CN110871806B - Vibration damping control method and device for hybrid electric vehicle - Google Patents
Vibration damping control method and device for hybrid electric vehicle Download PDFInfo
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- 238000013016 damping Methods 0.000 title claims abstract description 29
- 230000003068 static effect Effects 0.000 claims abstract description 6
- 230000003247 decreasing effect Effects 0.000 claims description 5
- 238000005457 optimization Methods 0.000 abstract description 18
- 238000001514 detection method Methods 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000004904 shortening Methods 0.000 abstract description 2
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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
- 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
- B60W30/18—Propelling the vehicle
- B60W30/20—Reducing vibrations in the driveline
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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
- B60W20/00—Control systems specially adapted for hybrid vehicles
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0638—Engine speed
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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
- 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
- B60W2510/08—Electric propulsion units
- B60W2510/081—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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
The invention relates to a vibration damping control method and a device for a hybrid electric vehicle, wherein the method comprises the following steps: collecting vibration signals in three directions when a vehicle is in a static state, and calculating the phasor amplitudes of the vibration signals in the three directions; judging whether the phasor amplitude is smaller than a set amplitude threshold value or not, and if not, judging whether the engine speed is related to the vehicle speed or not; if the rotating speed of the engine is not related to the vehicle speed, selecting at least one power adjustment strategy to carry out power adjustment, and finding out a whole vehicle control parameter corresponding to the minimum resultant phasor amplitude of the vehicle in three directions in the power adjustment process; the vehicle power system is controlled by the vehicle control parameter corresponding to the minimum phasor amplitude of the vehicle in three directions. The invention organically combines the vibration detection and the optimization control into a whole, forms the closed-loop control of signal detection and control optimization, is beneficial to shortening the optimization period and improving the optimization effect.
Description
Technical Field
The invention relates to a vibration damping control method and device for a hybrid electric vehicle, and belongs to the technical field of vibration control of hybrid electric vehicles.
Background
Compared with the traditional automobile, the hybrid electric vehicle has great changes in the aspects of quality, structure, material, process, power output superposition mode and the like, and the vibration of the whole automobile also has the characteristics of high dimension, time variation and nonlinearity. The vibration analysis model of the system is simply established, so that the vibration problems of multidisciplinary, multiparameter and high dimension cannot be solved, and an efficient method needs to be found to reduce the vibration and noise of the system on the premise of fixed configuration of hybrid hardware so as to improve the smoothness of the vehicle.
At present, in order to reduce vehicle vibration, NVH vibration noise equipment is generally used for measuring vibration frequency and amplitude of a power system under different working conditions, the power output mode of the control system is optimized in a targeted manner by analyzing a measurement result, and finally the NVH equipment is used for detecting whether the vibration problem of the power system is improved or not. However, since the vibration measurement and the control optimization of the power system are independent from each other, the controlled object cannot be dynamically controlled in real time according to the detection result to perform closed-loop test optimization, and the problems of long optimization period and poor optimization effect exist.
Chinese patent application publication No. CN107010072A discloses an apparatus and method for active vibration control of a hybrid vehicle, which calculates the frequency or amplitude of an engine or a motor by detecting the rotational speed of the engine or the motor, and compares the frequency or amplitude with a reference value, thereby adjusting the rotational speed or torque of the engine or the motor. However, the actual amplitude of the vehicle cannot be obtained through the engine speed or the motor speed, so that the debugging effect is influenced, and the vibration control effect is not ideal.
Disclosure of Invention
The invention aims to provide a vibration damping control method and device for a hybrid electric vehicle, which are used for solving the problem of poor vehicle vibration control effect.
In order to solve the technical problem, the invention provides a vibration damping control method for a hybrid electric vehicle, which comprises the following steps:
collecting vibration signals in three directions when a vehicle is in a static state, and calculating the phasor amplitudes of the vibration signals in the three directions;
judging whether the phasor amplitude is smaller than a set amplitude threshold value or not, and if not, judging whether the engine speed is related to the vehicle speed or not;
if the rotating speed of the engine is not related to the vehicle speed, selecting at least one power adjustment strategy to carry out power adjustment, and finding out a whole vehicle control parameter corresponding to the minimum resultant phasor amplitude of the vehicle in three directions in the power adjustment process;
the vehicle power system is controlled by the vehicle control parameter corresponding to the minimum phasor amplitude of the vehicle in three directions.
The invention has the beneficial effects that: by detecting the vehicle vibration signals, when the resultant amplitudes of the vibration signals of the vehicle in three directions are not less than a set amplitude threshold value and the rotating speed of an engine is irrelevant to the vehicle speed, power adjustment is carried out by selecting a power adjustment strategy, and the optimal vehicle control parameters are found out; the vibration detection and the optimization control are organically combined into a whole, so that closed-loop control of signal detection and control optimization is formed, the optimization effect is improved, and the optimization period is favorably shortened.
Further, to perform power regulation to regulate power distribution of the powertrain, the power regulation strategy includes:
controlling to increase the rotating speed of the engine and reduce the load rate of the engine so that the variation range of the power of the engine is within a first set power variation range;
controlling to reduce the rotating speed of the engine and increase the load rate of the engine so that the variation range of the power of the engine is in a second set power variation range;
the engine speed is controlled to be maintained constant and the engine load factor is increased or decreased so that the variation range of the engine torque is within the set torque variation range.
Furthermore, in order to limit the power adjustment range of the power system, the first set power change range is-20%, the second set power change range is-20%, and the set torque change range is-30%.
The invention also provides a vibration damping control device for a hybrid electric vehicle, which comprises a processor and a memory, wherein the processor is used for processing the instructions stored in the memory to realize the following method:
collecting vibration signals in three directions when a vehicle is in a static state, and calculating the phasor amplitudes of the vibration signals in the three directions;
judging whether the phasor amplitude is smaller than a set amplitude threshold value or not, and if not, judging whether the engine speed is related to the vehicle speed or not;
if the rotating speed of the engine is not related to the vehicle speed, selecting at least one power adjustment strategy to carry out power adjustment, and finding out a whole vehicle control parameter corresponding to the minimum resultant phasor amplitude of the vehicle in three directions in the power adjustment process;
the vehicle power system is controlled by the vehicle control parameter corresponding to the minimum phasor amplitude of the vehicle in three directions.
Further, the power adjustment strategy includes:
controlling to increase the rotating speed of the engine and reduce the load rate of the engine so that the variation range of the power of the engine is within a first set power variation range;
controlling to reduce the rotating speed of the engine and increase the load rate of the engine so that the variation range of the power of the engine is in a second set power variation range;
the engine speed is controlled to be maintained constant and the engine load factor is increased or decreased so that the variation range of the engine torque is within the set torque variation range.
Furthermore, the first set power variation range is-20%, the second set power variation range is-20%, and the set torque variation range is-30%.
Drawings
FIG. 1 is a schematic structural diagram of a vibration damping control system for a hybrid vehicle according to the present invention;
fig. 2 is a flowchart of a vibration damping control method for a hybrid vehicle of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The embodiment of the vibration damping control method for the hybrid electric vehicle comprises the following steps:
the invention provides a vibration damping control method for a hybrid electric vehicle, which comprises the steps of collecting vibration signals of the vehicle, redistributing the power of a power system if the rotating speed of an engine is not related to the vehicle speed when the vibration signals exceed a certain range, and solidifying corresponding whole vehicle control parameters into a controller to control the power system of the vehicle when the amplitude of the power system is reduced to the optimal range by the adjusted power.
In order to realize the vibration damping control method for the hybrid electric vehicle, the invention also provides a vibration damping control system for the hybrid electric vehicle, the vibration damping control system comprises an acceleration sensor, a vehicle control unit and a hybrid electric system, the vehicle control unit is connected with the acceleration sensor in a sampling manner and is controlled and connected with the hybrid electric system, and the structural schematic diagram is shown in fig. 1.
The number N of the acceleration sensors may be one or more, and the vibration signals in at least three directions of the vehicle hybrid system X, Y, Z can be detected, where the X direction represents a vehicle traveling direction, the Y direction represents a direction horizontally perpendicular to the vehicle traveling direction, and the Z direction represents a direction perpendicular to the ground. In the case where the vibration characteristics of the hybrid system can be directly measured, the mounting position of the acceleration sensor on the vehicle may be selected as needed, and for example, the acceleration sensor may be disposed at a suitable position in the vicinity of the hybrid system.
A vibration damping control method for a hybrid vehicle will be described below with reference to the vibration damping control system for a hybrid vehicle. The control flow chart of the control method is shown in fig. 2, and comprises the following steps:
(1) vibration signals in three directions when the vehicle is in a static state are collected, and the phasor amplitudes of the vibration signals in the three directions are calculated.
When the vehicle is in a stationary state, the acceleration sensors detect vibration signals of the vehicle hybrid system X, Y, Z in three directions and send the vibration signals to the vehicle control unit. The vehicle control unit collects vibration signals (also called acceleration signals) of the acceleration sensor in real time, and dynamically calculates the phasor amplitude of the hybrid power system along X, Y, Z in real time according to the acceleration signals, namely
(2) And judging whether the phasor amplitude is smaller than a set amplitude threshold value or not, and if not, judging whether the engine speed is related to the vehicle speed or not.
The vehicle control unit judges the calculated phasor amplitude, when the phasor amplitude is smaller than a set amplitude threshold value A0, the control optimization is not needed, the control flow is directly ended, and the following steps (3) and (4) are not needed; otherwise, control optimization is needed, and whether the engine speed is decoupled from the vehicle speed or not is further judged, namely whether the engine speed is related to the vehicle speed or not is judged, and whether the following step (3) is performed or not is selected according to the judgment result.
In the present embodiment, the amplitude threshold value a0 is set to 2mm to 5 mm. The method for judging whether the engine speed is decoupled from the vehicle speed comprises the following steps: the ratio of the engine speed to the vehicle speed is a fixed value, and represents that the engine speed is not decoupled from the vehicle speed; the ratio of engine speed to vehicle speed is not a fixed value, indicating that engine speed is independent of vehicle speed, i.e., decoupled.
(3) If the rotating speed of the engine is not related to the vehicle speed, at least one power adjustment strategy is selected for power adjustment, and the vehicle control parameter corresponding to the minimum phasor amplitude of the vehicle in three directions in the power adjustment process is found out.
And when the engine speed and the vehicle speed cannot be decoupled, namely the engine speed and the vehicle speed are in a certain proportion, ending the control flow. When the rotating speed of the engine is decoupled with the vehicle speed, namely the rotating speed of the engine is irrelevant to the vehicle speed, the power distribution of the power system is controlled and adjusted, and the optimal control parameter of the whole vehicle is searched. The vehicle control parameters comprise engine speed and engine torque. That is, when the engine speed is decoupled from the vehicle speed, a range is defined by the power of the engine, wherein the torque of the engine is 9550 divided by the power of the engine, the torque of the engine is equal to the speed × the load factor, the power of the engine is fixed in a certain range, and the automatic optimization in the range is realized by the following specific process:
a. the vehicle control unit automatically controls the engine to increase the rotating speed in a certain range and controls to reduce the load rate of the engine, so that the change range of the power of the engine is in a first set power change range, and the lowest phasor amplitude A1 of the vehicle in three directions and corresponding vehicle control parameters in the process are calculated.
b. The vehicle control unit automatically controls the engine to reduce the rotating speed in a certain range and controls the load factor of the engine to be increased, so that the change range of the power of the engine is in a second set power change range, and the lowest phasor amplitude A2 of the vehicle in three directions and corresponding vehicle control parameters in the process are calculated.
c. The vehicle control unit controls the rotation speed of the engine to be kept unchanged, controls the load factor of the engine to be increased or decreased, enables the variation range of the torque of the engine to be within the set torque variation range, and calculates the lowest resultant phasor amplitude A3 of the vehicle in three directions and corresponding vehicle control parameters in the process.
d. And taking the lowest value A01min of A1, A2 and A3, and taking the whole vehicle control parameter corresponding to A01min as the optimal control parameter.
In this embodiment, the first set power variation range is-20% to 20%, the second set power variation range is-20% to 20%, and the set torque variation range is-30% to 30%.
It should be noted that, this embodiment only provides three power adjustment strategies in steps a, b, and c, and the power adjustment range in each power adjustment strategy may be set according to actual situations. In addition, in the process of searching for the optimal control parameter, only one or two power adjustment strategies may be selected for power adjustment.
(4) The vehicle power system is controlled by the vehicle control parameter corresponding to the minimum phasor amplitude of the vehicle in three directions.
And (4) solidifying the vehicle control parameter A01min corresponding to the minimum phasor amplitude of the vehicle in the three directions, which is obtained in the step (3), into the vehicle controller for controlling the vehicle hybrid power system.
The embodiment of the damping control device for the hybrid electric vehicle comprises the following components:
the invention also provides a vibration damping control device for the hybrid electric vehicle, which comprises a processor and a memory, wherein the processor is used for processing the instructions stored in the memory so as to realize the vibration damping control method for the hybrid electric vehicle. In the present embodiment, the processor and the memory are implemented by the vehicle control unit. Of course, as another embodiment, the processor in the vibration damping control device may be a PC, a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device provided specifically on the vehicle.
The vibration damping control method for the hybrid electric vehicle has been described in detail in the embodiment of the vibration damping control method for the hybrid electric vehicle, and for those skilled in the art, a corresponding computer program instruction may be generated according to the vibration damping control method for the hybrid electric vehicle, so as to obtain a vibration damping control device for the hybrid electric vehicle, and details are not repeated herein.
The vibration damping control method and device for the hybrid electric vehicle can be understood as a calibration process when the vehicle is off-line or a new product is developed, and the calibration process is automatically carried out by combining a vehicle vibration signal with a whole vehicle control program. In specific application, the calibrated parameters are extracted, and when a batch program is written, the calibrated parameters are directly solidified, and even if the amplitude of a subsequent vehicle is greater than A0, the calibration is still stopped.
The invention detects the vibration signal of the vehicle hybrid power system, controls the vehicle vibration according to the vibration signal, and organically combines the vibration detection and the optimization control into a whole, thereby forming the closed-loop control of signal detection and control optimization and being beneficial to shortening the optimization period. The optimized control parameters are automatically stored in the controller, so that the self-learning control method has a self-learning function, can be suitable for all power system configurations with the decoupling of the engine rotating speed and the vehicle speed, and has wide applicability.
Claims (4)
1. A vibration damping control method for a hybrid electric vehicle is characterized by comprising the following steps:
collecting vibration signals in three directions when a vehicle is in a static state, and calculating the phasor amplitudes of the vibration signals in the three directions;
judging whether the phasor amplitude is smaller than a set amplitude threshold value or not, and if not, judging whether the engine speed is related to the vehicle speed or not;
if the rotating speed of the engine is not related to the vehicle speed, selecting at least one power adjustment strategy to carry out power adjustment, and finding out a whole vehicle control parameter corresponding to the minimum resultant phasor amplitude of the vehicle in three directions in the power adjustment process;
the vehicle power system is controlled by adopting the vehicle control parameter corresponding to the minimum phasor amplitude of the vehicle in three directions;
the power adjustment strategy comprises:
controlling to increase the rotating speed of the engine and reduce the load rate of the engine so that the variation range of the power of the engine is within a first set power variation range;
controlling to reduce the rotating speed of the engine and increase the load rate of the engine so that the variation range of the power of the engine is in a second set power variation range;
the engine speed is controlled to be maintained constant and the engine load factor is increased or decreased so that the variation range of the engine torque is within the set torque variation range.
2. The vibration damping control method for the hybrid electric vehicle according to claim 1, wherein the first set power variation range is-20% to 20%, the second set power variation range is-20% to 20%, and the set torque variation range is-30% to 30%.
3. A vibration damping control apparatus for a hybrid vehicle, comprising a processor and a memory, the processor being configured to process instructions stored in the memory to implement a method comprising:
collecting vibration signals in three directions when a vehicle is in a static state, and calculating the phasor amplitudes of the vibration signals in the three directions;
judging whether the phasor amplitude is smaller than a set amplitude threshold value or not, and if not, judging whether the engine speed is related to the vehicle speed or not;
if the rotating speed of the engine is not related to the vehicle speed, selecting at least one power adjustment strategy to carry out power adjustment, and finding out a whole vehicle control parameter corresponding to the minimum resultant phasor amplitude of the vehicle in three directions in the power adjustment process;
the vehicle power system is controlled by adopting the vehicle control parameter corresponding to the minimum phasor amplitude of the vehicle in three directions;
the power adjustment strategy comprises:
controlling to increase the rotating speed of the engine and reduce the load rate of the engine so that the variation range of the power of the engine is within a first set power variation range;
controlling to reduce the rotating speed of the engine and increase the load rate of the engine so that the variation range of the power of the engine is in a second set power variation range;
the engine speed is controlled to be maintained constant and the engine load factor is increased or decreased so that the variation range of the engine torque is within the set torque variation range.
4. The vibration damping control device for the hybrid electric vehicle according to claim 3, wherein the first set power variation range is-20% to 20%, the second set power variation range is-20% to 20%, and the set torque variation range is-30% to 30%.
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| JP5272949B2 (en) * | 2009-07-28 | 2013-08-28 | トヨタ自動車株式会社 | Vehicle vibration suppression control device |
| CN104080671B (en) * | 2012-01-25 | 2016-08-24 | 日产自动车株式会社 | The control device of vehicle and the control method of vehicle |
| KR101795390B1 (en) * | 2015-12-11 | 2017-11-09 | 현대자동차 주식회사 | Apparatus and method for active vibration control of hybrid vehicle |
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Address after: 450061 Yudao Road, Guancheng District, Zhengzhou City, Henan Province Patentee after: Yutong Bus Co., Ltd Address before: 450061 Yudao Road, Guancheng District, Zhengzhou City, Henan Province Patentee before: Zhengzhou Yutong Bus Co., Ltd |