CN114013295B - Downshifting control method in deceleration process and related equipment - Google Patents

Downshifting control method in deceleration process and related equipment Download PDF

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Publication number
CN114013295B
CN114013295B CN202010692663.XA CN202010692663A CN114013295B CN 114013295 B CN114013295 B CN 114013295B CN 202010692663 A CN202010692663 A CN 202010692663A CN 114013295 B CN114013295 B CN 114013295B
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torque
motor
wheel end
target torque
target
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CN114013295A (en
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孙俊
耿鹏
马良峰
罗翔
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SAIC Motor Corp Ltd
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SAIC Motor Corp Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • 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
    • Y02T10/64—Electric machine technologies in electromobility
    • 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
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Transmission Device (AREA)

Abstract

The application discloses a downshift control method and related equipment in a deceleration process, wherein the method comprises the following steps: after receiving a motor downshift request, acquiring a wheel end required torque; determining a first target torque of a motor and a first target torque of compensation equipment according to the wheel end required torque; controlling the actual torque of the motor to be unloaded to 0 according to the first target torque of the motor, and controlling the actual torque of the compensation equipment to be loaded to the wheel end required torque according to the first target torque of the compensation equipment; controlling the motor to carry out downshifting, and determining a second target torque of the motor and a second target torque of the compensation equipment according to the wheel end required torque when the motor is determined to be in the target gear; the actual torque of the motor is controlled to be loaded to the wheel end required torque according to the second target torque of the motor, and the actual torque of the compensation device is controlled to be unloaded to 0 according to the second target torque of the compensation device. Therefore, the vehicle is stably decelerated in the motor downshifting process, and driving experience is improved.

Description

Downshifting control method in deceleration process and related equipment
Technical Field
The present disclosure relates to the field of vehicle technologies, and in particular, to a downshift control method and related devices during deceleration.
Background
Currently, in a deceleration process (for example, a deceleration process such as a throttle sliding and a braking deceleration process) of a vehicle (for example, a new energy vehicle such as a pure electric vehicle and a hybrid electric vehicle), when a motor in the vehicle needs to be downshifted, the motor may be controlled to perform the downshift according to the following downshift process, and the downshift process is specifically: the motor is controlled to remove feedback torque (i.e., wheel end demand torque) from the non-shifting process, then to perform a downshift, and is controlled to reload feedback torque back to the non-shifting process after the downshift is completed. It can be seen that, since the motor output torque undergoes a change of decreasing and increasing again during the above-described downshift, the acceleration of the vehicle deceleration also undergoes a change of decreasing and increasing again, which results in a significant change of the vehicle deceleration and thus a poor driving experience.
Disclosure of Invention
In order to solve the technical problems in the prior art, the application provides a downshift control method and related equipment in a deceleration process, which can ensure that the acceleration of vehicle deceleration is unchanged in the downshift process, so that the vehicle deceleration is always unchanged in the downshift process, and is favorable for improving driving experience.
In order to achieve the above object, the technical solution provided in the embodiments of the present application is as follows:
the embodiment of the application provides a downshift control method in a deceleration process, which is applied to a controller and comprises the following steps:
after receiving a motor downshift request, acquiring wheel end required torque;
determining a first target torque of the motor and a first target torque of compensation equipment according to the wheel end required torque; the compensation equipment is used for compensating the motor torque in the motor downshifting process so that the actual torque of the wheel end is the required torque of the wheel end;
controlling the actual torque of the motor to be unloaded to 0 according to the first target torque of the motor, and controlling the actual torque of the compensation device to be loaded to the wheel end required torque according to the first target torque of the compensation device; wherein the sum of the actual torque of the motor and the actual torque of the compensation device is the wheel end required torque;
controlling the motor to carry out downshifting, and determining a second target torque of the motor and a second target torque of the compensation device according to the wheel end required torque when the motor is determined to be lowered to the target gear;
and controlling the actual torque of the motor to be loaded to the wheel end required torque according to the second target torque of the motor, and controlling the actual torque of the compensation device to be unloaded to 0 according to the second target torque of the compensation device.
Optionally, the determining the first target torque of the motor and the first target torque of the compensation device according to the wheel end required torque includes:
when the motor delay time is determined to be lower than the compensation equipment delay time, determining a first target torque of the compensation equipment according to the wheel end required torque and a first slope value, and determining the first target torque of the motor according to the wheel end required torque, the first target torque of the compensation equipment, the actual torque of the compensation equipment, the compensation equipment delay time and the motor delay time;
or,
when the motor delay time is not less than the compensation equipment delay time, determining a first target torque of the motor according to the wheel end required torque and the second slope value, and determining the first target torque of the compensation equipment according to the wheel end required torque, the first target torque of the motor, the actual torque of the motor, the motor delay time and the compensation equipment delay time.
Optionally, the determining the first target torque of the motor according to the wheel end required torque, the first target torque of the compensation device, the actual torque of the compensation device, the compensation device delay time length and the motor delay time length includes:
In EMTorr Tgt A first target torque representative of the motor; TQD represents the wheel end demand torque; cluTorrq Tgt A first target torque representing all compensation devices; cluTorrq Act Representing the actual torque of the compensation device; cluDelay represents the compensation device delay duration; EMDelay represents the motor delay time.
Optionally, the determining the first target torque of the compensation device according to the wheel end required torque, the first target torque of the motor, the actual torque of the motor, the motor delay time length and the compensation device delay time length includes:
in the formula, cluTorr Tgt A first target torque representative of the compensation device; TQD represents the wheel end demand torque; EMTorr Tgt A first target torque representative of the motor; EMTorr Act Representing an actual torque of the motor; cluDelay represents the compensation device delay duration; EMDelay represents the motor delay time.
Optionally, the determining the second target torque of the motor and the second target torque of the compensation device according to the wheel end required torque includes:
when the motor delay time is determined to be lower than the compensation equipment delay time, determining second target torque of the compensation equipment according to the wheel end required torque and a third slope value, and determining second target torque of the motor according to the wheel end required torque, the second target torque of the compensation equipment, the actual torque of the compensation equipment, the compensation equipment delay time and the motor delay time;
Or,
and when the motor delay time is not less than the compensation equipment delay time, determining a second target torque of the motor according to the wheel end required torque and a fourth slope value, and determining the second target torque of the compensation equipment according to the wheel end required torque, the second target torque of the motor, the actual torque of the motor, the motor delay time and the compensation equipment delay time.
Optionally, when the controller is mounted to the electric vehicle, the compensation device comprises a brake; when the controller is installed in a hybrid vehicle, the compensation device includes a brake and/or a clutch.
Optionally, when the compensation device comprises a clutch, the method further comprises:
after receiving a motor downshift request, controlling the engine to close the intake valve and the exhaust valve;
and controlling the engine to open the intake valve and the exhaust valve after controlling the actual torque of the motor to be loaded to the wheel end required torque according to the second target torque of the motor.
The embodiment of the application also provides a controller, which comprises:
the first acquisition unit is used for acquiring the wheel end required torque after receiving the motor downshift request;
a first determining unit for determining a first target torque of the motor and a first target torque of the compensating device according to the wheel end required torque; the compensation equipment is used for compensating the motor torque in the motor downshifting process so that the actual torque of the wheel end is the required torque of the wheel end;
The first control unit is used for controlling the actual torque of the motor to be unloaded to 0 according to the first target torque of the motor and controlling the actual torque of the compensation equipment to be loaded to the wheel end required torque according to the first target torque of the compensation equipment; wherein the sum of the actual torque of the motor and the actual torque of the compensation device is the wheel end required torque;
the second control unit is used for controlling the motor to carry out downshifting, and determining a second target torque of the motor and a second target torque of the compensation equipment according to the wheel end required torque when the motor is determined to be lowered to the target gear;
and the third control unit is used for controlling the actual torque of the motor to be loaded to the wheel end required torque according to the second target torque of the motor and controlling the actual torque of the compensation equipment to be unloaded to 0 according to the second target torque of the compensation equipment.
The embodiment of the application also provides equipment, which comprises a processor and a memory:
the memory is used for storing a computer program;
the processor is configured to execute any implementation of the downshift control method in the deceleration process provided in the embodiments of the present application according to the computer program.
The present embodiments also provide a computer readable storage medium for storing a computer program for executing any implementation of the downshift control method in the deceleration process provided in the present embodiments.
Compared with the prior art, the embodiment of the application has at least the following advantages:
in the downshift control method in the deceleration process provided by the embodiment of the application, after a motor downshift request is received, the wheel end required torque is obtained; determining a first target torque of a motor and a first target torque of compensation equipment according to the wheel end required torque; controlling the actual torque of the motor to be unloaded to 0 according to the first target torque of the motor, and controlling the actual torque of the compensation equipment to be loaded to the wheel end required torque according to the first target torque of the compensation equipment; controlling the motor to carry out downshifting, and determining a second target torque of the motor and a second target torque of the compensation equipment according to the wheel end required torque when the motor is determined to be in the target gear; the actual torque of the motor is controlled to be loaded to the wheel end required torque according to the second target torque of the motor, and the actual torque of the compensation device is controlled to be unloaded to 0 according to the second target torque of the compensation device.
The compensation equipment is used for compensating the motor torque in the motor downshift process so that the actual torque of the wheel end is the wheel end demand torque, so that the sum of the actual torque of the motor and the actual torque of the compensation equipment in the downshift control process is always kept to be the wheel end demand torque, the wheel end actual torque is always kept to be the wheel end demand torque in the downshift control process, the acceleration of vehicle deceleration in the downshift process can be kept unchanged, the vehicle deceleration in the downshift process can be kept unchanged all the time, and the driving experience is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a method for controlling a downshift during deceleration according to an embodiment of the present application;
FIG. 2 is a schematic diagram of interactions between motor torque and clutch torque when the motor delay period is less than the compensation device delay period according to an embodiment of the present application;
FIG. 3 is a schematic diagram of interaction of motor torque and clutch torque when the motor delay period is not less than the compensation device delay period according to the embodiment of the present application;
fig. 4 is a schematic diagram of a brake of a hybrid vehicle according to an embodiment of the present application;
fig. 5 is a schematic diagram of a brake of a purely electric power vehicle according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a controller according to an embodiment of the present application;
fig. 7 is a schematic diagram of a device structure according to an embodiment of the present application.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will clearly and completely describe the technical solution in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Method embodiment
Referring to fig. 1, a flowchart of a downshift control method during deceleration according to an embodiment of the present application is shown.
The downshift control method in the deceleration process provided by the embodiment of the application comprises the following steps of S1-S6:
s1: the controller obtains the wheel end demand torque after receiving the motor downshift request.
The controller is used for controlling and managing a motor downshift process in the vehicle deceleration process; moreover, the embodiments of the present application are not limited to the controller, and for example, the controller may be mounted on an electric vehicle (i.e., a pure electric vehicle), may be mounted on a hybrid vehicle, and may be mounted on another new energy vehicle equipped with a multi-gear motor. It should be noted that the embodiment of the present application is not limited to a vehicle, and for example, the vehicle may be an automobile.
The motor downshift request refers to a request for a request to lower the motor gear to the target gear, which is triggered in the deceleration process; moreover, the motor downshift request carries target gear information.
The wheel end demand torque refers to torque that needs to be applied to the wheels in order to enable the wheels to decelerate in accordance with the target acceleration during deceleration of the vehicle. It should be noted that, the embodiment of the present application does not limit the manner of obtaining the torque required by the wheel end. For example, the actual wheel end torque at the current time may be determined as the wheel end demand torque.
Based on the above, when the vehicle is decelerating according to the target acceleration, if the controller in the vehicle receives the motor downshift request, the controller may first obtain the wheel end demand torque, and then perform the motor downshift based on the wheel end demand torque, so that the wheels of the vehicle can be decelerated all the time during the motor downshift.
S2: the controller determines a first target torque of the motor and a first target torque of the compensation device according to the wheel end demand torque.
The first target torque of the motor refers to a command torque that the controller sends to the motor during control of the motor unloading torque (i.e., the motor output torque drops from the wheel end demand torque to 0). For example, as shown in fig. 2 and 3, the first target torque of the motor may include torque values on a command torque curve of the motor, each torque value on a segment of the curve from which the wheel end demand torque drops to 0.
The compensation device is used for compensating the motor torque in the motor downshifting process, so that the actual torque of the wheel end is the required torque of the wheel end. In addition, the embodiments of the present application are not limited to the compensation apparatus, and the compensation apparatus may be different for different types of vehicles. For example, when the controller is mounted to an electric vehicle, the compensation device includes a brake; when the controller is installed in a hybrid vehicle, the compensation device includes a brake and/or a clutch. Wherein the brake is used to represent at least one mechanism that resists movement of the powered rotating member of the vehicle; further, embodiments of the present application are not limited to brakes, and, for example, as shown in fig. 4 and 5, the brakes may include chassis brake systems (brake disc and caliper), brakes in a gearbox, brakes on a propeller shaft.
The first target torque of the compensation device refers to a command torque that the controller sends to the compensation device during control of the compensation device loading torque (i.e., the output torque of the compensation device rises from 0 to the wheel end demand torque). For example, as shown in fig. 2 and 3, the first target torque of the compensation device may include respective torque values on a section of the torque value on the command torque curve of the compensation device rising from 0 to the wheel end demand torque.
In some cases, there is a delay between the actual torque and the commanded torque. For example, as shown in fig. 2 and 3, the actual torque of the motor lags the command torque of the motor by a motor delay period, and the actual torque of the compensation device lags the command torque of the compensation device by a compensation device delay period. In addition, the relative magnitude between the motor delay period and the compensation device delay period can affect the downshift control during deceleration. Wherein the motor delay period is used to characterize a period of time that the actual torque of the motor lags the commanded torque of the motor. The compensation device delay period is used to characterize the period that the actual torque of the compensation device lags the commanded torque of the compensation device. Based on this, the present application examples provide two possible implementations of S2.
In a first possible embodiment, S2 may specifically be: when the controller determines that the motor delay time is lower than the compensation equipment delay time, the controller firstly determines the first target torque of the compensation equipment according to the wheel end required torque and the first slope value, and then determines the first target torque of the motor according to the wheel end required torque, the first target torque of the compensation equipment, the actual torque of the compensation equipment, the compensation equipment delay time and the motor delay time.
The first slope may be preset, and in particular may be set according to the application scenario.
The first target torque of the motor can be determined by using the formula (1).
In EMTorr Tgt Representing a first target torque of the motor; TQD represents the wheel end demand torque; cluTorrq Tgt A first target torque representing all compensation devices; cluTorrq Act Representing the actual torque of the compensation device; cluDelay represents the compensation device delay duration; EMDelay represents the motor delay time.
Based on the above description of the first possible implementation manner of S2, after the controller obtains the motor downshift request, the controller first determines whether the motor delay period is less than the compensation device delay period, and when determining that the motor delay period is less than the compensation device delay period, may first determine the first target torque of the compensation device, and then determine the first target torque of the motor based on the first target torque of the compensation device. The determination process specifically comprises the following steps: determining a first target torque of the compensation device according to the wheel end required torque and a first slope value (as shown in fig. 2, torque values on a section of a curve of the command torque of the compensation device rise from 0 to the wheel end required torque are all torque values); and then calculating the first target torque of the motor by using a formula (1) according to the wheel end required torque, the first target torque of the compensation equipment, the actual torque of the compensation equipment, the delay time of the compensation equipment and the delay time of the motor (as shown in fig. 2, the torque values on the command torque curve of the motor are all the torque values on the section of curve from the wheel end required torque to 0).
In a second possible embodiment, S2 may specifically be: when the delay time of the motor is not less than the delay time of the compensation equipment, determining a first target torque of the motor according to the wheel end required torque and the second slope value, and determining the first target torque of the compensation equipment according to the wheel end required torque, the first target torque of the motor, the actual torque of the motor, the delay time of the motor and the delay time of the compensation equipment.
The second slope value may be preset, and may be set according to an application scenario.
The first target torque of the compensation device may be determined using equation (2).
In the formula, cluTorr Tgt A first target torque representative of the compensation device; TQD represents the wheel end demand torque; EMTorr Tgt A first target torque representative of the motor; EMTorr Act Representing an actual torque of the motor; cluDelay represents the compensation device delay duration; EMDelay represents the motor delay time.
Based on the above description of the second possible implementation manner of S2, after the controller obtains the motor downshift request, the controller first determines whether the motor delay period is less than the compensation device delay period, and when determining that the motor delay period is not less than the compensation device delay period, may first determine the first target torque of the motor, and then determine the first target torque of the compensation device based on the first target torque of the motor. The determination process specifically comprises the following steps: first, determining a first target torque of the motor according to a wheel end required torque and a second slope value (as shown in fig. 3, torque values on a command torque curve of the motor are respectively reduced from the wheel end required torque to torque values on a section of curve of 0), then determining a first target torque of the compensation device according to the wheel end required torque, the first target torque of the motor, the actual torque of the motor, the motor delay time and the compensation device delay time by using a formula (2) (as shown in fig. 3, torque values on a command torque curve of the compensation device are respectively increased from torque values on a section of curve of 0 to the wheel end required torque).
Based on the above description of S2, after the controller obtains the motor downshift request, the controller may determine the first target torque of the motor and the first target torque of the compensation device according to the wheel end required torque, and the determining process specifically includes: the controller firstly judges whether the delay time of the motor is lower than the delay time of the compensation equipment, if yes, the first target torque of the compensation equipment is determined based on the first slope value and the wheel end required torque, and then the first target torque of the motor is determined based on the first target torque of the compensation equipment and the formula (1); if not, determining a first target torque of the motor based on the second slope value and the wheel end required torque, and then determining the first target torque of the compensation equipment based on the first target torque of the motor and the formula (2).
S3: the controller controls the actual torque of the motor to be unloaded to 0 according to the first target torque of the motor, and controls the actual torque of the compensation device to be loaded to the wheel end demand torque according to the first target torque of the compensation device.
The actual torque of the motor refers to the torque actually output by the motor, and the actual torque of the compensation device refers to the torque actually output by the compensation device. In addition, the sum of the actual torque of the motor and the actual torque of the compensation device is always kept as the wheel end demand torque throughout the entire flow of the downshift control. That is, the sum of the actual torque of the motor and the actual torque of the compensation device is the wheel end demand torque.
In this embodiment of the present application, the controller may control the actual torque of the motor to be unloaded to 0 according to the first target torque of the motor (such as a section of curve that the torque value on the actual torque curve of the motor is reduced to 0 from the wheel end demand torque shown in fig. 2 and 3), and control the actual torque of the compensation device to be loaded to the wheel end demand torque according to the first target torque of the compensation device (such as a section of curve that the torque value on the actual torque curve of the compensation device is increased to the wheel end demand torque from 0 shown in fig. 2 and 3), so that the sum of the actual torque of the motor and the actual torque of the compensation device reaches the wheel end demand torque at each moment in the process of unloading the torque of the motor, thereby ensuring that the actual torque of the wheel end always reaches the wheel end demand torque in the process of unloading the motor, and ensuring that the vehicle can slow down according to the target acceleration in the process of unloading the motor.
S4: the controller controls the motor to perform downshifting.
In the embodiment of the application, after the controller determines that the motor has completed torque unloading (i.e., the output torque of the control motor reaches 0), the controller controls the motor to perform a downshift so that the motor can lower the gear to the target gear. The target gear refers to a gear to which the motor needs to be lowered during deceleration of the vehicle.
It should be noted that, during the process of controlling the motor to perform the downshift by the controller, the controller does not perform torque control on the motor and the compensation device any more, so that the actual torque of the motor is always 0 (such as the curve in which the torque value on the actual torque curve of the motor is continuously 0 in fig. 2 and 3) during the control of the motor downshift, and the actual torque of the compensation device is always the wheel end demand torque during the control of the motor downshift (such as the curve in which the torque value on the actual torque curve of the compensation device is continuously the wheel end demand torque in fig. 2 and 3). Therefore, the sum of the actual torque of the motor and the actual torque of the compensation equipment is always kept to be the wheel end required torque during the motor downshift control, so that the actual torque of the wheel end can always reach the wheel end required torque during the motor downshift control, and the vehicle can be ensured to be decelerated according to the target acceleration during the motor downshift control.
S5: the controller determines a second target torque of the motor and a second target torque of the compensation device according to the wheel end demand torque when determining that the motor is lowered to the target gear.
The second target torque of the motor refers to a command torque that the controller sends to the motor during control of the motor reload torque (i.e., reload of the motor output torque from 0 to the wheel end demand torque). For example, as shown in fig. 2 and 3, the second target torque for the electric machine may include torque values on a segment of the commanded torque curve for the electric machine reloaded from 0 to the wheel end demand torque.
The second target torque of the compensation device refers to the command torque that the controller sends to the compensation device during control of the compensation device to unload torque (i.e., the output torque of the compensation device drops from the wheel end demand torque to 0). For example, as shown in fig. 2 and 3, the second target torque of the compensation device may include torque values on a section of the curve where the torque value on the command torque curve of the compensation device decreases from the wheel end demand torque to 0.
In addition, the present embodiments provide two possible implementations of S5 based on the relative sizes between the motor delay duration and the compensation device delay duration.
In a first possible embodiment, S5 may specifically be: when the controller determines that the motor delay time is lower than the compensation equipment delay time, determining a second target torque of the compensation equipment according to the wheel end required torque and the third slope value, and determining the second target torque of the motor according to the wheel end required torque, the second target torque of the compensation equipment, the actual torque of the compensation equipment, the compensation equipment delay time and the motor delay time.
The third slope value may be preset, and may be set according to an application scenario. In addition, embodiments of the present application do not limit the magnitude relationship of the first slope value and the third slope value, for example, the first slope value may be the same as the third slope value.
It should be noted that, in the embodiment of the present application, the second target torque of the motor may be determined by using the above formula (1), and in the process of determining the second target torque of the motor by using the formula (1), the EMTorq in the formula (1) may be used Tgt A second target torque representative of the motor, cluTorr Tgt Representing a second target torque of the compensation device.
Based on the above description of the first possible embodiment of S5, when the controller determines that the motor is lowered to the target gear and determines that the motor delay period is less than the compensation device delay period, the second target torque of the compensation device may be determined first, and then the second target torque of the motor may be determined based on the second target torque of the compensation device. The determination process specifically comprises the following steps: determining a second target torque of the compensation device according to the wheel end required torque and a third slope value (as shown in fig. 2, the torque values on the command torque curve of the compensation device are each torque value on a section of curve from which the wheel end required torque is reduced to 0); and determining the second target torque of the motor by using the formula (1) according to the wheel end required torque, the second target torque of the compensation device, the actual torque of the compensation device, the delay time of the compensation device and the delay time of the motor (as shown in fig. 2, the torque values on the command torque curve of the motor are increased from 0 to the torque values on the section of the curve of the wheel end required torque).
In a second possible embodiment, S5 may specifically be: when the controller determines that the motor delay time is not less than the compensation equipment delay time, determining a second target torque of the motor according to the wheel end required torque and the fourth slope value, and determining the second target torque of the compensation equipment according to the wheel end required torque, the second target torque of the motor, the actual torque of the motor, the motor delay time and the compensation equipment delay time.
The fourth slope value may be preset, and may be set according to an application scenario. In addition, the embodiments of the present application do not limit the magnitude relationship of the second slope value and the fourth slope value, for example, the second slope value and the fourth slope value are the same.
It should be noted that, in the embodiment of the present application, the second target torque of the compensation device may be determined by using the above formula (2), and in the process of determining the second target torque of the compensation device by using the formula (2), the EMTorq in the formula (2) may be used Tgt A second target torque representative of the motor, cluTorr Tgt Representing a second target torque of the compensation device.
Based on the above description of the second possible implementation manner of S5, when the controller determines that the motor is lowered to the target gear and determines that the motor delay period is not less than the compensation device delay period, the controller may determine the second target torque of the motor first and then determine the second target torque of the compensation device based on the second target torque of the motor. The determination process specifically comprises the following steps: the second target torque of the motor is determined according to the wheel end required torque and the fourth slope value (as shown in fig. 3, the torque value on the command torque curve of the motor rises from 0 to each torque value on the curve of the wheel end required torque), and then the second target torque of the compensation device is determined according to the wheel end required torque, the second target torque of the motor, the actual torque of the motor, the motor delay time and the compensation device delay time by using the formula (2) (as shown in fig. 3, the torque value on the command torque curve of the compensation device falls from the wheel end required torque to each torque value on the curve of 0).
Based on the above description of S5, after the controller determines that the motor is lowered to the target gear, the controller may determine the second target torque of the motor and the second target torque of the compensation device according to the wheel end required torque, and the determining process specifically includes: the controller firstly judges whether the delay time of the motor is lower than the delay time of the compensation equipment, if so, the controller firstly determines the second target torque of the compensation equipment based on the third slope value and the wheel end required torque, and then determines the second target torque of the motor based on the second target torque of the compensation equipment and the formula (1); if not, determining a second target torque of the motor based on the fourth slope value and the wheel end required torque, and then determining a second target torque of the compensation device based on the second target torque of the motor and the formula (2).
S6: the controller controls the actual torque of the motor to be loaded to the wheel end demand torque according to the second target torque of the motor, and controls the actual torque of the compensation device to be unloaded to 0 according to the second target torque of the compensation device.
In this embodiment of the present application, the controller may control the actual torque of the motor to reload to the wheel end demand torque according to the second target torque of the motor (such as a section of curve that a torque value on an actual torque curve of the motor is raised from 0 to the wheel end demand torque shown in fig. 2 and 3), and control the actual torque of the compensation device to unload to 0 according to the second target torque of the compensation device (such as a section of curve that a torque value on an actual torque curve of the compensation device is lowered from the wheel end demand torque to 0 shown in fig. 2 and 3), so that the sum of the actual torque of the motor and the actual torque of the compensation device reaches the wheel end demand torque at each moment in the process of reloading the wheel end demand torque by the motor, thereby ensuring that the actual torque of the wheel end always reaches the wheel end demand torque in the process of reloading the wheel end demand torque by the motor, and ensuring that the vehicle can slow down according to the target acceleration in the process of reloading the wheel end demand torque by the motor.
Based on the above-mentioned related content of S1 to S6, in the downshift control method in the deceleration process provided in the embodiment of the present application, after receiving the motor downshift request, the wheel end required torque is obtained; determining a first target torque of a motor and a first target torque of compensation equipment according to the wheel end required torque; controlling the actual torque of the motor to be unloaded to 0 according to the first target torque of the motor, and controlling the actual torque of the compensation equipment to be loaded to the wheel end required torque according to the first target torque of the compensation equipment; controlling the motor to carry out downshifting, and determining a second target torque of the motor and a second target torque of the compensation equipment according to the wheel end required torque when the motor is determined to be in the target gear; the actual torque of the motor is controlled to be loaded to the wheel end required torque according to the second target torque of the motor, and the actual torque of the compensation device is controlled to be unloaded to 0 according to the second target torque of the compensation device.
The compensation equipment is used for compensating the motor torque in the motor downshift process so that the actual torque of the wheel end is the wheel end demand torque, so that the sum of the actual torque of the motor and the actual torque of the compensation equipment in the downshift control process is always kept to be the wheel end demand torque, the wheel end actual torque is always kept to be the wheel end demand torque in the downshift control process, the acceleration of vehicle deceleration in the downshift process can be kept unchanged, the vehicle deceleration in the downshift process can be kept unchanged all the time, and the driving experience is improved.
In some cases, when the clutch is used to compensate the torque of the motor, the controller may control the engine to close the intake and exhaust valves after the controller receives the motor downshift request, so that the clutch can smoothly compensate the torque of the motor. Based on this, the present embodiment provides an embodiment of a downshift control method in a deceleration process, in which, when the compensation device includes a clutch, the downshift control method in a deceleration process includes S7 and S8 in addition to S1 to S6 described above:
s7: the controller controls the engine to close the intake and exhaust valves after receiving the motor downshift request.
S8: the controller controls the engine to open the intake and exhaust valves after controlling actual torque of the motor to be loaded to the wheel end demand torque according to the second target torque of the motor.
As can be seen from the foregoing, in the embodiment of the present application, after the controller receives the motor downshift request, the controller first controls the engine to close the intake and exhaust valves so that the compensation device including the clutch can compensate the output torque of the motor, at this time, the actual torque of the compensation device including the clutch may be controlled to undergo a change from 0 up to the wheel end demand torque, to the holding wheel end demand torque, and to the wheel end demand torque down to 0 according to the command torque, so that after the controller controls the actual torque of the motor to the wheel end demand torque according to the second target torque of the motor, the controller determines that the downshift process of the motor is completed, thereby controlling the engine to open the intake and exhaust valves so that the compensation device including the clutch no longer compensates the output torque of the motor.
In some cases, when torque compensation is performed on the motor by using the clutch, the controller may first detect whether the clutch satisfies a preset condition after the controller receives the motor downshift request, and perform torque compensation by using the clutch after determining that the clutch satisfies the preset condition. Based on this, the present embodiment provides an embodiment of a downshift control method in a deceleration process, in which, when the compensation device includes a clutch, the downshift control method in a deceleration process includes S9 in addition to the above-described partial and full steps:
s9: the controller controls to detect whether the clutch in the compensation device satisfies a preset condition after receiving the motor downshift request, and performs S1 or performs S1 and S7 when determining that the clutch in the compensation device satisfies the preset condition.
The preset condition is used for representing the condition which the clutch should meet when the clutch participates in the motor torque compensation process; moreover, the preset conditions may include an unactuated clutch protection condition and a clutch slip condition being satisfied.
The clutch protection condition refers to a condition that is triggered to protect the clutch. The clutch protection conditions may include hardware protection conditions and software protection conditions. The hardware protection condition may be that the clutch temperature exceeds a preset thermal shock range, that is, when the clutch temperature exceeds the preset thermal shock range, the clutch triggering hardware protection condition is determined, so that the clutch triggering clutch protection condition is determined. The software protection condition may be the effect of clutch usage on the overall vehicle performance (e.g., the effect of clutch temperature on thermal shock protection, the effect of clutch torque on the number of consecutive uses in a single learning period, and the cumulative time).
The clutch slip condition refers to a condition that should be reached when the clutch is slip; moreover, clutch slip conditions include a negative wheel end demand torque, a non-neutral clutch input shaft, a clutch initial speed differential that does not exceed a maximum speed differential limit, and a clutch torque that does not exceed a torque limit (e.g., a torque maximum limit, a torque ramp-up process slope limit, a torque ramp-down process slope limit).
Based on the method for controlling the downshift in the deceleration process provided by the above method embodiment, the present application further provides a controller, which is explained and illustrated below with reference to the accompanying drawings.
Device embodiment
For technical details of the controller provided by the device embodiment, please refer to the above method embodiment.
Referring to fig. 6, the structure of a controller according to an embodiment of the present application is shown.
The controller 600 provided in the embodiment of the present application includes:
a first obtaining unit 601, configured to obtain a wheel end required torque after receiving a motor downshift request;
a first determining unit 602, configured to determine a first target torque of the motor and a first target torque of a compensation device according to the wheel end required torque; the compensation equipment is used for compensating the motor torque in the motor downshifting process so that the actual torque of the wheel end is the required torque of the wheel end;
A first control unit 603, configured to control an actual torque of the motor to be unloaded to 0 according to a first target torque of the motor, and control an actual torque of the compensation device to be loaded to the wheel end demand torque according to the first target torque of the compensation device; wherein the sum of the actual torque of the motor and the actual torque of the compensation device is the wheel end required torque;
a second control unit 604, configured to control the motor to perform a downshift, and determine a second target torque of the motor and a second target torque of the compensation device according to the wheel end required torque when determining that the motor is downshifting to the target gear;
and a third control unit 605, configured to control the actual torque of the motor to be loaded to the wheel end required torque according to the second target torque of the motor, and control the actual torque of the compensation device to be unloaded to 0 according to the second target torque of the compensation device.
In a possible implementation manner, the first determining unit 602 is specifically configured to: when the motor delay time is determined to be lower than the compensation equipment delay time, determining a first target torque of the compensation equipment according to the wheel end required torque and a first slope value, and determining the first target torque of the motor according to the wheel end required torque, the first target torque of the compensation equipment, the actual torque of the compensation equipment, the compensation equipment delay time and the motor delay time.
In a possible implementation manner, the first determining unit 602 is specifically configured to: when the motor delay time is not less than the compensation equipment delay time, determining a first target torque of the motor according to the wheel end required torque and the second slope value, and determining the first target torque of the compensation equipment according to the wheel end required torque, the first target torque of the motor, the actual torque of the motor, the motor delay time and the compensation equipment delay time.
In a possible implementation manner, the first determining unit 602 is specifically configured to:
in EMTorr Tgt A first target torque representative of the motor; TQD represents the wheel end demand torque; cluTorrq Tgt A first target torque representing all compensation devices; cluTorrq Act Representing the actual torque of the compensation device; cluDelay represents the compensation device delay duration; EMDelay represents the motor delay time.
In a possible implementation manner, the first determining unit 602 is specifically configured to:
in the formula, cluTorr Tgt A first target torque representative of the compensation device; TQD represents the wheel end demand torque; EMTorr Tgt A first target torque representative of the motor; EMTorr Act Representing an actual torque of the motor; cluDelay represents the compensation device delay duration; EMDelay represents the motor delay time.
In a possible implementation manner, the second control unit 604 is specifically configured to:
when the motor delay time is determined to be lower than the compensation equipment delay time, determining second target torque of the compensation equipment according to the wheel end required torque and a third slope value, and determining second target torque of the motor according to the wheel end required torque, the second target torque of the compensation equipment, the actual torque of the compensation equipment, the compensation equipment delay time and the motor delay time;
in a possible implementation manner, the second control unit 604 is specifically configured to:
and when the motor delay time is not less than the compensation equipment delay time, determining a second target torque of the motor according to the wheel end required torque and a fourth slope value, and determining the second target torque of the compensation equipment according to the wheel end required torque, the second target torque of the motor, the actual torque of the motor, the motor delay time and the compensation equipment delay time.
In one possible embodiment, the compensation device includes a brake when the controller is mounted to the electric vehicle; when the controller is installed in a hybrid vehicle, the compensation device includes a brake and/or a clutch.
In one possible embodiment, when the compensation device includes a clutch, the controller 600 further includes:
a fourth control unit for controlling the engine to close the intake and exhaust valves after receiving the motor downshift request;
and a fifth control unit for controlling the engine to open the intake and exhaust valves after controlling the actual torque of the motor to be applied to the wheel end required torque according to the second target torque of the motor.
Based on the above-provided related content of the controller 600, in the embodiment of the present application, after receiving a motor downshift request, the wheel end required torque is obtained; determining a first target torque of a motor and a first target torque of compensation equipment according to the wheel end required torque; controlling the actual torque of the motor to be unloaded to 0 according to the first target torque of the motor, and controlling the actual torque of the compensation equipment to be loaded to the wheel end required torque according to the first target torque of the compensation equipment; controlling the motor to carry out downshifting, and determining a second target torque of the motor and a second target torque of the compensation equipment according to the wheel end required torque when the motor is determined to be in the target gear; the actual torque of the motor is controlled to be loaded to the wheel end required torque according to the second target torque of the motor, and the actual torque of the compensation device is controlled to be unloaded to 0 according to the second target torque of the compensation device.
The compensation equipment is used for compensating the motor torque in the motor downshift process so that the actual torque of the wheel end is the wheel end demand torque, so that the sum of the actual torque of the motor and the actual torque of the compensation equipment in the downshift control process is always kept to be the wheel end demand torque, the wheel end actual torque is always kept to be the wheel end demand torque in the downshift control process, the acceleration of vehicle deceleration in the downshift process can be kept unchanged, the vehicle deceleration in the downshift process can be kept unchanged all the time, and the driving experience is improved.
Based on the method for controlling the downshift in the deceleration process provided by the above method embodiment, the embodiment of the application also provides an apparatus, which is explained and illustrated below with reference to the accompanying drawings.
Device embodiment
For the technical details of the device provided in the device embodiment, please refer to the above method embodiment.
Referring to fig. 7, a schematic diagram of a device structure according to an embodiment of the present application is shown.
The apparatus 700 provided in the embodiment of the present application includes: a processor 701 and a memory 702;
the memory 702 is used for storing a computer program;
the processor 701 is configured to execute any implementation of the downshift control method during deceleration provided in the above method embodiment according to the computer program. That is, the processor 701 is configured to perform the steps of:
After receiving a motor downshift request, acquiring wheel end required torque;
determining a first target torque of the motor and a first target torque of compensation equipment according to the wheel end required torque; the compensation equipment is used for compensating the motor torque in the motor downshifting process so that the actual torque of the wheel end is the required torque of the wheel end;
controlling the actual torque of the motor to be unloaded to 0 according to the first target torque of the motor, and controlling the actual torque of the compensation device to be loaded to the wheel end required torque according to the first target torque of the compensation device; wherein the sum of the actual torque of the motor and the actual torque of the compensation device is the wheel end required torque;
controlling the motor to carry out downshifting, and determining a second target torque of the motor and a second target torque of the compensation device according to the wheel end required torque when the motor is determined to be lowered to the target gear;
and controlling the actual torque of the motor to be loaded to the wheel end required torque according to the second target torque of the motor, and controlling the actual torque of the compensation device to be unloaded to 0 according to the second target torque of the compensation device.
Optionally, the determining the first target torque of the motor and the first target torque of the compensation device according to the wheel end required torque includes:
when the motor delay time is determined to be lower than the compensation equipment delay time, determining a first target torque of the compensation equipment according to the wheel end required torque and a first slope value, and determining the first target torque of the motor according to the wheel end required torque, the first target torque of the compensation equipment, the actual torque of the compensation equipment, the compensation equipment delay time and the motor delay time;
or,
when the motor delay time is not less than the compensation equipment delay time, determining a first target torque of the motor according to the wheel end required torque and the second slope value, and determining the first target torque of the compensation equipment according to the wheel end required torque, the first target torque of the motor, the actual torque of the motor, the motor delay time and the compensation equipment delay time.
Optionally, the determining the first target torque of the motor according to the wheel end required torque, the first target torque of the compensation device, the actual torque of the compensation device, the compensation device delay time length and the motor delay time length includes:
In EMTorr Tgt A first target torque representative of the motor; TQD represents the wheel end demand torque; cluTorrq Tgt A first target torque representing all compensation devices; cluTorrq Act Representing the actual torque of the compensation device; cluDelay represents the compensation device delay duration; EMDelay represents the motor delay time.
Optionally, the determining the first target torque of the compensation device according to the wheel end required torque, the first target torque of the motor, the actual torque of the motor, the motor delay time length and the compensation device delay time length includes:
in the formula, cluTorr Tgt A first target torque representative of the compensation device; TQD represents the wheel end demand torque; EMTorr Tgt A first target torque representative of the motor; EMTorr Act Representing an actual torque of the motor; cluDelay represents the compensation device delay duration; EMDelay represents the motor delay time.
Optionally, the determining the second target torque of the motor and the second target torque of the compensation device according to the wheel end required torque includes:
when the motor delay time is determined to be lower than the compensation equipment delay time, determining second target torque of the compensation equipment according to the wheel end required torque and a third slope value, and determining second target torque of the motor according to the wheel end required torque, the second target torque of the compensation equipment, the actual torque of the compensation equipment, the compensation equipment delay time and the motor delay time;
Or,
and when the motor delay time is not less than the compensation equipment delay time, determining a second target torque of the motor according to the wheel end required torque and a fourth slope value, and determining the second target torque of the compensation equipment according to the wheel end required torque, the second target torque of the motor, the actual torque of the motor, the motor delay time and the compensation equipment delay time.
Optionally, when the controller is mounted to the electric vehicle, the compensation device comprises a brake; when the controller is installed in a hybrid vehicle, the compensation device includes a brake and/or a clutch.
Optionally, when the compensation device includes a clutch, the method further includes:
after receiving a motor downshift request, controlling the engine to close the intake valve and the exhaust valve;
and controlling the engine to open the intake valve and the exhaust valve after controlling the actual torque of the motor to be loaded to the wheel end required torque according to the second target torque of the motor.
The foregoing is relevant to the device 700 provided in the embodiments of the present application.
Based on the downshift control method in the deceleration process provided in the above method embodiment, the present application further provides a computer readable storage medium.
Media embodiment
For technical details of the computer-readable storage medium provided in the medium embodiment, please refer to the method embodiment.
The present application provides a computer-readable storage medium storing a computer program for executing any one of the implementations of the downshift control method in the deceleration process provided by the above-described method embodiment. That is, the computer program is for performing the steps of:
after receiving a motor downshift request, acquiring wheel end required torque;
determining a first target torque of the motor and a first target torque of compensation equipment according to the wheel end required torque; the compensation equipment is used for compensating the motor torque in the motor downshifting process so that the actual torque of the wheel end is the required torque of the wheel end;
controlling the actual torque of the motor to be unloaded to 0 according to the first target torque of the motor, and controlling the actual torque of the compensation device to be loaded to the wheel end required torque according to the first target torque of the compensation device; wherein the sum of the actual torque of the motor and the actual torque of the compensation device is the wheel end required torque;
Controlling the motor to carry out downshifting, and determining a second target torque of the motor and a second target torque of the compensation device according to the wheel end required torque when the motor is determined to be lowered to the target gear;
and controlling the actual torque of the motor to be loaded to the wheel end required torque according to the second target torque of the motor, and controlling the actual torque of the compensation device to be unloaded to 0 according to the second target torque of the compensation device.
Optionally, the determining the first target torque of the motor and the first target torque of the compensation device according to the wheel end required torque includes:
when the motor delay time is determined to be lower than the compensation equipment delay time, determining a first target torque of the compensation equipment according to the wheel end required torque and a first slope value, and determining the first target torque of the motor according to the wheel end required torque, the first target torque of the compensation equipment, the actual torque of the compensation equipment, the compensation equipment delay time and the motor delay time;
or,
when the motor delay time is not less than the compensation equipment delay time, determining a first target torque of the motor according to the wheel end required torque and the second slope value, and determining the first target torque of the compensation equipment according to the wheel end required torque, the first target torque of the motor, the actual torque of the motor, the motor delay time and the compensation equipment delay time.
Optionally, the determining the first target torque of the motor according to the wheel end required torque, the first target torque of the compensation device, the actual torque of the compensation device, the compensation device delay time length and the motor delay time length includes:
in EMTorr Tgt A first target torque representative of the motor; TQD represents the wheel end demand torque; cluTorrq Tgt A first target torque representing all compensation devices; cluTorrq Act Representing the actual torque of the compensation device; cluDelay represents the compensation device delay duration; EMDelay represents the motor delay time.
Optionally, the determining the first target torque of the compensation device according to the wheel end required torque, the first target torque of the motor, the actual torque of the motor, the motor delay time length and the compensation device delay time length includes:
in the formula, cluTorr Tgt A first target torque representative of the compensation device; TQD represents the wheel end demand torque; EMTorr Tgt A first target torque representative of the motor; EMTorr Act Representing an actual torque of the motor; cluDelay represents the compensation device delay duration; EMDelay represents the motor delay time.
Optionally, the determining the second target torque of the motor and the second target torque of the compensation device according to the wheel end required torque includes:
when the motor delay time is determined to be lower than the compensation equipment delay time, determining second target torque of the compensation equipment according to the wheel end required torque and a third slope value, and determining second target torque of the motor according to the wheel end required torque, the second target torque of the compensation equipment, the actual torque of the compensation equipment, the compensation equipment delay time and the motor delay time;
or,
and when the motor delay time is not less than the compensation equipment delay time, determining a second target torque of the motor according to the wheel end required torque and a fourth slope value, and determining the second target torque of the compensation equipment according to the wheel end required torque, the second target torque of the motor, the actual torque of the motor, the motor delay time and the compensation equipment delay time.
Optionally, when the controller is mounted to the electric vehicle, the compensation device comprises a brake; when the controller is installed in a hybrid vehicle, the compensation device includes a brake and/or a clutch.
Optionally, when the compensation device includes a clutch, the method further includes:
after receiving a motor downshift request, controlling the engine to close the intake valve and the exhaust valve;
and controlling the engine to open the intake valve and the exhaust valve after controlling the actual torque of the motor to be loaded to the wheel end required torque according to the second target torque of the motor.
The foregoing is related to computer readable storage media provided by embodiments of the present application.
It should be understood that in this application, "at least one" means one or more, and "a plurality" means two or more. "and/or" for describing the association relationship of the association object, the representation may have three relationships, for example, "a and/or B" may represent: only a, only B and both a and B are present, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b or c may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
The above description is only of the preferred embodiment of the present invention, and is not intended to limit the present invention in any way. While the invention has been described with reference to preferred embodiments, it is not intended to be limiting. Any person skilled in the art can make many possible variations and modifications to the technical solution of the present invention or modifications to equivalent embodiments using the methods and technical contents disclosed above, without departing from the scope of the technical solution of the present invention. Therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention.

Claims (9)

1. A downshift control method in a deceleration process, applied to a controller, comprising:
after receiving a motor downshift request, acquiring wheel end required torque;
determining a first target torque of the motor and a first target torque of compensation equipment according to the wheel end required torque; the compensation equipment is used for compensating the motor torque in the motor downshifting process so that the actual torque of the wheel end is the required torque of the wheel end;
Controlling the actual torque of the motor to be unloaded to 0 according to the first target torque of the motor, and controlling the actual torque of the compensation device to be loaded to the wheel end required torque according to the first target torque of the compensation device; wherein the sum of the actual torque of the motor and the actual torque of the compensation device is the wheel end required torque;
controlling the motor to carry out downshifting, and determining a second target torque of the motor and a second target torque of the compensation device according to the wheel end required torque when the motor is determined to be lowered to the target gear;
controlling the actual torque of the motor to be loaded to the wheel end required torque according to the second target torque of the motor, and controlling the actual torque of the compensation equipment to be unloaded to 0 according to the second target torque of the compensation equipment;
wherein, according to the wheel end required torque, determining a first target torque of the motor and a first target torque of a compensation device comprises:
when the motor delay time is determined to be lower than the compensation equipment delay time, determining a first target torque of the compensation equipment according to the wheel end required torque and a first slope value, and determining the first target torque of the motor according to the wheel end required torque, the first target torque of the compensation equipment, the actual torque of the compensation equipment, the compensation equipment delay time and the motor delay time;
Or,
when the motor delay time is not less than the compensation equipment delay time, determining a first target torque of the motor according to the wheel end required torque and the second slope value, and determining the first target torque of the compensation equipment according to the wheel end required torque, the first target torque of the motor, the actual torque of the motor, the motor delay time and the compensation equipment delay time.
2. The method of claim 1, wherein the determining the first target torque for the electric machine based on the wheel end demand torque, the first target torque for the compensation device, the actual torque for the compensation device, the compensation device delay period, and the motor delay period comprises:
in EMTorr Tgt A first target torque representative of the motor; TQD represents the wheel end demand torque; cluTorrq Tgt A first target torque representing all compensation devices; cluTorrq Act Representing the actual torque of the compensation device; cluDelay represents the compensation device delay duration; EMDelay represents the motor delay time.
3. The method of claim 1, wherein determining the first target torque of the compensation device based on the wheel end demand torque, the first target torque of the motor, the actual torque of the motor, the motor delay period, and the compensation device delay period comprises:
In the formula, cluTorr Tgt A first target torque representative of the compensation device; TQD represents the wheel end demand torque; EMTorr Tgt A first target torque representative of the motor; EMTorr Act Representing an actual torque of the motor; cluDelay represents the compensation device delay duration; EMDelay represents the motor delay time.
4. The method of claim 1, wherein determining a second target torque for the motor and a second target torque for a compensation device based on the wheel end demand torque comprises:
when the motor delay time is determined to be lower than the compensation equipment delay time, determining second target torque of the compensation equipment according to the wheel end required torque and a third slope value, and determining second target torque of the motor according to the wheel end required torque, the second target torque of the compensation equipment, the actual torque of the compensation equipment, the compensation equipment delay time and the motor delay time;
or,
and when the motor delay time is not less than the compensation equipment delay time, determining a second target torque of the motor according to the wheel end required torque and a fourth slope value, and determining the second target torque of the compensation equipment according to the wheel end required torque, the second target torque of the motor, the actual torque of the motor, the motor delay time and the compensation equipment delay time.
5. The method of claim 1, wherein the compensation device comprises a brake when the controller is installed in an electric vehicle; when the controller is installed in a hybrid vehicle, the compensation device includes a brake and/or a clutch.
6. The method of claim 5, wherein when the compensation device comprises a clutch, the method further comprises:
after receiving a motor downshift request, controlling the engine to close the intake valve and the exhaust valve;
and controlling the engine to open the intake valve and the exhaust valve after controlling the actual torque of the motor to be loaded to the wheel end required torque according to the second target torque of the motor.
7. A controller, comprising:
the first acquisition unit is used for acquiring the wheel end required torque after receiving the motor downshift request;
a first determining unit for determining a first target torque of the motor and a first target torque of the compensating device according to the wheel end required torque; the compensation equipment is used for compensating the motor torque in the motor downshifting process so that the actual torque of the wheel end is the required torque of the wheel end;
the first control unit is used for controlling the actual torque of the motor to be unloaded to 0 according to the first target torque of the motor and controlling the actual torque of the compensation equipment to be loaded to the wheel end required torque according to the first target torque of the compensation equipment; wherein the sum of the actual torque of the motor and the actual torque of the compensation device is the wheel end required torque;
The second control unit is used for controlling the motor to carry out downshifting, and determining a second target torque of the motor and a second target torque of the compensation equipment according to the wheel end required torque when the motor is determined to be lowered to the target gear;
a third control unit, configured to control an actual torque of the motor to be loaded to the wheel end required torque according to a second target torque of the motor, and control an actual torque of the compensation device to be unloaded to 0 according to the second target torque of the compensation device;
the first determining unit is specifically configured to: when the motor delay time is determined to be lower than the compensation equipment delay time, determining a first target torque of the compensation equipment according to the wheel end required torque and a first slope value, and determining the first target torque of the motor according to the wheel end required torque, the first target torque of the compensation equipment, the actual torque of the compensation equipment, the compensation equipment delay time and the motor delay time;
or, the first determining unit is specifically configured to: when the motor delay time is not less than the compensation equipment delay time, determining a first target torque of the motor according to the wheel end required torque and the second slope value, and determining the first target torque of the compensation equipment according to the wheel end required torque, the first target torque of the motor, the actual torque of the motor, the motor delay time and the compensation equipment delay time.
8. An apparatus comprising a processor and a memory:
the memory is used for storing a computer program;
the processor is configured to perform the method of any of claims 1-6 according to the computer program.
9. A computer readable storage medium, characterized in that the computer readable storage medium is for storing a computer program for executing the method of any one of claims 1-6.
CN202010692663.XA 2020-07-17 2020-07-17 Downshifting control method in deceleration process and related equipment Active CN114013295B (en)

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