CN110293959A - Power dividing type hybrid vehicle hybrid power drive mode method for handover control - Google Patents

Power dividing type hybrid vehicle hybrid power drive mode method for handover control Download PDF

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Publication number
CN110293959A
CN110293959A CN201910431972.9A CN201910431972A CN110293959A CN 110293959 A CN110293959 A CN 110293959A CN 201910431972 A CN201910431972 A CN 201910431972A CN 110293959 A CN110293959 A CN 110293959A
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China
Prior art keywords
clutch
given threshold
torque
speed
gradient
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CN201910431972.9A
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CN110293959B (en
Inventor
邹永强
钟发平
张彤
申辛未
程辉军
董恩源
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Jiangxi Dingsheng New Material Technology Co ltd
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Corun Hybrid Power Technology Co Ltd
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Classifications

    • 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
    • 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
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/02—Clutches
    • B60W2710/021—Clutch engagement 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0644—Engine 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

Abstract

The present invention provides a kind of power dividing type hybrid vehicle hybrid power drive mode method for handover control, first clutch preliminary filling, reduce the first brake torque, when the first brake torque is less than A and first clutch preliminary filling is completed, promote first planet carrier revolving speed, reduce second clutch torque, when engine speed and the difference of big motor speed are greater than C and engine speed and the difference of first planet carrier revolving speed are less than D, maintain second clutch torque, increase first clutch torque and promotes first planet carrier revolving speed, when engine speed and first planet carrier rotating speed difference are less than E, reduce second clutch torque, control engine speed, when second clutch torque is reduced to 0, control engine speed, when engine speed and the absolute difference of first planet carrier revolving speed are less than H, increase by the first clutch Device torque is until first clutch is closed completely.The method of the present invention simple possible, drive safety, comfort are preferable.

Description

Power dividing type hybrid vehicle hybrid power drive mode method for handover control
Technical field
The present invention relates to the control field of hybrid vehicle, in particular to a kind of power dividing type hybrid vehicle is mixed Close power drive mode method for handover control.
Background technique
Hybrid vehicle in the process of moving, can be cut between hybrid power drive mode according to different situations Change or pure battery drive mode between switch over, it is also possible to from hybrid power drive mode switch to pure electric vehicle driving mould Formula, and for different hybrid power transmission systems, mode switch control method may be different, and how to control, so that vehicle It is more smooth in drive mode handoff procedure, drive safety, comfort are improved, then becomes one of hybrid vehicle Research direction.
Summary of the invention
The present invention is intended to provide vehicle is more smooth in a kind of simple possible, drive mode handoff procedure, drive safety, The preferable power dividing type hybrid vehicle hybrid power drive mode method for handover control of comfort.
The present invention is realized by the following scheme:
A kind of power dividing type hybrid vehicle hybrid power drive mode method for handover control is in HEV- in vehicle When 2 drive modes and speed are lower than 45Km/h, gas pedal aperture is less than or equal to 30%, vehicle carries out hybrid power drive mode Switching, sequentially includes the following steps:
S1: entire car controller carries out preliminary filling to first clutch C0, reduces the first brake B1 torque extremely with gradient △ V1 0, so that the first brake B1 is opened, when the first brake torque is less than given threshold A and first clutch C0 preliminary filling is completed, Execute step S2；
S2: promoting first planet carrier PC1 revolving speed by rotating speed of target of engine speed, reduces the second clutch with gradient △ V2 Device C1 torque to engine flywheel torque subtracts the value of given threshold B, and the both ends second clutch C1 is made rotational speed difference occur, when starting The difference of machine revolving speed and big motor E2 revolving speed is greater than the difference of given threshold C and engine speed and first planet carrier PC1 revolving speed When less than given threshold D, step S3 is executed；
S3: maintaining second clutch C1 torque, increases first clutch C0 torque to engine flywheel with gradient △ V3 and turns round Square subtracts the value of second clutch C1 torque, promotes first planet carrier revolving speed by rotating speed of target of engine speed, works as engine When revolving speed and first planet carrier rotating speed difference are less than given threshold E, step S4 is executed；
S4: second clutch C1 torque is reduced to 0, so that second clutch C1 is opened, with the first planet with gradient △ V4 Frame revolving speed is plus the value of value, big motor E2 revolving speed plus given threshold F of given threshold F and the maximum value in given threshold G First clutch C0 torque is controlled to control engine speed, when second clutch C1 torque by pid algorithm for rotating speed of target When being reduced to 0, step S5 is executed；
S5: first clutch C0 torque is controlled by pid algorithm using first planet carrier revolving speed as rotating speed of target to control hair Motivation revolving speed executes step S6 when the absolute difference of engine speed and first planet carrier revolving speed is less than given threshold H；
S6: first clutch C0 torque is increased until first clutch C0 is closed completely with gradient △ V5, vehicle is mixed at this time It closes power drive mode and switches to HEV-4.
Further, the given threshold A is 5~10Nm, and the given threshold B is 30~60Nm, the given threshold C It is 1500~2500rpm for 50~100rpm, the given threshold D, the given threshold E is 500~1000rpm, described to set Determining threshold value F is 30~100rpm, and the given threshold G is 1000~1300rpm, and the given threshold H is 30~80rpm.
Further, the gradient △ V1 is 800~1000Nm/s, and the gradient △ V2 is 500~800Nm/s, described Gradient △ V3 is 300~600Nm/s, and the gradient △ V4 is 600~900Nm/s, and the gradient △ V5 is 1000~1500Nm/ s。
Power dividing type hybrid vehicle hybrid power drive mode method for handover control of the invention, simple possible, In drive mode handoff procedure, under different conditions respectively to first clutch C0, second clutch C1, the first brake B1 It is accordingly controlled, so that vehicle smoothly switches to HEV-4 drive mode from HEV-2 drive mode, meets vehicle deceleration requirement And cost-effectiveness requirement, mode handover procedure is compact continuous, shortens mode switch time.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the hybrid power transmission system that the present invention uses；
Fig. 2 is the equivalent lever figure of the HEV-4 drive mode for the hybrid power transmission system that the present invention uses；
Fig. 3 is the equivalent lever figure of the HEV-2 drive mode for the hybrid power transmission system that the present invention uses；
Fig. 4 is the control of power dividing type hybrid vehicle hybrid power drive mode method for handover control in embodiment 1 Flow chart processed.
Specific embodiment
The invention will be further described with reference to embodiments, but the invention is not limited to the statements of embodiment.
The structural schematic diagram for the hybrid power transmission system that the present invention uses is as shown in Figure 1, its main component includes small electricity Machine E1, big motor E2, the first brake B1, first clutch C0, second clutch C1, the first single planetary row PG1 and second are single The planetary gear coupling mechanism and third single planetary row PG3, the first single planetary row PG1 of planet row PG2 composition include the first planet Frame PC1, the first planetary gear P1, the first sun gear S1 and the first gear ring R1, the second single planetary row PG2 include the second planet carrier PC2, The the first sun gear S1 and small machine E1 of second planetary gear P2, the second sun gear S2 and the second gear ring R2, the first single planetary row PG1 The first rotor axis 2 be connected, the second armature spindle 3 of the second sun gear S2 and big motor E2 of the second single planetary row PG2 are connected It connects, third single planetary row PG3 includes third planet carrier PC3, the third line star-wheel P3, third sun gear S3 and third gear ring R3, defeated Enter axis 1 to be connected with the output shaft of engine ICE, one end of first clutch C0 is connected on first planet carrier PC1, first from The other end of clutch C0 is connected on input shaft 1；One end of second clutch C1 is connected to the second armature spindle 3 of big motor E2 On, the other end of second clutch C1 is connected on input shaft 1, and one end of the first brake B1 is connected to first planet carrier PC1 On, one end of second brake B2 is connected on the first rotor axis 2 of small machine E1.The hybrid powertrain that the present invention uses System, structure is in the speed changer (publication number CN108105358A) that patent name is for preposition forerunner's hybrid vehicle It is open.
The hybrid power transmission system that the present invention uses has multiple-working mode, between each operating mode and shifting element Control planning it is as shown in table 1, wherein 〇 indicate opening state, ● indicate closed state.
Control planning between each operating mode of table 1 and shifting element
Operating mode C0 C1 B1 B2
EV-1 〇 〇 ● 〇
EV-2 〇 〇 〇 ●
EV-3 〇 〇 〇 〇
EV-1RD 〇 〇 ● 〇
HEV-1 〇 ● 〇 〇
HEV-2 〇 ● ● 〇
HEV-3 〇 ● 〇 ●
HEV-4 ● 〇 〇 〇
HEV-5 ● 〇 〇 ●
HEV-6 ● ● 〇 〇
Wherein, equivalent lever figure such as Fig. 2 institute of fourth gear position hybrid power drive mode (abbreviation HEV-4 drive mode) Show, the equivalent lever figure of the second gear hybrid power drive mode (abbreviation HEV-2 drive mode) is as shown in figure 3, Fig. 2, Fig. 3 In, left side ordinate indicates that revolving speed, nS1 indicate that the first sun wheel speed, nS2 indicate that the second sun wheel speed, nPC1 indicate the One planet carrier revolving speed, nR1 indicate the first gear ring revolving speed.
Embodiment 1
A kind of power dividing type hybrid vehicle hybrid power drive mode method for handover control is in HEV- in vehicle When 2 drive modes and speed are lower than 45Km/h, gas pedal aperture is less than or equal to 30%, vehicle carries out hybrid power drive mode Switching, sequentially includes the following steps:
S1: entire car controller carries out preliminary filling to first clutch C0, reduces the first brake B1 torque extremely with gradient △ V1 0, gradient △ V1 value in 800~1000Nm/s, so that the first brake B1 is opened, when the first brake torque is less than setting When threshold value A and the completion of first clutch C0 preliminary filling, given threshold A value in 5~10Nm executes step S2；
S2: promoting first planet carrier PC1 revolving speed by rotating speed of target of engine speed, reduces the second clutch with gradient △ V2 Device C1 torque to engine flywheel torque subtracts the value of given threshold B, and gradient △ V2 value in 500~800Nm/s sets threshold Value B value in 30~60Nm makes the both ends second clutch C1 rotational speed difference occur, when engine speed and big motor E2 revolving speed When difference is less than given threshold D greater than given threshold C and engine speed and the difference of first planet carrier PC1 revolving speed, threshold is set Value C value in 50~100rpm, given threshold D value in 1500~2500rpm execute step S3；
S3: maintaining second clutch C1 torque, increases first clutch C0 torque to engine flywheel with gradient △ V3 and turns round Square subtracts the value of second clutch C1 torque, and gradient △ V3 value in 300~600Nm/s turns by target of engine speed Speed promotes first planet carrier revolving speed, when engine speed is less than given threshold E with first planet carrier rotating speed difference, given threshold E value in 500~1000rpm executes step S4；
S4: second clutch C1 torque is reduced to 0 with gradient △ V4, gradient △ V4 value in 600~900Nm/s makes It obtains second clutch C1 to open, given threshold is added plus the value of given threshold F, big motor E2 revolving speed with first planet carrier revolving speed The value of F and the maximum value in given threshold G are that rotating speed of target controls hair by pid algorithm control first clutch C0 torque Motivation revolving speed, given threshold F value in 30~100rpm, given threshold G value in 1000~1300rpm, when second from When clutch C1 torque is reduced to 0, step S5 is executed；
S5: first clutch C0 torque is controlled by pid algorithm using first planet carrier revolving speed as rotating speed of target to control hair Motivation revolving speed, when the absolute difference of engine speed and first planet carrier revolving speed is less than given threshold H, given threshold H exists Value in 30~80rpm executes step S6；
S6: first clutch C0 torque is increased until first clutch C0 is closed completely with gradient △ V5, gradient △ V5 exists Value in 1000~1500Nm/s, vehicle hybrid drive mode switches to HEV-4 at this time.

Claims (3)

1. a kind of power dividing type hybrid vehicle hybrid power drive mode method for handover control, it is characterised in that: in vehicle In HEV-2 drive mode and when speed is less than or equal to 30% lower than 45Km/h, gas pedal aperture, it is dynamic that vehicle carries out mixing Power drive pattern switching, sequentially includes the following steps:
S1: entire car controller carries out preliminary filling to first clutch (C0), reduces the first brake (B1) torque extremely with gradient △ V1 0, when the first brake torque is less than given threshold A and first clutch (C0) preliminary filling is completed, execute step S2；
S2: promoting first planet carrier (PC1) revolving speed by rotating speed of target of engine speed, reduces second clutch with gradient △ V2 (C1) torque to engine flywheel torque subtracts the value of given threshold B, when the difference of engine speed and big motor (E2) revolving speed When being less than given threshold D greater than given threshold C and engine speed and the difference of first planet carrier (PC1) revolving speed, step is executed S3；
S3: maintaining second clutch (C1) torque, increases first clutch (C0) torque to engine flywheel with gradient △ V3 and turns round Square subtracts the value of second clutch (C1) torque, first planet carrier revolving speed is promoted by rotating speed of target of engine speed, when starting When machine revolving speed and first planet carrier rotating speed difference are less than given threshold E, step S4 is executed；
S4: reducing second clutch (C1) torque to 0 with gradient △ V4, with first planet carrier revolving speed plus given threshold F value, Maximum value of big motor (E2) revolving speed plus the value of given threshold F and in given threshold G is that rotating speed of target passes through pid algorithm control First clutch (C0) torque processed controls engine speed, when second clutch (C1) torque is reduced to 0, executes step S5；
S5: first clutch (C0) torque is controlled by pid algorithm as rotating speed of target using first planet carrier revolving speed and is started to control Machine revolving speed executes step S6 when the absolute difference of engine speed and first planet carrier revolving speed is less than given threshold H；
S6: first clutch (C0) torque is increased until first clutch (C0) is closed completely with gradient △ V5, vehicle is mixed at this time It closes power drive mode and switches to HEV-4.
2. power dividing type hybrid vehicle hybrid power drive mode method for handover control as described in claim 1, Be characterized in that: the given threshold A be 5~10Nm, the given threshold B be 30~60Nm, the given threshold C be 50~ 100rpm, the given threshold D are 1500~2500rpm, and the given threshold E is 500~1000rpm, the given threshold F It is 1000~1300rpm for 30~100rpm, the given threshold G, the given threshold H is 30~80rpm.
3. power dividing type hybrid vehicle hybrid power drive mode method for handover control as claimed in claim 1 or 2, It is characterized by: the gradient △ V1 is 800~1000Nm/s, the gradient △ V2 is 500~800Nm/s, the gradient △ V3 is 300~600Nm/s, and the gradient △ V4 is 600~900Nm/s, and the gradient △ V5 is 1000~1500Nm/s.
CN201910431972.9A 2019-05-23 2019-05-23 Hybrid power driving mode switching control method of power split type hybrid power vehicle Active CN110293959B (en)

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140243149A1 (en) * 2013-02-22 2014-08-28 GM Global Technology Operations LLC Hybrid vehicle with power-split and parallel hybrid transmission and method of controlling same
CN104837699A (en) * 2012-12-07 2015-08-12 日产自动车株式会社 Mode switching control device of hybrid vehicle
CN104870284A (en) * 2012-12-25 2015-08-26 日产自动车株式会社 Hybrid vehicle control device
CN107351837A (en) * 2017-06-12 2017-11-17 同济大学 A kind of power dividing hybrid power system mode switching method
CN108105358A (en) * 2018-01-19 2018-06-01 科力远混合动力技术有限公司 For the speed changer of preposition forerunner's hybrid electric vehicle
CN108394403A (en) * 2018-04-28 2018-08-14 吉林大学 A kind of power dividing type hybrid vehicle mode switch control method
CN108556836A (en) * 2018-05-30 2018-09-21 科力远混合动力技术有限公司 The control method of power dividing hybrid vehicle brake auxiliary starter engine
CN109131307A (en) * 2018-08-08 2019-01-04 同济大学 The H ∞ robust control method of hybrid power shunting hybrid power system pattern switching

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104837699A (en) * 2012-12-07 2015-08-12 日产自动车株式会社 Mode switching control device of hybrid vehicle
CN104870284A (en) * 2012-12-25 2015-08-26 日产自动车株式会社 Hybrid vehicle control device
US20140243149A1 (en) * 2013-02-22 2014-08-28 GM Global Technology Operations LLC Hybrid vehicle with power-split and parallel hybrid transmission and method of controlling same
CN107351837A (en) * 2017-06-12 2017-11-17 同济大学 A kind of power dividing hybrid power system mode switching method
CN108105358A (en) * 2018-01-19 2018-06-01 科力远混合动力技术有限公司 For the speed changer of preposition forerunner's hybrid electric vehicle
CN108394403A (en) * 2018-04-28 2018-08-14 吉林大学 A kind of power dividing type hybrid vehicle mode switch control method
CN108556836A (en) * 2018-05-30 2018-09-21 科力远混合动力技术有限公司 The control method of power dividing hybrid vehicle brake auxiliary starter engine
CN109131307A (en) * 2018-08-08 2019-01-04 同济大学 The H ∞ robust control method of hybrid power shunting hybrid power system pattern switching

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Effective date of registration: 20220823

Address after: No.16 Gongxin Avenue, industrial park, Yifeng County, Yichun City, Jiangxi Province

Patentee after: Jiangxi Dingsheng New Material Technology Co.,Ltd.

Address before: 528000 601-604 room, block A, 1 floor, 131 Ji Hua Xi Road, Chancheng District, Foshan, Guangdong.

Patentee before: CORUN HYBRID POWER TECHNOLOGY Co.,Ltd.