor torque comparison of Figure 10 control front and back.
Specific embodiment
The present invention carries out coordinated control to the power dividing type hybrid vehicle mode handover procedure of double planet wheel rows of mixing structure, Corresponding drive train power model is established, each mode of handoff procedure is analyzed.
The power dividing type power system architecture schematic diagram that the present invention studies is as shown in Figure 1, by engine, motor MG1, motor MG2, brake CB1, brake CB2 and two planet row compositions.Wherein engine is connected with front-seat planet carrier, motor MG1 and Front-seat sun gear is connected, and motor MG2 is connected with heel row sun gear.In addition front-seat planet carrier is connected with rear ring gear, front-seat gear ring, Heel row planet carrier, output shaft three are connected.
Brake CB1 guarantees efficiency when low speed pure motor driving, while preventing engine from generating disturbance to revolving speed；At a high speed When brake CB2 lock motor MG1, improve efficiency, realize engine direct drive.
By regulating brake, pure electric vehicle to hybrid power handoff procedure is divided into Four processes, each unit status such as 1 institute of table Show:
1 power dividing type hybrid vehicle mode division of table
Vehicle pattern switching coordinated control process is as shown in Figure 2.After vehicle start, vehicle load is smaller, and automobile is with pure electricity Dynamic model formula traveling.As the demand torque T of driverreqThe torque capacity T that can be output greater than electric-only modeEV_maxOr battery SOC is less than battery lowest threshold SOCminOr demand speed v is greater than the max speed v provided by pure electric vehicleEV_maxWhen, full-vehicle control Device reception pattern switching signal, control brake CB1 are opened rapidly, while carrying out the coordinated control of motor MG1, motor MG2.Deng After brake CB1 is fully opened, motor MG1 drags forwarding motivation, at the same motor MG2 torque loss caused by dragging forwarding motivation into Row compensation.Turn engine speed n when draggingICEGreater than engine idle rotational nidleEngine ignition afterwards, into combined drive dynamic model Formula.Engine speed rises to rapidly 1500 turns of economic speed from idling speed at this time, but since engine transient torque is anti- The lag answered, prevents engine from reaching rotating speed of target in time, carries out compensated torque, offset using motor MG1, motor MG2 It is solved by sliding mode controller, to meet the torque of the needs of driver, reduces the torque ripple of output end, reduce vehicular impact. Entire handoff procedure include pure electric vehicle (brake locking), pure electric vehicle (brake disconnections), engine drag turn, combination drive four Stage.
Below with reference to implementation steps, the invention will be further described.
Step1: vehicle mathematical model is established
1.1. vehicle dynamic model is established
According to Newtonian mechanics establishing equation vehicle longitudinal dynamics mathematical model, Automobile drive power-running resistance balance side Journey are as follows:
Ftrac=Ff+Fw+Fi+Fa (1)
In formula, FtracFor driving force, FfFor rolling resistance, FwFor air drag, FiFor grade resistance, FaFor acceleration resistance.
Rolling resistance, air drag, grade resistance, acceleration resistance are as follows:
Ff=fmgcos α (2)
Fi=mgsin α (4)
In above formula, m is complete vehicle quality；G is acceleration of gravity；α is road surface inclination angle；ρ is atmospheric density；CDFor air drag Coefficient；AVFor front face area；V is speed；F is surface friction coefficient；δ is correction coefficient of rotating mass；To travel acceleration.
1.2. each planet row torque balance equation is established
Revolving speed equilibrium relation
ωS1+K1ωR1=(1+K1)ωC1 (10)
ωS2+K2ωR2=(1+K2)ωC2 (11)
ωC1=ωR2 (12)
ωS1=ωMG1 (13)
ωS2=ωMG (14)
Wherein, TSFor sun gear torque；TCFor planet carrier torque；T1For planet row 1 planet carrier to planet row 2 gear ring Torque；T2For planet row 1 gear ring to output shaft torque,；TOUTFor output torque；JRRing gear against rotation inertia；JCTurn for planet carrier Dynamic inertia；JSFor sun gear rotary inertia；ωSFor sun wheel speed；ωRFor gear ring revolving speed；ωCFor planet carrier revolving speed；ωMG1For Motor MG1 revolving speed；ωMG2For motor MG2 revolving speed；K1、K2For front and back planet row gearing factor.
1.3. the torque established under each mode divides formula
Electric-only mode 1:
TMG1=0 (15)
Electric-only mode 2:
Engine, which drags, turns the stage:
The hybrid power stage:
In formula, TMG1For motor MG1 torque；TMG2For motor MG2 torque；TCB1Brake CB1 torque；TCB1_2For starting hair Torque required for motivation, value are (900*pi/30/0.4) * JE+ 20, JEFor engine moment inertia；TETurn for engine output Square.
1.4. each stage actuation system models are established
Electric-only mode 1 and 2:
Engine, which drags, to be turned:
In formula:
The combination drive stage:
In formula:
Wherein, JMG1、JMG2For the rotary inertia of motor MG1, motor MG2；ωEFor engine speed；bEFor engine drag Coefficient；ωOUTFor output shaft revolving speed.
Step2: pattern switching coordinated control
2.1 engines drag the compensation control for turning the stage
After brake CB1 is fully opened, motor MG1 starts to drag forwarding motivation, it is therefore desirable to turn under electric-only mode Square TMG1The torque T ' of forwarding motivation is dragged in upper additionMG1, while in the torque T of motor MG2MG2Addition compensation torque T 'MG2, to disappear Except motor MG1 drags influence of the forwarding motivation to output torque.The control block diagram of this stage system is as shown in Figure 3.
The torque of compensation front motor MG1, motor MG2 are formula (19), shown in (20), and torque distributes formula when being stable state, no The moment of resistance and rotary inertia when consideration engine start.After considering opposite compensation, stage motor MG1, motor MG2 Target torque is respectively as follows:
The sliding formwork control in 2.2 combination drive stages
After the revolving speed of engine reaches idling, engine ignition starting, engine, motor MG1, motor MG2 be simultaneously at this time To legacy system output torque, vehicle is driven, automobile is in the combination drive stage.But due to the torque transient response of engine compared with Slowly, can not as motor moment reach perfect condition, it is therefore desirable to motor torque deficiency is compensated.It is sharp in the present invention With sliding formwork control, compensation rate is calculated, is then compensated accordingly by motor MG2.The control target in this stage is to complete mode Switching is realized and " seamless " switching of electric-only mode.Automobile enters the target travel state after the combination drive stage should be with vehicle Keep electric-only mode driving status it is consistent.The control block diagram of this stage system is as shown in Figure 4.
This stage uses the adaptive sliding-mode observer based on fixed edge interlayer, by the certain thickness boundary layer of fixation, uses To eliminate the flutter that may cause in sliding mode control process.By the deviation and system parameter of vehicle demand speed and actual vehicle speed Uncertainty caused by deviation have a fling at the distracter of system.
Combination drive stage Longitudinal Dynamic Model is formula (27), into after the combination drive stage, by adjusting motor MG2 Torque realize corresponding control target.Therefore, the kinetics equation of this stage hybrid power system output shaft end is rewritable are as follows:
Wherein, u is the control law of sliding mode controller.
(1) sliding formwork tangential-hoop method designs
Define tracking error:
E=ωreq-ωout (31)
In formula, ωreqFor the output shaft revolving speed of vehicle demand, ωoutFor vehicle reality output axis revolving speed.
Sliding formwork tangential-hoop method:
S (t)=e+ λ ∫ e (t) dt (32)
In formula, λ is normal number.
(2) sliding mode controller design
When system is in sliding formwork movement, meetIt can obtain:
Obtain this stage sliding formwork control equivalence control rule u are as follows:
To eliminate flutter, the arrival control of sliding formwork control uses the fixed edge interlayer sliding formwork control based on sat function, definition Sat function are as follows:
Δ is boundary layer.
According to formula (34), (35), coordinated control in this mode is restrained are as follows:
η is normal number.
(3) stability analysis
Construct Lyapunov function:
To the derivation simultaneously of Lyapunov function both sides:
Formula (36) substitution above formula is obtained:
Because η is normal number,
WhenWhen, s ≡ 0, according to Lasalle principle of invariance, closed-loop system asymptotically stability, as t → ∞, s → 0, And the convergence rate of s depends on η.
Step3: simulation result and analysis
Using Matlab/simulink emulation platform building power dividing type hybrid vehicle forward simulation model and turn Square coordinated control model carries out simulating, verifying.
Fig. 5 be automobile by pure electric vehicle to combination drive operational mode handoff procedure, as seen from the figure, entire handoff procedure is basic At 1 second or so, handoff procedure can be quickly completed for control.Fig. 6 is pair of demand torque and actual torque in vehicle traveling process Than, automobile will appear in mode handover procedure can not track demand torque the phenomenon that, but can be timely after the completion of switching Adjustment, again track demand torque.Fig. 7 is the comparison of actual vehicle speed and demand speed, and the tracking effect of speed is good as seen from the figure It is good, it can satisfy speed demand substantially.Fig. 8 is the engine speed comparison of control front and back, and control front engine rotation speed change is violent, And there is the phenomenon that engine speed reduction when lighting a fire, by compensating sliding formwork control, engine speed change procedure tends to Gently, and there is no fluctuation of speed phenomenon, it is shorter to reach 1500 turns of economic speed of time.Fig. 9 is the shock extent comparison of control front and back, Significant changes occur for control front and back shock extent, and shock extent improves obviously, and whole process shock extent is not above German shock extent The 10m/s of limitation3.Figure 10 be control front and back engine torque variation, motor torque tracking effect is preferable, and the time compared with It is short.
Simulation result shows that the pattern switching coordination control strategy based on compensation sliding formwork control can effectively reduce output Torque ripple is held, shock extent is reduced, ride comfort can be improved under the premise of meeting driver's traveling demand, improve and drive body It tests.
The series of detailed descriptions listed above only for feasible embodiment of the invention specifically Protection scope bright, that they are not intended to limit the invention, it is all without departing from equivalent implementations made by technical spirit of the present invention Or change should all be included in the protection scope of the present invention.

Claims (8)

1. based on the power dividing type hybrid vehicle pattern switching control method for coordinating of compensation sliding formwork control, feature exists In, comprising: it establishes auto model and pattern switching coordinated control is carried out according to the auto model；
The auto model of the foundation includes: to establish vehicle dynamic model, establish each planet row torque balance equation, establish four Torque under a mode divides formula, establishes each stage actuation system models；
The pattern switching coordinated control includes: that engine drags the compensation control for turning the stage, the sliding formwork control in combination drive stage.
2. the power dividing type hybrid vehicle pattern switching according to claim 1 based on compensation sliding formwork control is coordinated Control method, which is characterized in that the method for establishing vehicle dynamic model:
According to Newtonian mechanics establishing equation vehicle longitudinal dynamics mathematical model, Automobile drive power-running resistance equilibrium equation are as follows:
Ftrac=Ff+Fw+Fi+Fa (1)
In formula, FtracFor driving force, FfFor rolling resistance, FwFor air drag, FiFor grade resistance, FaFor acceleration resistance.
Rolling resistance, air drag, grade resistance, acceleration resistance are as follows:
Ff=fmgcos α (2)
Fi=mgsin α (4)
In above formula, m is complete vehicle quality；G is acceleration of gravity；α is road surface inclination angle；ρ is atmospheric density；CDFor coefficient of air resistance； AVFor front face area；V is speed；F is surface friction coefficient；δ is correction coefficient of rotating mass；To travel acceleration.
3. the power dividing type hybrid vehicle pattern switching according to claim 2 based on compensation sliding formwork control is coordinated Control method, which is characterized in that the method for establishing each planet row torque balance equation:
Revolving speed equilibrium relation
ωS1+K1ωR1=(1+K1)ωC1 (10)
ωS2+K2ωR2=(1+K2)ωC2 (11)
ωC1=ωR2 (12)
ωS1=ωMG1 (13)
ωS2=ωMG2 (14)
Wherein, TSFor sun gear torque；TCFor planet carrier torque；T1For planet row 1 planet carrier to planet row 2 gear ring turn Square；T2For planet row 1 gear ring to output shaft torque,；TOUTFor output torque；JRRing gear against rotation inertia；JCIt is used for planet carrier rotation Amount；JSFor sun gear rotary inertia；ωSFor sun wheel speed；ωRFor gear ring revolving speed；ωCFor planet carrier revolving speed；ωMG1For motor 1 revolving speed；ωMG2For 2 revolving speed of motor；K1、K2For front and back planet row gearing factor.
4. the power dividing type hybrid vehicle pattern switching according to claim 3 based on compensation sliding formwork control is coordinated Control method, which is characterized in that the torque established under each mode divides the method for formula:
Electric-only mode 1:
TMG1=0 (15)
Electric-only mode 2:
Engine, which drags, turns the stage:
The hybrid power stage:
In formula, TMG1For 1 torque of motor；TMG2For 2 torque of motor；TCBBrake CB1 torque；TCB1_2For required for starting engine Torque, value are (900*pi/30/0.4) * JE+ 20, JEFor engine moment inertia；TEFor engine output torque.
5. the power dividing type hybrid vehicle pattern switching according to claim 4 based on compensation sliding formwork control is coordinated Control method, which is characterized in that the method for establishing each stage actuation system models:
Electric-only mode 1 and 2:
Engine, which drags, to be turned:
In formula:
The combination drive stage:
In formula:
Wherein, JMG1、JMGFor the rotary inertia of motor MG1, MG2；ωEFor engine speed；bEFor engine drag coefficient；ωOUT For output shaft revolving speed.
6. the power dividing type hybrid vehicle pattern switching according to claim 5 based on compensation sliding formwork control is coordinated Control method, which is characterized in that the engine drags the compensating control method for turning the stage:
After brake CB1 is fully opened, motor MG1 starts to drag forwarding motivation, the torque T under electric-only modeMGUpper addition is dragged Forward the torque T ' of motivationMG1, while in the torque T of motor MG2MG2Addition compensation torque T 'MG2,
The torque for compensating front motor MG1, MG2 is formula (19), shown in (20), and torque distributes formula when being stable state, does not consider to start The moment of resistance and rotary inertia when machine starts, after considering opposite compensation, the target torque of the stage motor MG1, MG2 are distinguished Are as follows:
7. the power dividing type hybrid vehicle pattern switching according to claim 6 based on compensation sliding formwork control is coordinated Control method, which is characterized in that the sliding-mode control in the combination drive stage:
Using the adaptive sliding-mode observer based on fixed edge interlayer, by fixed certain thick boundary layer, for eliminating sliding formwork control The flutter that may cause during system；The uncertainty of the deviation and system parameter of vehicle demand speed and actual vehicle speed is drawn The deviation risen has a fling at the distracter of system；
Combination drive stage Longitudinal Dynamic Model is formula (27), real by adjusting the torque of MG2 into after the combination drive stage Existing corresponding control target；The kinetics equation of this stage hybrid power system output shaft end is rewritten are as follows:
Wherein, u is the control law of sliding mode controller；
Carry out the design of sliding formwork tangential-hoop method:
Define tracking error:
E=ωreq-ωout (31)
In formula, ωreqFor the output shaft revolving speed of vehicle demand, ωoutFor vehicle reality output axis revolving speed.
Sliding formwork tangential-hoop method are as follows:
S (t)=e+ λ ∫ e (t) dt (32)
In formula, λ is normal number；
Carry out sliding mode controller design:
When system is in sliding formwork movement, it is full ofIt can obtain:
Obtain this stage sliding formwork control equivalence control rule u are as follows:
To eliminate flutter, the arrival control of sliding formwork control uses the fixed edge interlayer sliding formwork control based on sat function, defines sat Function are as follows:
Δ is boundary layer；
According to formula (34), (35), coordinated control in this mode is restrained are as follows:
η is normal number.
8. the power dividing type hybrid vehicle mode according to claim 1-7 based on compensation sliding formwork control Switch control method for coordinating, which is characterized in that four modes are specific as follows:
When electric-only mode 1, tail-off, motor MG1 are closed, motor MG2 works, brake CB1 is combined, brake CB2 Separation；
When electric-only mode 2, tail-off, motor MG1 are closed, motor MG2 works, brake CB1 separation, brake CB2 Separation；
When engine drags rotary-die type, engine operation, motor MG1 work, motor MG2 work, brake CB1 separation, brake CB2 separation；
When combination drive mode, engine operation, motor MG1 work, motor MG2 work, brake CB1 separation, brake CB2 Separation.
CN201910332314.4A 2019-04-24 2019-04-24 Power dividing type hybrid vehicle pattern switching control method for coordinating based on compensation sliding formwork control Pending CN110103948A (en)

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