CN113147722B - Method for suppressing mixed power automobile bump - Google Patents
Method for suppressing mixed power automobile bump Download PDFInfo
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- CN113147722B CN113147722B CN202010012662.6A CN202010012662A CN113147722B CN 113147722 B CN113147722 B CN 113147722B CN 202010012662 A CN202010012662 A CN 202010012662A CN 113147722 B CN113147722 B CN 113147722B
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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
- B60W10/08—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
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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
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
- B60W10/11—Stepped gearings
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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
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
Abstract
A method for suppressing the bump of a hybrid electric vehicle includes such steps as setting up a motor control unit, sending a vehicle bump suppressing enable instruction to the motor controller for starting the bump suppressing mode when the output torque of engine is ready to be interrupted and transmitted to wheels while the motor is rigidly connected to the wheels; the motor controller detects the acceleration of the previous motor and takes the acceleration as the reference acceleration of the pause suppression mode, and then the motor torque output is quickly adjusted, so that the acceleration of the motor is equal to the reference acceleration; when the motor controller enters this mode, torque output from the engine begins to be interrupted to the wheels, thereby reducing jerks and shocks in the engine during which torque output from the engine is interrupted to the wheels. The invention can automatically control and regulate the output torque of the motor to keep the acceleration of the motor constant, thereby realizing the function of stopping the motor.
Description
Technical Field
The invention relates to a technology in the field of automobile power control, in particular to a method for suppressing the setbacks of hybrid electric vehicles, which is suitable for architectures such as P2, P2.5, P3, P4, power split and the like.
Background
When the power of the internal combustion engine is interrupted, the hybrid electric vehicle can be actively and rapidly compensated by the motor, and the vehicle stop caused by the instant power loss of the vehicle is reduced. In general, a control method of a hybrid electric vehicle is to distribute torque of mechanisms such as an engine, a clutch, a motor and the like by a power control unit (HCU) to realize stable transition, but because of complex and variable operation conditions, nonlinear working characteristics of each part, the consistency of parts is not easy to ensure, response speed is high, and the like, the implementation difficulty of a vehicle pause and stop inhibition function is high, meanwhile, portability is poor, and calibration workload is huge.
Disclosure of Invention
The invention provides a method for suppressing the bump of a hybrid electric vehicle, which aims at the defects existing in the prior art, when an engine stops outputting torque to wheels, the motor directly drives the wheels, a motor controller enters a bump suppression mode, and the output torque of the motor is automatically controlled and regulated to keep the acceleration of the motor constant, so that the bump suppression function is realized.
The invention is realized by the following technical scheme:
the invention relates to a method for suppressing the bump of a hybrid electric vehicle, which comprises the steps of sending a vehicle bump suppression enabling instruction to a motor controller through the arrangement of a vehicle power control unit to start a bump suppression mode when the output torque of an engine is in preparation for interrupt transmission to wheels and the motor and the wheels are in rigid connection; the motor controller detects the acceleration of the previous motor and takes the acceleration as the reference acceleration of the pause suppression mode, and then the motor torque output is quickly adjusted, so that the acceleration of the motor is equal to the reference acceleration; when the motor controller enters this mode, torque output from the engine begins to be interrupted to the wheels, thereby reducing jerks and shocks in the engine during which torque output from the engine is interrupted to the wheels.
The motor can quickly adjust the torque output, and specifically comprises the following steps: the motor controller detects the acceleration of the motor and takes the reference acceleration as a feedback input of the PI regulator, the reference acceleration is taken as a given input of the PI regulator, and the motor output torque is set in a PI regulator mode, so that the acceleration of the motor is kept stable.
The motor torque output is adjusted fast, and is specifically as follows: the motor controller takes the acceleration set value sent by the HCU as a reference acceleration; the motor controller detects the acceleration of the motor and takes the reference acceleration as a feedback input of the PI regulator, the reference acceleration is taken as a given input of the PI regulator, and the motor output torque is set in a PI regulator mode, so that the acceleration of the motor is kept stable.
Preferably, when an accident or emergency occurs, the HCU triggers to send a vehicle bump suppression stop instruction to the motor controller based on a brake pedal signal, so that the motor controller immediately exits from the vehicle bump suppression mode and enters into the torque control mode, the motor output is prevented from not conforming to the torque expected by a driver, the safety of the vehicle is ensured, and at the moment, the impact is still possible.
Preferably, during normal operation of the bump suppression mode, when stable output of the engine torque to the wheels is satisfied and the output torque of the motor is less than 10% of the output torque of the engine, the HCU sends a vehicle bump suppression stop command to the motor controller so that the motor controller normally exits the bump suppression mode and stops outputting the compensation torque, at which time exiting the mode does not cause an impact.
The invention relates to a system for realizing the method, which comprises the following steps: motor controller module, motor module, gearbox control module that links to each other with HCU, wherein: the HCU module is connected with the motor controller module and transmits motor torque information, motor rotation speed information and motor torque instructions, and the HCU module is connected with the transmission control module and transmits transmission gear information, transmission torque information, transmission rotation speed information and torque instruction information.
Technical effects
Compared with the prior art, the method has the advantages that the acceleration of the vehicle is directly used as a control target, the advantage of quick response of the torque of the motor is fully utilized, the acceleration of the vehicle is regulated by using the motor, the accurate calculation requirement on the torque output of each part of the vehicle is avoided, the control method is simple, safe and reliable, the precision of torque models of the engine and the transmission is not required, the coordination control difficulty of the engine and the transmission is greatly reduced, the vehicle calibration difficulty is greatly reduced, and meanwhile, the service life of main parts of the vehicle is prolonged due to the great reduction of impact.
Drawings
FIG. 1 is a schematic diagram of a P4 hybrid architecture;
fig. 2 is a schematic flow chart of an embodiment.
Detailed Description
As shown in fig. 1, the P4 hybrid structure according to the present embodiment includes: an engine, a clutch and a transmission arranged on one side driving wheel, and a motor and a speed reducer arranged on the other side driving wheel, wherein: the engine and the motor are respectively connected with the power control unit through an engine controller and a motor controller.
As shown in fig. 2, the present invention relates to a specific implementation method of the above architecture, which includes:
step 1, the VCU sends a pause suppression mode instruction to the motor controller, which specifically includes:
1.1 The VCU detects the working state fed back by the motor controller, and ensures that the motor controller is in a normal working state;
1.2 VCU sends a pause mode command to the motor control.
Step 2, the motor controller enters a pause suppression mode, and the method specifically comprises the following steps:
2.1 The motor controller first exits other working states, such as a torque working mode;
2.2 The motor controller is set to enter a pause suppression mode state;
2.3 The motor controller sends a state feedback signal for entering the pause suppression mode.
Step 3, the motor controller detects initial acceleration of the motor and takes the initial acceleration as target acceleration, and specifically comprises the following steps:
3.1 Sampling the position angle of the motor rotor at the moment;
3.2 Calculating the speed of the motor by the difference value of the position angle of the rotor from the last sampling moment; calculating the acceleration of the motor through the difference value between the motor speed at the last sampling moment and the motor speed at the last sampling moment;
3.3 A value obtained by low-pass filtering the acceleration of the motor is used as a target acceleration.
And 4, the motor controller adjusts the target acceleration as a control target, and specifically comprises the following steps:
4.1 Using a PI regulator to regulate, taking target acceleration as a given input and taking actual acceleration of the motor as a feedback input;
4.2 The output of the PI regulator is the output torque of the motor;
4.3 The PI regulator may be a standard PI algorithm or a modified PI algorithm, such as fuzzy PI, adaptive PI, etc.
When an accident or emergency occurs, the HCU sends a vehicle setback inhibition stop instruction to the motor controller after being triggered based on a brake pedal signal, so that the motor controller immediately exits from a vehicle setback inhibition mode and enters a torque control mode, the motor output is prevented from not conforming to the torque expected by a driver, the safety of the vehicle is ensured, and at the moment, the impact is still possibly brought.
During normal operation of the mode, when stable output of the engine torque to the wheels is satisfied and the output torque of the motor is less than 10% of the output torque of the engine, the HCU sends a vehicle bump suppression stop command to the motor controller, so that the motor controller normally exits the bump suppression mode and stops outputting the compensation torque, and no impact is caused by exiting the mode.
The traditional method is that the HCU accurately distributes the torque output of an engine or other power sources, the total torque output of all the power sources needs to be accurately controlled at any moment so as to keep the vehicle stable, and if the torque output calculation accuracy of the power sources is reduced due to some reasons, the vehicle stability can fluctuate.
In the invention, in the process of impact caused by the power interruption process of the vehicle, the motor controller takes the acceleration of the motor as a control target, calculates the torque output requirement of the motor according to the acceleration of the motor, and autonomously outputs the motor torque so as to keep the acceleration of the motor constant.
The invention can still ensure the stable running of the vehicle in the power switching process under the condition that the precision of other power sources is reduced.
The foregoing embodiments may be partially modified in numerous ways by those skilled in the art without departing from the principles and spirit of the invention, the scope of which is defined in the claims and not by the foregoing embodiments, and all such implementations are within the scope of the invention.
Claims (1)
1. A system for suppressing a jerk in a hybrid vehicle, comprising: motor controller module, motor module and gearbox control module that link to each other with the HCU, wherein: the HCU module is connected with the motor controller module and transmits motor torque information, motor rotation speed information and motor torque instruction, and the HCU module is connected with the transmission control module and transmits transmission gear information, transmission torque information, transmission rotation speed information and torque instruction information;
the mixed power automobile setback inhibition means: when the output torque of the engine is ready to be interrupted and transmitted to the wheels, and the motor and the wheels are rigidly connected, a vehicle setback inhibition enabling instruction is sent to a motor controller through the vehicle power control unit to start a setback inhibition mode; the motor controller detects the acceleration of the previous motor and takes the acceleration as the reference acceleration of the pause suppression mode, and then the motor torque output is quickly adjusted, so that the acceleration of the motor is equal to the reference acceleration; when the motor controller enters the mode, the torque output of the engine starts to be interrupted and transmitted to the wheels, so that the shock and impact in the process that the torque output of the engine is interrupted and transmitted to the wheels are reduced;
the motor can quickly adjust the torque output, and specifically comprises the following steps: the motor controller detects the acceleration of the motor and takes the reference acceleration as a feedback input of the PI regulator, the reference acceleration is taken as a given input of the PI regulator, the motor output torque is set in a PI regulator mode, the acceleration of the motor is kept stable, and the motor and the wheels are rigidly connected at the moment, so that the vehicle is kept stably running at the moment, and the impact and the jerk born by the vehicle are greatly weakened;
the motor torque output is adjusted fast, and is specifically as follows: the motor controller takes the acceleration set value sent by the HCU as a reference acceleration; the motor controller detects the acceleration of the motor and takes the reference acceleration as a feedback input of the PI regulator, the reference acceleration is taken as a given input of the PI regulator, the motor output torque is set in a PI regulator mode, the acceleration of the motor is kept stable, and the motor and the wheels are rigidly connected at the moment, so that the vehicle is kept stably running at the moment, and the impact and the jerk born by the vehicle are greatly weakened;
when an accident or emergency occurs, the HCU triggers and sends a vehicle setback inhibition stop instruction to the motor controller based on a brake pedal signal, so that the motor controller immediately exits from a vehicle setback inhibition mode and enters a torque control mode, the motor output is prevented from not conforming to the torque expected by a driver, the safety of the vehicle is ensured, and at the moment, the impact is possibly brought;
during normal operation of the bump suppression mode, when stable output of the engine torque to wheels is met and the output torque of the motor is less than 10% of the output torque of the engine, the HCU sends a vehicle bump suppression stop instruction to the motor controller, so that the motor controller normally exits the bump suppression mode and stops outputting compensation torque, and no impact is caused when the motor controller exits the mode;
the pause inhibition means:
step 1, the VCU sends a pause suppression mode instruction to the motor controller, which specifically includes:
1.1 The VCU detects the working state fed back by the motor controller, and ensures that the motor controller is in a normal working state;
1.2 VCU sends a command of a pause mode to motor control;
step 2, the motor controller enters a pause suppression mode, and the method specifically comprises the following steps:
2.1 The motor controller firstly exits other working states;
2.2 The motor controller is set to enter a pause suppression mode state;
2.3 The motor controller sends a state feedback signal for entering a pause suppression mode;
step 3, the motor controller detects initial acceleration of the motor and takes the initial acceleration as target acceleration, and specifically comprises the following steps:
3.1 Sampling the position angle of the motor rotor at the moment;
3.2 Calculating the speed of the motor by the difference value of the position angle of the rotor from the last sampling moment; calculating the acceleration of the motor through the difference value between the motor speed at the last sampling moment and the motor speed at the last sampling moment;
3.3 A value obtained by low-pass filtering the acceleration of the motor is used as a target acceleration;
and 4, the motor controller adjusts the target acceleration as a control target, and specifically comprises the following steps:
4.1 Using a PI regulator to regulate, taking target acceleration as a given input and taking actual acceleration of the motor as a feedback input;
4.2 The output of the PI regulator is the output torque of the motor;
4.3 The PI regulator can be a standard PI algorithm or a modified PI algorithm;
when an accident or emergency occurs, the HCU sends a vehicle setback inhibition stop instruction to the motor controller after being triggered based on a brake pedal signal, so that the motor controller immediately exits from a vehicle setback inhibition mode and enters a torque control mode, the motor output is prevented from not conforming to the torque expected by a driver, the safety of the vehicle is ensured, and at the moment, the impact is possibly brought; during normal operation of the mode, when stable output of the engine torque to the wheels is satisfied and the output torque of the motor is less than 10% of the output torque of the engine, the HCU sends a vehicle bump suppression stop command to the motor controller, so that the motor controller normally exits the bump suppression mode and stops outputting the compensation torque, and no impact is caused by exiting the mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010012662.6A CN113147722B (en) | 2020-01-07 | 2020-01-07 | Method for suppressing mixed power automobile bump |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010012662.6A CN113147722B (en) | 2020-01-07 | 2020-01-07 | Method for suppressing mixed power automobile bump |
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| CN113147722A CN113147722A (en) | 2021-07-23 |
| CN113147722B true CN113147722B (en) | 2023-05-16 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102616239A (en) * | 2012-04-11 | 2012-08-01 | 清华大学 | Dynamic coordinated control method for gear-shifting process of hybrid electrical vehicle |
| CN104149594A (en) * | 2014-08-01 | 2014-11-19 | 天津优溥特科技有限公司 | Plug-in hybrid power system |
| CN106043290A (en) * | 2015-04-14 | 2016-10-26 | 福特环球技术公司 | Methods and system for shifting a hybrid vehicle |
| CN106541817A (en) * | 2016-10-27 | 2017-03-29 | 湖州伊立机械有限公司 | A kind of multi power source coupling and transmission device |
| CN207549937U (en) * | 2017-10-11 | 2018-06-29 | 上海中科深江电动车辆有限公司 | Hybrid power articulated system |
-
2020
- 2020-01-07 CN CN202010012662.6A patent/CN113147722B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102616239A (en) * | 2012-04-11 | 2012-08-01 | 清华大学 | Dynamic coordinated control method for gear-shifting process of hybrid electrical vehicle |
| CN104149594A (en) * | 2014-08-01 | 2014-11-19 | 天津优溥特科技有限公司 | Plug-in hybrid power system |
| CN106043290A (en) * | 2015-04-14 | 2016-10-26 | 福特环球技术公司 | Methods and system for shifting a hybrid vehicle |
| CN106541817A (en) * | 2016-10-27 | 2017-03-29 | 湖州伊立机械有限公司 | A kind of multi power source coupling and transmission device |
| CN207549937U (en) * | 2017-10-11 | 2018-06-29 | 上海中科深江电动车辆有限公司 | Hybrid power articulated system |
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| Publication number | Publication date |
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| CN113147722A (en) | 2021-07-23 |
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