CN113665558B - Method for combining speed regulation control clutch of generator of transmission of hybrid vehicle - Google Patents
Method for combining speed regulation control clutch of generator of transmission of hybrid vehicle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
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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
-
- 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
- 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
- B60W2510/08—Electric propulsion units
- B60W2510/081—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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/16—Ratio selector position
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/02—Clutches
- B60W2710/021—Clutch engagement state
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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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
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
Abstract
The invention discloses a method for combining a speed regulation control clutch of a generator of a transmission of a hybrid vehicle, comprising the following steps of S1, signal acquisition and signal processing; s2, calculating the target torque of the generator, comprising the following steps: s21, judging whether generator torque fuzzy control or generator torque PID control is performed, and S22, calculating the torque requested by the generator through a generator torque fuzzy control system; s23, a PID control method is applied to carry out a torque request of the generator; and S3, calculating the clutch request torque, which comprises the following steps: s31, filling oil to the clutch; s32, setting a final combination torque after combination of the clutch torque request torque is started; and S4, when the difference between the engine rotating speed and the input shaft rotating speed is smaller than a set threshold value and the clutch torque is larger than the set threshold value, the clutch is combined. The invention can reduce the friction loss of the clutch and the friction plate loss of the clutch.
Description
Technical Field
The invention belongs to the field of automobile transmission control, and particularly relates to a combination method of a speed regulation control clutch of a generator of a hybrid vehicle transmission.
Background
With the further promotion of the automobile holding amount in China, a large amount of fossil fuels are taken, and great burden is caused to the living environment of human beings. In the face of increasing traffic demands of human beings, low carbon and environmental protection can be more emphasized when people go out in the future, the existing traditional fuel oil automobiles can be eliminated by the times, and new energy automobiles mainly comprising pure electric vehicles and hybrid electric vehicles can become new power engines supporting traditional automobile enterprises.
The hybrid electric vehicle is a vehicle which is provided with two different power devices and energy storage devices on the same vehicle, and power coupling and cooperation are carried out through an advanced control system, so that various advantages of two systems are brought into play, and the purpose of reducing energy consumption is achieved. In the P1P3 (P1 motor and P3 motor) hybrid special transmission gear shifting process based on sequence type single clutch transmission structure, involve the separation and the combination of clutch, there is a large amount of clutch smooth-grinding in AMT or DCT clutch combination process, for the ride comfort and the continuity of guaranteeing power, not only the combination time is long, can lose a large amount of energy moreover, increase clutch friction material's heat load, can put forward higher demand to lubricating system simultaneously. The invention uses the motor to adjust the rotating speed difference of the master disc and the slave disc of the clutch, and the clutch is quickly combined after the speed regulation is finished, so that the sliding friction power loss of the clutch is reduced in the process, and the overall efficiency of the hybrid vehicle is improved.
Disclosure of Invention
The invention provides a method for combining a speed-regulating control clutch of a generator of a transmission of a hybrid vehicle, aiming at reducing the sliding wear loss of the clutch and the loss of a friction plate of the clutch while providing the speed of the clutch combining process.
The technical scheme for realizing the purpose is as follows:
the method for combining the speed regulation control clutch of the generator of the hybrid vehicle transmission is characterized by comprising the following steps of:
s1, signal acquisition and signal processing: the method comprises the following steps that a hybrid vehicle transmission controller unit obtains an engine rotating speed or a P1 motor rotating speed, an input shaft rotating speed, an accelerator, a vehicle speed or a P3 motor rotating speed, a target gear and an actual gear signal in real time;
s2, calculating the target torque of the generator, and comprising the following steps:
s21, the transmission control unit judges whether to enter generator torque fuzzy control or generator torque PID control according to the conditions of the engine rotating speed or the P1 motor rotating speed, the vehicle speed, the input shaft rotating speed, the target gear and the actual gear, if the entering conditions meet the conditions of entering fuzzy control to calculate the generator torque, the transmission control unit enters a generator torque request fuzzy control execution step S22, otherwise, the transmission control unit enters a generator torque request PID control execution step S23;
s22, calculating the requested torque of the generator through a generator torque fuzzy control system: the transmission control unit obtains an accelerator, the actual rotating speed of an engine or converts the actual rotating speed of a P1 motor into the actual rotating speed of the engine, the actual rotating speed of an input shaft, the vehicle speed or the rotating speed of a P3 motor to serve as the input variable of a fuzzy control system of the requested torque of the generator, and the requested torque of the generator is obtained through calculation according to the fuzzy rule of the fuzzy control system for identifying the requested torque of the generator;
s23, converting the actual rotating speed of the engine or the actual rotating speed of the P1 motor into the difference between the actual rotating speed of the engine and the rotating speed of the input shaft and the vehicle speed, and applying a PID control method to make a torque request of the generator;
and S3, calculating the clutch request torque, comprising the following steps:
s31, the clutch is filled with oil, when the clutch is combined, the clutch oil filling mark is sent out immediately, and the clutch enters a torque response mode after oil filling is finished;
s32, setting final combination torque after the combination of the clutch torque request starts, calculating the torque increase slope by using a fuzzy control algorithm, converting the actual rotating speed of the P1 motor into the actual rotating speed difference between the engine and the input shaft, the vehicle speed or the rotating speed of the P3 motor according to the input conditions of the fuzzy control system of the clutch torque increase slope, and calculating the clutch torque increase slope according to the fuzzy rule of the fuzzy control system of the clutch torque increase slope;
and S4, when the difference between the engine rotating speed and the input shaft rotating speed is smaller than a set threshold value and the clutch torque is larger than the set threshold value, the clutch is combined.
The invention relates to a control method for separating 2 important executive components by combining the clutch combination process of a hybrid vehicle with a P1P3 (P1 motor and P3 motor) structure. The method is characterized in that 6 fuzzy rules are designed for the torque requested by the generator to reflect the speed regulation state of the generator, wherein 3 fuzzy rules are used for reducing the speed of the generator and regulating the speed of the generator, and 3 fuzzy rules are used for increasing the speed of the generator and regulating the speed of the generator, and meanwhile, the size of an accelerator and the height of the vehicle speed are considered, and the speed of the accelerator is used. When the vehicle speed is low or the accelerator is small, the vehicle driving performance is sensitive to torque change to request the torque request of the generator, but the requirement on speed regulation time is not high, so that when the working conditions of small accelerator and low speed are involved, the speed regulation torque of the generator is reduced as much as possible, the speed regulation time is properly prolonged, and the speed regulation precision is improved; when the vehicle speed is high and the accelerator is large, the clutch is required to quickly transmit torque, and the influence of torque change on the drivability of the vehicle is small, so that under the working condition, the speed regulating torque of the generator can be increased to improve the speed regulating time of the rotating speed of the engine, and the speed regulating precision can be relatively reduced; meanwhile, a fuzzy control jump condition capable of PID feedback regulation control is set, and when the difference of the rotating speeds of the clutch master and the clutch slave is small, the PID feedback condition is applied, so that the rotating speed regulation precision is improved. When a clutch torque is requested, a fuzzy control algorithm is applied to control the clutch combination rate, two output parameters of an accelerator and a clutch slave disc rotating speed difference absolute value are considered, 4 fuzzy rules are established on the basis, wherein 2 of the fuzzy rules are small accelerator working conditions, the other 2 of the fuzzy rules are non-small accelerator working conditions, the relation between the clutch combination process and the accelerator is large, when the accelerator is not large, the clutch sliding friction torque is preferably considered to be reduced, the sliding friction loss is reduced at the same time, and the combination time can be properly prolonged under the working conditions; when the accelerator of a driver is not small, the dynamic property of the vehicle is considered preferentially, the clutch combination time can be properly accelerated, and the power lag is reduced. After PID fuzzy control and fuzzy control are distributed and applied to two important execution components, the vehicle response can be improved, and meanwhile, the energy consumption is reduced and the clutch is protected.
In summary, the invention has the following advantages:
1. the sliding friction power of the clutch is reduced, the power loss is reduced, and the heat dissipation requirement on a friction plate of the clutch is reduced;
2. the clutch combination rate is improved, the clutch combination time is reduced, and the power transmission is faster;
3. to a certain extent reducing the possibility of clutch wear and ablation.
Drawings
FIG. 1 is a schematic diagram of the control logic of the present invention;
FIG. 2 is a schematic illustration of a clutch engagement process;
FIG. 3 is a schematic diagram of a control process signal interaction.
Detailed Description
The present invention will be described with reference to fig. 1 to 3.
The invention relates to a method for combining a speed regulation control clutch of a generator of a transmission of a hybrid vehicle, which comprises the following steps:
s1, signal acquisition and signal processing: the hybrid vehicle transmission controller unit acquires the engine speed or the P1 motor speed, the input shaft speed, the accelerator, the vehicle speed or the P3 motor speed, the target gear and the actual gear signal in real time.
S2, calculating the target torque of the generator, and comprising the following steps:
s21, the transmission control unit judges whether to enter generator torque fuzzy control or generator torque PID control according to the engine rotating speed or the P1 motor rotating speed, the vehicle speed, the input shaft rotating speed, the target gear and the actual gear condition, if the entering condition meets the entering fuzzy control and the generator torque is calculated, the transmission control unit enters a generator torque request fuzzy control execution step S22, otherwise, the transmission control unit enters a generator torque request PID control execution step S23.
S22, calculating the requested torque of the generator through a generator torque fuzzy control system: the transmission control unit obtains the actual rotating speed of an accelerator and an engine or converts the actual rotating speed of a P1 motor into the actual rotating speed of the engine, the actual rotating speed of an input shaft, the vehicle speed or the rotating speed of a P3 motor to be used as the input variable of a fuzzy control system of the requested torque of the generator, and the requested torque of the generator is obtained by calculation according to the fuzzy rule of the fuzzy control system identified by the requested torque of the generator, and the method specifically comprises the following steps:
and S41, the transmission control unit acquires the vehicle speed v and the accelerator x, the rotating speed difference d between the driving disc and the driven disc of the clutch is used as an input variable of the fuzzy control system, and the rotating speed difference d = the rotating speed of the engine-the rotating speed of the input shaft.
S42, correspondingly inputting the accelerator x, the vehicle speed v and the rotating speed difference D between the driving disc and the driven disc of the clutch into membership functions A (x), B (v), C (D) and D (D) to respectively obtain corresponding output values A x 、B v 、C d 、D d Wherein, A (x) represents a membership function that an accelerator fuzzy set is smaller than alpha, B (v) represents a membership function that a fuzzy set vehicle speed is smaller than beta, C (D) represents a membership function that a fuzzy set rotating speed difference is positive, and D (D) represents a membership function that a fuzzy set rotating speed difference is negative; the fuzzy set rotation speed difference is positive: the rotating speed of the driven disc is greater than that of the driving disc, and the fuzzy set rotating speed difference is negative, so that the rotating speed of the driven disc is less than that of the driving disc.
S43, outputting the value A of the membership function A (x), B (v), C (D) and D (D) x 、B v 、C d 、D d Inputting the fuzzy control rule to obtain the output value of the fuzzy control rule or the original value A of the requested generator torque value 1 、A 2 、A 3 、A 4 、A 5 、A 6 . The fuzzy control rule in step S43 includes:
the first fuzzy rule is: if the throttle is less than alpha and the rotation speed difference is negative, the rotation speed of the driving disk of the clutch is higher than that of the driven disk of the clutch, and the original value A1 of the requested torque of the generator is A x And C d Take the small value.
The second fuzzy rule is: if the vehicle speed is less than beta and the rotation speed difference is negative, the rotation speed of the driving disk of the clutch is higher than that of the driven disk of the clutch, and the original value A of the torque requested by the generator is the same 2 Is C d And B v Take the small value.
The third fuzzy rule is: if the throttle is less than alpha and the rotation speed difference is positive, the rotation speed of the driving disk of the clutch is lower than that of the driven disk of the clutch, and the generator requests the original torque value A 3 Is D d And A x And (6) taking an average value.
The fourth fuzzy rule is: if the vehicle speed is less than beta and the rotation speed difference is positive, the rotation speed of the driving disk of the clutch is lower than that of the driven disk of the clutch, and the original value A of the torque requested by the generator is the same 4 Is B v And D d And (6) taking an average value.
The fifth fuzzy rule is: the difference of the rotating speeds is positive, and the generator requests the original value A of the torque 5 Is C d 。
The sixth fuzzy rule is: the difference in rotational speed is negative and the generator requests the original value of torque A 6 Is D d 。
S44, obtaining the original value A of the requested torque of the generator 1 、A 2 、A 3 、A 4 、A 5 、A 6 And carrying out precision processing according to the following accumulative average formula to obtain the finally required generator request torque, wherein the accumulative average formula is as follows:
wherein Ai is the original value of the generator request torque output by the ith fuzzy control rule, knj is a rule numerator coefficient, and Kdj is a rule denominator coefficient.
S23, converting the actual rotating speed of the engine or the actual rotating speed of the P1 motor into the difference between the actual rotating speed of the engine and the rotating speed of the input shaft and the vehicle speed, and applying a PID control method to make a torque request of the generator, wherein the specific steps are as follows:
s61, the transmission control unit acquires the rotating speed h of the engine and the rotating speed j of the input shaft as a condition parameter of PID;
s62, taking the rotating speed of the input shaft as the target rotating speed of the PID regulating system for the requested torque of the generator, and taking the rotating speed of the engine as the actual rotating speed of the PID regulating system for the requested torque of the generator to obtain a regulating deviation E, wherein E = j-h;
s63, inputting the regulation deviation into a PID control module, and outputting a requested torque of the generator;
j is the input shaft speed and h is the engine speed.
And S3, calculating the clutch request torque, comprising the following steps:
and S31, filling oil into the clutch, immediately sending a clutch oil filling identifier after the clutch is combined, and enabling the clutch to enter a torque response mode after oil filling is finished.
S32, setting final combination torque after the combination of the clutch request torque is started, calculating the torque increase slope by using a fuzzy control algorithm, converting the actual rotating speed of the P1 motor into the actual rotating speed difference between the engine and the input shaft, the vehicle speed or the rotating speed of the P3 motor by using the input condition of the fuzzy control system of the clutch torque increase slope, and calculating the clutch torque increase slope according to the fuzzy rule of the fuzzy control system of the clutch torque increase slope, wherein the concrete steps are as follows:
and S51, the transmission control unit acquires the accelerator x, and the rotating speed difference d between the driving disc and the driven disc of the clutch is used as an input variable of the fuzzy control system.
S52, correspondingly inputting the accelerator x and the rotating speed difference d between the driving disc and the driven disc of the clutch into membership functions E (x) and F (d) to respectively obtain corresponding output values E x 、F d Wherein E (x) = represents a membership function of the fuzzy set accelerator smaller than gamma, and F (d) = represents a membership function of the fuzzy set rotating speed difference larger than delta in absolute value.
S53, outputting the value E of the membership function E (x) and F (d) x 、F d Inputting the fuzzy control rule to obtain the output value of the fuzzy control rule or the original value B of the requested value of the generator torque 1 、B 2 、B 3 、B 4 。
The fuzzy control rule in step S53 includes:
the first fuzzy control rule is: if the throttle is less than γ and the rotational speed difference is greater than δ, then the clutch requests the torque slope raw value B 1 Is E x 、F d And (6) taking an average value.
The second fuzzy control rule is: if throttle is less than gamma, then the clutch request torque slope raw value B 2 Is E x 。
The third fuzzy control rule is: if the absolute value of the rotational speed difference is greater than delta, then the clutch requests a torque slope raw value B 3 Is E x 。
The fourth fuzzy rule is that the accelerator is less than gamma, the rotating speed difference is greater than delta, and the gradient of the torque requested by the clutch is originalInitial value B 4 A large fixed torque ramp rate.
S54, obtaining the original value B of the torque slope requested by the clutch 1 、B 2 、B 3 、B 4 The final required clutch requested torque slope is obtained by performing a refinement process according to the following cumulative average formula.
Wherein Bi is the original value of the clutch request torque slope output by the ith fuzzy control rule, knj is a rule numerator coefficient, and Kdj is a rule denominator coefficient.
And S4, when the difference between the rotating speed of the engine and the rotating speed of the input shaft is smaller than a set threshold value and the torque of the clutch is larger than the set threshold value, the clutch is combined.
The following describes the above scheme by way of example. The computer program of the integrated method according to the invention is installed in the transmission control unit TCU. The corresponding modules involved in implementing the method for combining the speed regulation control clutch of the generator of the hybrid vehicle transmission comprise a signal acquisition module, a rotating speed difference calculation module, a generator request torque calculation module, a clutch request torque slope calculation module and a clutch combination judgment completion module.
1) Signal acquisition and processing: the transmission control unit TCU acquires an engine speed signal from an engine control unit ECU in real time through a CAN line; the transmission control unit TCU acquires a generator rotating speed signal from the generator control unit MCU in real time through a CAN line; the TCU acquires a vehicle speed signal from an anti-lock braking system ABS in real time through a CAN line; the transmission control unit TCU acquires a clutch combination instruction and an accelerator signal from the vehicle control unit HCU in real time through a CAN (controller area network) line;
2) Calculating the rotating speed difference of the master disc and the slave disc of the clutch: according to the P1P3 hybrid structure, the rotating speed difference d of a clutch and a master disc and a slave disc = the rotating speed of an engine-rotating speed of an input shaft, wherein the rotating speed of the engine is acquired by a rotating speed sensor of a TCU (hybrid control unit);
3) A generator requested torque calculation comprising the steps of:
31 The transmission control unit TCU judges whether to enter fuzzy control or PID control according to the clutch combination control state of the HCU, the rotating speed difference of the clutch master-slave plate and the throttle and vehicle speed signals. If the difference between the rotating speeds of the clutch master plate and the clutch slave plate is larger than a threshold value, such as 300rpm, or the throttle signal is larger than the threshold value, such as 50%, the fuzzy control of the torque of the generator is started; if the difference in the rotational speeds of the clutch master and slave discs is less than a threshold value, for example 300rpm, or the vehicle speed is below a threshold value, for example 50Km/h, large motor PID regulation is entered.
32 The speed change box control unit TCU calculates the speed regulation request torque of the generator through a generator torque calculation fuzzy system according to the real-time speed difference, the accelerator and the vehicle speed.
321 Define the input signal. The fuzzy control system for the torque requested by the generator comprises three signal input variables of a vehicle speed v, an accelerator x and a clutch master-slave plate rotating speed difference d, wherein:
the value range of the accelerator x is 0-100 (%);
the value range of the vehicle speed v is 0-255 (km/h);
the clutch master-slave plate rotation speed difference is-3000-3000 (rpm).
322 ) membership calculation. According to the experience and knowledge of experts, and the combination of vehicle dynamics and driver operation, the invention designs 4 membership functions which are respectively as follows:
a (x) represents a membership function of an accelerator fuzzy set smaller than alpha, and the value of alpha is 0 to 100. In this embodiment, the value range of a (x) is 0 to 100 (because the membership value is 0 to 100%, but the TCU does not support floating-point operation, that is, does not support decimal operation, so that the membership is amplified by 100 times), and the value of a (x) is shown in table 1:
| x | 0 | 10 | 30 | 50 | 80 | 100 |
| A(x) | 0 | 10 | 20 | 30 | 40 | 40 |
TABLE 1
The value of a (x) is not limited to the above embodiment, and may be determined according to the drivability calibration of the matching vehicle.
B (v) represents a membership function of the fuzzy set vehicle speed less than beta, and the value of beta is less than 90Km/h. The value range of B (v) in this embodiment is 0-100, and the value of B (v) is shown in Table 2:
| v | 0 | 40 | 60 | 80 | 120 | 255 |
| B(v) | 0 | 0 | 20 | 40 | 80 | 100 |
TABLE 2
The value of B (v) is not limited to the above embodiments, and may be determined according to the drivability calibration of the matching vehicle.
C (d) represents a membership function with positive fuzzy set rotation speed difference, the value range of C (d) is 0-100, and the value of C (d) is shown in Table 3:
| d | 100 | 200 | 400 | 800 | 1600 | 3000 |
| C(d) | 100 | 100 | 70 | 40 | 10 | 0 |
TABLE 3
The value of C (d) is not limited to the above embodiments and may be determined according to the drivability calibration of the matching vehicle.
D (D) represents a membership function with negative fuzzy set rotation speed difference, the value range of D (D) is 0-100, and the value of D (D) is shown in Table 4:
| d | -100 | -200 | -400 | -800 | -1600 | -3000 |
| D(d) | 100 | 100 | 70 | 40 | 10 | 0 |
TABLE 4
The value of E (y) is not limited to the above embodiment, and may be determined according to the drivability calibration of the matching vehicle.
The accelerator x, the vehicle speed v and the rotating speed difference D of the clutch master-slave plate are input into 5 membership functions A (x), B (v), C (D) and D (D) to respectively obtain 4 corresponding output values A x 、B v 、C d 、D d 。
In table 1, a point x1 corresponds to a (x 1) point, for example, a point 10 corresponds to 20, a point x2 corresponds to a (x 2) point, for example, a point 30 corresponds to 40, and when the obtained throttle x value is located between the point x1 point, for example, the point 10 and the point x2 point 30, a value a can be obtained according to a linear interpolation method between the two points x ＝A(x1)+(x-x1)/(x2-x1)*(A(x2)-A(x1))。B v 、C d 、D d The calculation is similar to the method described above.
In the embodiment, when the TCU runs the internal program, A is calculated every 10ms x 、B v 、C d 、D d 。
323 Fuzzy logic judges: according to the invention, by combining the dynamic property of the vehicle and the operation of a driver and according to the 4 membership functions, six fuzzy control rules are designed to calculate the requested torque of the generator, wherein the six rules are as follows:
the first fuzzy rule is: if the throttle is less than alpha and the rotation speed difference is negative, the rotation speed of the driving disk of the clutch is higher than that of the driven disk of the clutch, and the generator requests the original torque value A 1 Is A x And C d Taking a small value;
the second fuzzy rule is: if the vehicle speed is less than beta and the difference is negative, the rotating speed of the driving disk of the clutch is higher than that of the driven disk of the clutch, and the generator requests the original value A of the torque 2 Is C d And B v Taking a small value;
the third fuzzy rule is: if the throttle is less than alpha and the rotation speed difference is positive, the rotation speed of the driving disk of the clutch is lower than that of the driven disk of the clutch, and the generator requests the original torque value A 3 Is D d And A x Taking an average value;
the fourth fuzzy rule is: if the vehicle speed is less than beta and the difference is positive, the rotating speed of the driving disk of the clutch is lower than that of the driven disk of the clutch, and the generator requests the original value A of the torque 4 Is B v And D d Taking an average value;
the fifth fuzzy rule is: the difference in rotational speed is positive and the generator requests the original value of torque A 5 Is C d ；
The sixth fuzzy rule is: the difference in rotational speed is negative and the generator requests the original value of torque A 6 Is D d 。
324 Defuzzification
6 original values A of the requested torque of the generator, which are obtained by fuzzy logic judgment 1 、A 2 、A 3 、A 4 、A 5 、A 6 And (3) carrying out precision processing on the finally required generator request torque coefficient according to the following cumulative average formula:
wherein A is i Generator requested torque slope raw value, K, output for ith fuzzy control rule nj Is the regular molecular coefficient, K dj Is a regular denominator coefficient; k here nj And K dj The test result is obtained by testing on a real vehicle.
The method comprises the following steps that a generator request torque is subjected to fuzzy calculation normalization processing, and a transmission control unit TCU performs normalization processing on the generator request torque through a generator request torque normalization processing module, so that the generator request torque is converted into a value in a range required by the generator torque request.
Generator requested torque PID regulation: and inputting the rotating speed difference signal into a PID regulator, and converting the regulating variable output by the PID into a numerical value in a range required by the torque request of the generator through normalization processing.
A clutch torque request comprising the steps of:
the final target value of the clutch torque request is a calibration threshold value;
the torque request slope of the clutch is calculated by a fuzzy system according to the difference between the accelerator and the rotating speed of the master plate and the slave plate of the clutch:
an input signal is defined. The fuzzy control system for the torque slope requested by the clutch comprises three signal input variables of a vehicle speed v, an accelerator x and a rotational speed difference d of a master disc and a slave disc of the clutch, wherein:
the value range of the accelerator x is 0-100 (%);
the absolute value of the difference d between the rotation speeds of the master plate and the slave plate of the clutch is 0-3000 (rpm).
And calculating the membership degree. According to the experience and knowledge of experts, and the combination of vehicle dynamics and driver operation, the invention designs 4 membership functions which are respectively as follows:
e (x) represents a membership function of the fuzzy set accelerator smaller than gamma, wherein the gamma is 0 to 50. In this embodiment, the value range of E (x) is 0 to 100 (because the membership value is 0 to 100%, but the TCU does not support floating-point operation, that is, does not support decimal operation, the membership is enlarged by 100 times, and the value of E (x) is shown in table 5:
| x | 0 | 10 | 30 | 50 | 80 | 100 |
| E(x) | 0 | 10 | 20 | 30 | 40 | 40 |
TABLE 5
The value of E (x) is not limited to the above embodiment, and may be determined according to the drivability calibration of the matching vehicle.
F (d) represents a membership function of which the absolute value of the fuzzy set rotating speed difference is greater than delta, and the value of delta is greater than 1000rpm. The value range of F (d) in this embodiment is 0-100, and the values of F (d) are shown in Table 6:
| d | 100 | 200 | 400 | 800 | 1600 | 3000 |
| F(d) | 100 | 50 | 20 | 10 | 5 | 5 |
TABLE 6
The value of F (d) is not limited to the above embodiments and may be determined based on the drivability calibration of the matching vehicle.
423 Fuzzy logic judges that: according to the four membership functions, the invention designs four fuzzy control rules to calculate the gradient of the torque requested by the clutch according to the four membership functions by combining the dynamic property of the vehicle and the operation of a driver, wherein the four rules are respectively as follows:
the first fuzzy control rule is: if the throttle is less than γ and the rotational speed difference is greater than δ, then the clutch requests the torque slope raw value B 1 Is E x 、F d And (6) taking an average value.
The second fuzzy control rule is: if throttle is less than gamma, then the clutch request torque slope raw value B 2 Is E x 。
The third fuzzy control rule is: if the absolute value of the rotational speed difference is greater than delta, then the clutch requests a torque slope raw value B 3 Is E x 。
The fourth fuzzy rule is that the accelerator is less than gamma, the rotating speed difference is greater than delta, and the torque slope original value B of the clutch request is 4 A large fixed torque ramp rate.
424 Defuzzification
4 clutch torque request slope original values B obtained by fuzzy logic judgment 1 、B 2 、B 3 、B 4 And (3) carrying out precision processing on the finally required generator request torque coefficient according to the following cumulative average formula:
wherein B is i Clutch torque request slope raw value, K, output for the ith fuzzy control rule nj Is the regular molecular coefficient, K dj Is a regular denominator coefficient; k here nj And K dj The test result is obtained by testing on a real vehicle.
43 The transmission control unit TCU normalizes the clutch torque request slope through a clutch torque request slope normalization processing module to convert the generator requested torque into a value in a range required by the clutch torque request slope.
44 Clutch final requested torque: and limiting the clutch torque request slope calculated by the fuzzy system through a slope limiting module to obtain the final clutch torque request.
Finally, when the difference between the engine speed and the input shaft speed is less than a set threshold and the clutch torque is greater than a set threshold, for example, the difference between the engine speed and the input shaft speed is less than 50rpm and the clutch torque is greater than 100Nm, the clutch engagement is completed.
Finally, it should be noted that: the above embodiments are only preferred embodiments of the present invention to illustrate the technical solutions of the present invention, but not to limit the technical solutions, and the patent scope of the present invention is not limited thereto; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention; in addition, the technical scheme of the invention is directly or indirectly applied to other related technical fields, and the technical scheme is included in the patent protection scope of the invention.
Claims (6)
1. The method for combining the speed regulation control clutch of the generator of the hybrid vehicle transmission is characterized by comprising the following steps of:
s1, signal acquisition and signal processing: the hybrid vehicle transmission controller unit acquires the engine speed or the P1 motor speed, the input shaft speed, an accelerator, the vehicle speed or the P3 motor speed, a target gear and an actual gear signal in real time;
s2, calculating the target torque of the generator, and comprising the following steps:
s21, the transmission control unit judges whether to enter generator torque fuzzy control or generator torque PID control according to the conditions of the engine rotating speed or the P1 motor rotating speed, the vehicle speed, the input shaft rotating speed, the target gear and the actual gear, if the entering conditions meet the conditions of entering fuzzy control to calculate the generator torque, the transmission control unit enters a generator torque request fuzzy control execution step S22, otherwise, the transmission control unit enters a generator torque request PID control execution step S23;
s22, calculating the requested torque of the generator through a generator torque fuzzy control system: the transmission control unit obtains an accelerator, the actual rotating speed of an engine or converts the actual rotating speed of a P1 motor into the actual rotating speed of the engine, the actual rotating speed of an input shaft, the vehicle speed or the rotating speed of a P3 motor to serve as the input variable of a fuzzy control system of the requested torque of the generator, calculates the requested torque of the generator according to the fuzzy rule of the fuzzy control system for identifying the requested torque of the generator, and specifically comprises the following steps:
s41, a transmission control unit acquires a vehicle speed v and an accelerator x, and a rotating speed difference d between a driving disc and a driven disc of a clutch is used as an input variable of a fuzzy control system;
s42, correspondingly inputting the accelerator x, the vehicle speed v and the rotating speed difference D of the driving disc and the driven disc of the clutch into membership functions A (x), B (v), C (D) and D (D) to respectively obtain corresponding output values A x 、B v 、C d 、D d Wherein, A (x) represents a membership function that the accelerator fuzzy set is less than alpha, B (v) represents a membership function that the vehicle speed of the fuzzy set is less than beta, C (D) represents a membership function that the rotating speed difference of the fuzzy set is positive, and D (D) represents a membership function that the rotating speed difference of the fuzzy set is negative;
s43, outputting the value A of the membership function A (x), B (v), C (D) and D (D) x 、B v 、C d 、D d Inputting the fuzzy control rule to obtain the output value of the fuzzy control rule or the original value A of the requested generator torque value 1 、A 2 、A 3 、A 4 、A 5 、A 6 ；
S44, obtaining the original value A of the requested torque of the generator 1 、A 2 、A 3 、A 4 、A 5 、A 6 And carrying out precision processing according to the following accumulative average formula to obtain the finally required generator request torque, wherein the accumulative average formula is as follows:
wherein Ai is the original value of the generator request torque output by the ith fuzzy control rule, knj is a rule numerator coefficient, and Kdj is a rule denominator coefficient;
s23, converting the actual rotating speed of the engine or the actual rotating speed of the P1 motor into the difference between the actual rotating speed of the engine and the rotating speed of the input shaft and the vehicle speed, and applying a PID control method to make a torque request of the generator;
and S3, calculating the clutch request torque, comprising the following steps:
s31, the clutch is filled with oil, when the clutch is combined, the clutch oil filling mark is sent out immediately, and the clutch enters a torque response mode after oil filling is finished;
s32, setting final combination torque after the combination of the clutch request torque is started, calculating the torque increase slope by using a fuzzy control algorithm, converting the actual rotating speed of the P1 motor into the actual rotating speed difference between the engine and the input shaft, the vehicle speed or the rotating speed of the P3 motor by using the input condition of the fuzzy control system of the clutch torque increase slope, and calculating the clutch torque increase slope according to the fuzzy rule of the fuzzy control system of the clutch torque increase slope, wherein the concrete steps are as follows:
s51, a transmission control unit acquires an accelerator x, and the rotating speed difference d between a driving disc and a driven disc of a clutch is used as an input variable of a fuzzy control system;
s52, correspondingly inputting the accelerator x and the rotating speed difference d between the driving disc and the driven disc of the clutch into membership functions E (x) and F (d) to respectively obtain corresponding output values E x 、F d Wherein E (x) = represents a membership function of the fuzzy set accelerator smaller than gamma, and F (d) = represents a membership function of the fuzzy set rotating speed difference absolute value larger than delta;
s53, outputting the value E of the membership function E (x) and F (d) x 、F d Inputting the fuzzy control rule to obtain the output value of the fuzzy control rule or the original value B of the requested value of the generator torque 1 、B 2 、B 3 、B 4 ；
The fuzzy control rule in step S53 includes:
the first fuzzy control rule is: if the throttle is less than γ and the rotational speed difference is greater than δ, then the clutch requests the torque slope raw value B 1 Is E x 、F d Taking an average value;
the second fuzzy control rule is: if throttle is less than γ, then clutch request torque slope raw value B 2 Is E x ；
The third fuzzy control rule is: if the absolute value of the rotational speed difference is greater than delta, then the clutch requests a torque slope raw value B 3 Is E x ；
The fourth fuzzy rule is that the accelerator is less than gamma, the rotating speed difference is greater than delta, and the torque slope original value B of the clutch request is 4 A large fixed torque slope;
s54, obtaining the original value B of the torque slope requested by the clutch 1 、B 2 、B 3 、B 4 The final required clutch requested torque slope is obtained by performing a refinement process according to the following cumulative average formula:
wherein Bi is the original value of the clutch request torque slope output by the ith fuzzy control rule, knj is a rule numerator coefficient, and Kdj is a rule denominator coefficient;
and S4, when the difference between the engine rotating speed and the input shaft rotating speed is smaller than a set threshold value and the clutch torque is larger than the set threshold value, the clutch is combined.
2. The bonding method according to claim 1, wherein α is 0 to 100; beta is less than 90Km/h; the fuzzy set rotational speed difference is represented as positive: the rotating speed of the driven disc is greater than that of the driving disc, and the fuzzy set rotating speed difference is negative, which means that the rotating speed of the driven disc is less than that of the driving disc.
3. The bonding method according to claim 1, wherein the fuzzy control rule in step S43 comprises:
the first fuzzy rule is: if the throttle is less than alpha and the rotation speed difference is negative, the rotation speed of the driving disk of the clutch is higher than that of the driven disk of the clutch, and the generator requests the original torque value A 1 Is A x And C d Taking a small value;
the second fuzzy rule is: if the vehicle speed is less than beta and the difference is negative, the rotating speed of the driving disk of the clutch is higher than that of the driven disk of the clutch, and the generator requests the original value A of the torque 2 Is C d And B v Taking a small value;
the third fuzzy rule is: if the throttle is less than alpha and the rotation speed difference is positive, the rotation speed of the driving disk of the clutch is lower than that of the driven disk of the clutch, and the generator requests the original torque value A 3 Is D d And A x Taking an average value;
the fourth fuzzy rule is: if the vehicle speed is less than beta and the difference is positive, the rotating speed of the driving disk of the clutch is lower than that of the driven disk of the clutch, and the generator requests the original value A of the torque 4 Is B v And D d Taking an average value;
the fifth fuzzy rule is: the difference in rotational speed is positive and the generator requests the original value of torque A 5 Is C d ；
The sixth fuzzy rule is: the difference in rotational speed is negative and the generator requests the original value of torque A 6 Is D d 。
4. The bonding method according to claim 1, wherein γ is 0 to 50 and δ is greater than 1000rpm.
5. The combination of claim 1, wherein the step S23 of applying a PID control method for generator torque request comprises the steps of:
s61, the transmission control unit acquires the rotating speed h of the engine and the rotating speed j of the input shaft as a condition parameter of PID;
s62, taking the rotating speed of the input shaft as the target rotating speed of the PID regulating system for the requested torque of the generator, and taking the rotating speed of the engine as the actual rotating speed of the PID regulating system for the requested torque of the generator to obtain a regulating deviation E, wherein E = j-h;
s63, inputting the regulation deviation into a PID control module, and outputting a torque requested by the generator;
j is the input shaft speed and h is the engine speed.
6. The method of coupling of claim 1, wherein the clutch driving disk to driven disk rotational speed difference d = engine speed-input shaft speed.
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