CN114347972A - E-H switching coordination control method of hybrid electric vehicle based on interference compensation - Google Patents
E-H switching coordination control method of hybrid electric vehicle based on interference compensation Download PDFInfo
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Abstract
The invention discloses a hybrid electric vehicle E-H switching coordination control method based on interference compensation, which comprises the following steps of deducing a secondary target torque T 'of a second motor at the stage when a vehicle runs in an electric-only mode'MG2According to the set switching vehicle speed threshold value vthrThe VCU judges whether to switch the mode; if the vehicle speed v is more than or equal to vthrThe VCU controls the first motor to enable the vehicle to enter an engine to be dragged and rotated from a pure electric mode, and controls the first motor to drag and rotate the engine until the idling speed omega is reached in the engine dragging and rotating stageidleDesigned based on modified expansionsSolving secondary target torques of the first motor and the second motor by a torque distribution strategy formed by the interference compensation control and the basic motor torque compensation control estimated by the state observer; if the rotational speed omega of the enginee≥ωidleThe vehicle enters a hybrid driving mode, and secondary target torques of the first motor and the second motor in the mode are solved; the invention realizes stable and high-efficiency mode switching quality.
Description
Technical Field
The invention relates to the technical field of vehicle dynamic control, in particular to an E-H switching coordination control method of a hybrid electric vehicle based on interference compensation.
Background
In order to meet the increasing demands of people on vehicle performance, vehicle researchers pay more and more attention to the development and application of control systems. In addition to concerns about fuel economy and safety, comfort is an important consideration for hybrid vehicles. Through the control switching of the two power sources, the whole vehicle can be freely switched to a plurality of modes according to the requirements of a driver, and the mode switching smoothness problem is inevitably involved. In the actual running process of the hybrid electric vehicle, the hybrid electric vehicle is easily interfered by road gradient change, road adhesion coefficient, engine torque fluctuation and the like. Due to the obvious transient property of the mode switching process, the mode switching process is relatively sensitive to small external interference, and even the whole switching system is unstable when the mode switching process is serious.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The invention is provided in view of the problems existing in the mode switching in the driving process of the existing automobile.
Therefore, the invention provides an interference compensation-based E-H switching coordination control method for a hybrid electric vehicle, which can realize stable and efficient mode switching quality.
In order to solve the technical problems, the invention provides the following technical scheme: the E-H switching coordination control method of the hybrid electric vehicle based on the interference compensation comprises the following steps,
when the electric vehicle runs in the pure electric mode, the second motor completely bears the torque required by vehicle driving, a disturbance compensation mechanism fused with the improved extended state observer is designed in the process, and the secondary target torque T 'of the second motor at the stage is deduced'MG2Meanwhile, a speed sensor and an accelerator pedal position sensing device on the hybrid electric vehicle monitor the current speed information and the position signals of an accelerator pedal and a brake pedal in real time, input the current speed information and the position signals of the accelerator pedal and the brake pedal to a vehicle controller VCU, and switch a speed threshold v according to the set speed threshold vthrThe vehicle controller VCU judges whether to perform mode switching;
if the vehicle speed v is more than or equal to vthrThe vehicle controller VCU controls the first motor to enable the vehicle to enter an engine to be dragged from a pure electric mode, and controls the first motor to drag the engine (103) to an idle speed omega in a short time in an engine dragging stageidleIn the process, a torque distribution strategy formed by disturbance compensation control and base motor torque compensation control estimated based on the modified extended state observer is designed, and secondary target torques (T 'of the first motor and the second motor are solved'MG1,T′MG2)；
If the rotational speed omega of the enginee≥ωidleWhen the vehicle enters a hybrid driving mode, the engine starts to ignite and cooperates with the second motor to drive the whole vehicle to run, and the first motor regulates the speed of the engine to work at the economic rotating speed omegae-ecoIn the process, a torque distribution strategy formed by disturbance compensation control and base motor torque compensation control estimated based on the modified extended state observer is designed, and secondary target torques (T 'of the first motor and the second motor in the mode are solved'MG1,T′MG2) When the hybrid driving mode tends to a steady state, the power of the engine and the first motor is converged and output on the front planet row gear ring, and finally three power flows are output together to drive the wheels by combining the power transmission of the second motor in the rear planet carrier, so that the mode switching process is finished.
The method for E-H switching coordination control of the hybrid electric vehicle based on interference compensation is excellentSelecting a scheme, wherein: in the electric-only mode, the secondary target torque T'MG2The formula for calculating (a) is as follows,
wherein the content of the first and second substances,
is a vehicle output end load torque disturbance d2Estimate of (a), TreqOutput shaft end target torque k for power coupling device2Is the characteristic parameter of the rear planet row in the power coupling mechanism.
As a preferable scheme of the interference compensation based hybrid electric vehicle E-H switching coordination control method of the present invention, wherein: in the engine dragging stage, the torque distribution strategy formed by the disturbance compensation control estimated based on the improved extended state observer and the basic motor torque compensation control is that,
wherein, TefIs the starting moment of resistance, k, of the engine1Characteristic parameters of the front planetary gear in the power coupling mechanism, I11And I21Is respectively different rotational inertia combinations of the engine, the front planet row gear ring and the first motor, delta T'MG2In order to compensate for the torque of the second motor,
is the engine torque disturbance d1An estimate of (d).
As a preferable scheme of the interference compensation based hybrid electric vehicle E-H switching coordination control method of the present invention, wherein: in the hybrid driving mode, the torque distribution strategy formed by the disturbance compensation control and the basic motor torque compensation control estimated based on the improved extended state observer is that,
ΔTMG1＝kp2(ωe-eco-ωe)+ki2∫(ωe-eco-ωe)dt；
wherein, TE-estIs an estimated torque of the engine, kp2And ki2Proportional and integral parameters, ω, respectively, in the first motor controllerMG1And ωMG2Respectively the rotational speeds of the first and second electrical machines, I12The double-planet-row planetary gear set is a rotational inertia combination of a first motor, a second motor and a double planet row.
As a preferable scheme of the interference compensation based hybrid electric vehicle E-H switching coordination control method of the present invention, wherein: the engine torque disturbance d1Is estimated value of
And vehicle output load torque disturbance d2Is estimated value of
Are all observed and output by an improved extended state observer, the input of which isSpeed of rotation omega of engineeAnd the output speed omega of the power coupling mechanismoutThe specific improved extended state observer is designed as follows,
the following state space model can be obtained according to the rotating speed and torque balance equation of the power coupling mechanism,
a new extended state vector is constructed which,
the improved extended state observer is provided with a linear observer,
wherein Z is1And Z2Respectively, state vector X and extended state vector
Real-time estimate of (T)E、TMG1、TMG2Actual output torques, T, of the engine, the first electric machine and the second electric machine, respectivelyoutThe load is the output end load of the power coupling mechanism.
The invention has the beneficial effects that: according to the invention, through the design of the improved extended state observer, the accurate estimation of the torque interference and the load torque interference of the engine can be realized, and the interference compensation torque of the power source is deduced by utilizing an interference compensation torque redistribution algorithm, so that the stable and efficient mode switching quality is realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
FIG. 1 is a layout diagram of a hybrid vehicle powertrain according to the present invention.
FIG. 2 is a flow chart of E-H mode switching of the hybrid electric vehicle according to the present invention.
FIG. 3 is a diagram of the overall control scheme of the E-H switching coordination control strategy of the hybrid electric vehicle based on the time lag estimation.
FIG. 4 is a comparison graph of the effect of the improved linear extended state observer and the conventional linear extended state observer on the estimation of the torque disturbance of the engine.
Fig. 5 is a comparison graph of the effects of the improved linear extended state observer and the conventional linear extended state observer on the estimation of the output shaft load torque disturbance.
FIG. 6 is a comparison graph of the effects of the improved linear extended state observer and the conventional linear extended state observer on the engine speed estimation error.
FIG. 7 is a comparison graph of the effects of the improved linear extended state observer and the conventional linear extended state observer on the estimation error of the output shaft rotating speed.
In the figure, 100 of a hybrid power system, 101 of a front row planet carrier, 102 of a buffer locking mechanism, 103 of an engine, 104 of a second motor, 105 of a front row planet gear ring gear, 106 of a front row sun gear, 107 of a rear row planet gear ring gear, 108 of a first motor, 109 of a rear row sun gear and 110 of a rear row planet carrier.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, specific embodiments accompanied with figures are described in detail below, and it is apparent that the described embodiments are a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention, shall fall within the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
The present invention will be described in detail with reference to the drawings, wherein the cross-sectional views illustrating the structure of the device are not enlarged partially in general scale for convenience of illustration, and the drawings are only exemplary and should not be construed as limiting the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Meanwhile, in the description of the present invention, it should be noted that the terms "upper, lower, inner and outer" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation and operate, and thus, cannot be construed as limiting the present invention. Furthermore, the terms first, second, or third are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The terms "mounted, connected and connected" in the present invention are to be understood broadly, unless otherwise explicitly specified or limited, for example: can be fixedly connected, detachably connected or integrally connected; they may be mechanically, electrically, or directly connected, or indirectly connected through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
Referring to fig. 1 to 3, a first embodiment of the present invention provides a disturbance compensation-based hybrid E-H switching coordination control method, which can achieve accurate estimation of engine torque disturbance and load torque disturbance, and achieve smooth and efficient mode switching quality.
The double planetary gear set type hybrid power system 100 studied in this embodiment includes a front planetary gear set ring 105, a front planetary gear set 101, a front sun gear 106, a rear planetary gear set ring 107, a rear planetary gear set 110, and a rear sun gear 109, the engine 103 is connected to the front planetary gear set 101 through the buffer locking mechanism 102, the rotor shaft of the first motor 108 is connected to the front sun gear 106, the rotor shaft of the second motor 104 is connected to the rear sun gear 109, and the front planetary gear set ring 105 is connected to the rear planetary gear set 110.
Referring to fig. 2 and 3, the disturbance compensation based hybrid E-H switching coordination control method includes the steps of,
(1) when the vehicle runs in the pure electric mode, the engine is turned off, the second motor 104 completely bears torque required by vehicle driving, and considering that the actual running condition of the vehicle is variable, for example, the change of the road rolling damping coefficient and the gradient can cause the change of load torque in the running process of the vehicle, such road surface interference directly acts on the vehicle and is easy to cause obvious longitudinal impact, on the basis, an interference compensation mechanism fused with an improved extended state observer is designed, and the secondary target torque T 'of the second motor 104 at the stage is deduced'MG2Deducing the second motor of the stage104 Secondary target Torque T'MG2，
Wherein the content of the first and second substances,
is a vehicle output end load torque disturbance d2Estimate of (a), TreqOutput shaft end target torque k for power coupling device2Characteristic parameters of a rear planet row in the power coupling mechanism are obtained;
meanwhile, a speed sensor and an accelerator pedal position sensing device on the hybrid electric vehicle monitor the current speed information and the position signals of an accelerator pedal and a brake pedal in real time, input the current speed information and the position signals of the accelerator pedal and the brake pedal to a vehicle controller VCU, and switch a speed threshold v according to the set speed threshold vthrThe vehicle controller VCU judges whether to perform mode switching;
(2) if the vehicle speed v is more than or equal to vthrThe vehicle controller VCU controls the first motor 108 to drive the vehicle to rotate from the pure electric mode to the engine 103, and controls the first motor 108 to drive the engine 103 to the idle speed omega in a short time in the driving stage of the engine 103idleAnd meanwhile, longitudinal impact is reduced, considering that the actual output torque of the engine 103 mainly comprises inertia torque and gas pressure fluctuation torque, the actual output torque of the engine 103 presents a large periodic fluctuation phenomenon before and after ignition, the vibration can be directly transmitted to wheels, the riding comfort and the driving performance of the whole vehicle are influenced, and the torque disturbance d of the engine 103 is considered1And vehicle output end load torque disturbance d2The torque distribution strategy of the stage, which is formed by disturbance compensation control and base motor torque compensation control based on the modified extended state observer estimation, is designed to solve the secondary target torques (T 'of the first and second electric machines 108 and 104'MG1,T′MG2)；
Wherein, TefIs a starting moment of resistance, k, of the engine 1031Characteristic parameters of the front planetary gear in the power coupling mechanism, I11And I21Is respectively different rotational inertia combinations, delta T ', of the engine 103, the front planet row gear ring 105 and the first motor 108'MG2In order to compensate for the torque of the second electric machine 104,
is the engine 103 torque disturbance d1An estimated value of (d);
(3) if the rotational speed ω of the engine 103e≥ωidleWhen the vehicle enters a hybrid driving mode, the engine 103 starts to ignite and cooperates with the second motor 104 to drive the whole vehicle to run, and the first motor 108 regulates the speed of the engine 103 to work at the economic speed omegae-ecoAlso taking into account the torque disturbance d of the engine 1031And vehicle output end load torque d2The double effects of the disturbance are that a torque distribution strategy formed by disturbance compensation control and base motor torque compensation control based on improved extended state observer estimation at the stage is designed, and secondary target torques (T 'of the first motor 108 and the second motor 104 in the mode are derived'MG1,T′MG2)，
ΔTMG1＝kp2(ωe-eco-ωe)+ki2∫(ωe-eco-ωe)dt；
Wherein, TE-estIs an estimated torque, k, of the engine 103p2And ki2Proportional and integral parameters, ω, respectively, in the first motor controllerMG1And ωMG2The rotational speeds, I, of the first and second electric machines 108 and 104, respectively12Is a rotational inertia combination among the first motor 108, the second motor 104 and the double planetary rows;
when the hybrid driving mode tends to a steady state, the power of the engine 103 and the first motor 108 is converged and output in the front planetary gear ring 105, and finally three power flows are output together to drive the wheels in combination with the power transmission from the second motor 104 in the rear planetary carrier 110, so that the mode switching process is finished.
In the whole mode switching process, the improved extended state observer is constructed as follows,
the following state space model can be obtained according to the rotating speed and torque balance equation of the power coupling mechanism,
a new extended state vector is constructed which,
the improved extended state observer is provided with a linear observer,
wherein Z is1And Z2Respectively, state vector X and extended state vector
Real-time estimate of (T)E、TMG1、TMG2Actual output torques, T, of the engine 103, the first electric machine 108, and the second electric machine 104, respectivelyoutThe load is the output end load of the power coupling mechanism.
The overall control scheme of the coordinated control strategy involved in the whole switching process is shown in FIG. 3, when the speed of the hybrid electric vehicle exceeds a set threshold value vthrThe vehicle controller VCU receives a mode switching signal for switching the pure electric mode to the hybrid drive mode, and calculates the torque T required by the output end of the power coupling mechanism in each mode according to the target vehicle speed and the driving force-driving resistance balance equation of the vehiclereqDuring actual running of the hybrid vehicle, the hybrid vehicle is subjected to torque fluctuation disturbance d from the engine 1031And vehicle output end load torque d2The dual effects of the two interferences can aggravate and deteriorate the smoothness and the stability of the switching of the whole vehicle mode, in order to reduce the impact vibration of the driving shaft caused by the interferences, a staged coordination control strategy is designed, and the target torques T 'of the double motors in the whole switching process are solved through the interference compensation control strategy and the basic motor torque compensation control strategy'MG1And T'MG2The torque limiting modules are designed to take into account the actual operating limits of the actuators, wherein the torque limiting modules for the first and second electric machines 108 and 104, respectively,
TMG1-min(ωMG1)≤TMG1(ωMG1)≤TMG1-max(ωMG1)；
TMG2-min(ωMG2)≤TMG2(ωMG2)≤TMG2-max(ωMG2)；
executing a torque T via the second electric machine 104MG2And the first electric machine 108 executes the torque TMG1The torque is input to a controlled object, and the outer ring torque distribution of a subsequent power source can be realized by collecting output response signals of an engine 103, a second motor 104, a first motor 108, a power coupling mechanism, a battery and the like of the whole vehicle and inputting the output response signals into a coordination controller; further, the modified extended state observer may output a signal ω according to the rotation speed of the engine 103eOutput speed signal omega of power coupling mechanismoutAccurately calculating the estimated value of the torque fluctuation disturbance of the engine 103
And estimated value of load torque interference of whole vehicle
And the torque is input into a coordination controller for compensation distribution of inner ring interference torque, so that a complete closed-loop coordination control system of the hybrid electric vehicle is formed.
According to the invention, through the construction of the improved extended state observer and the design of the coordination control strategy, the mode switching impact of the whole vehicle can be effectively reduced under the influence of system interference, and meanwhile, the stable speed regulation of the engine 103 is realized.
Example 2
Referring to fig. 4 to 7, a second embodiment of the present invention is shown, which shows a comparison between simulation estimation effects of the improved linear extended state observer and the conventional linear extended state observer, and compares test results by means of scientific demonstration to verify the real effect of the method.
It can be seen that the conventional linear extended state observer (TLESO) estimates the disturbance of the engine 103 and the disturbance of the load at the output with significant deviation at many points in time, while the disturbance estimation of the modified linear extended state observer (ILESO) is more accurate, while the linear extension is improvedState observer to state variable omegae，ωoutThe steady state observation error is smaller than that of the traditional linear extended state observer to the state variable omegae，ωoutCompared with the prior art, the improved linear extended state observer provided by the invention can not only reduce the algorithm complexity, but also improve the observation precision of the observer, and lays a foundation for the application of a subsequent interference compensation coordination control strategy.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (5)
1. The E-H switching coordination control method of the hybrid electric vehicle based on the interference compensation is characterized by comprising the following steps: comprises the following steps of (a) carrying out,
when the vehicle runs in the pure electric mode, the second motor (104) fully bears the torque required by vehicle driving, a disturbance compensation mechanism fused with an improved extended state observer is designed in the process, and the secondary target torque T 'of the second motor (104) at the stage is derived'MG2Meanwhile, a speed sensor and an accelerator pedal position sensing device on the hybrid electric vehicle monitor the current speed information and the position signals of an accelerator pedal and a brake pedal in real time, input the current speed information and the position signals of the accelerator pedal and the brake pedal to a vehicle controller VCU, and switch a speed threshold v according to the set speed threshold vthrThe vehicle controller VCU judges whether to perform mode switching;
if the vehicle speed v is more than or equal to vthrThe vehicle controller VCU controls the first motor (108) to enable the vehicle to enter the engine (103) to be dragged and rotated from the pure electric mode, and controls the first motor (108) to drag and rotate the engine (103) in a short time till the idle speed omega is reached in the dragging and rotating stage of the engine (103)idleIn the process, interference compensation control and basic motor torque estimated based on the improved extended state observer are designedThe torque distribution strategy configured by the compensation control is used for solving secondary target torques (T ') of the first motor (108) and the second motor (104)'MG1,T′MG2)；
If the rotational speed omega of the engine (103)e≥ωidleWhen the vehicle enters a hybrid driving mode, the engine (103) starts to ignite and cooperates with the second motor (104) to drive the whole vehicle to run, and the first motor (108) regulates the speed of the engine (103) to work at an economic rotating speed omegae-ecoIn the process, a torque distribution strategy formed by disturbance compensation control and base motor torque compensation control estimated based on the modified extended state observer is designed, and secondary target torques (T 'of the first motor (108) and the second motor (104) in the mode are solved'MG1,T′MG2) When the hybrid driving mode tends to a steady state, the power of the engine (103) and the power of the first motor (108) are converged and output in the front planet row gear ring (105), and finally three power flows are output together to drive wheels in combination with the power transmission from the second motor (104) in the rear planet carrier (110), so that the mode switching process is finished.
2. The interference compensation-based E-H switching coordination control method for the hybrid electric vehicle as claimed in claim 1, characterized in that: in the electric-only mode, the secondary target torque T'MG2The formula for calculating (a) is as follows,
wherein the content of the first and second substances,
is a vehicle output end load torque disturbance d2Estimate of (a), TreqOutput shaft end target torque k for power coupling device2Is the characteristic parameter of the rear planet row in the power coupling mechanism.
3. The disturbance compensation-based E-H switching coordination control method for the hybrid electric vehicle according to claim 1 or 2, characterized in that: during the engine (103) dragging phase, the torque distribution strategy formed by the disturbance compensation control estimated based on the improved extended state observer and the basic motor torque compensation control is,
wherein, TefIs a starting resistance torque, k, of the engine (103)1Characteristic parameters of the front planetary gear in the power coupling mechanism, I11And I21Delta T 'are respectively different rotational inertia combinations of the engine (103), the front planet row gear ring (105) and the first motor (108)'MG2For compensating the torque of the second electric machine (104),
is a torque disturbance d of the engine (103)1An estimate of (d).
4. The disturbance compensation-based E-H switching coordination control method for the hybrid electric vehicle according to claim 1 or 2, characterized in that: in the hybrid driving mode, the torque distribution strategy formed by the disturbance compensation control and the basic motor torque compensation control estimated based on the improved extended state observer is that,
ΔTMG1＝kp2(ωe-eco-ωe)+ki2∫(ωe-eco-ωe)dt；
wherein, TE-estIs an estimated torque, k, of the engine (103)p2And ki2Proportional and integral parameters, ω, respectively, in the first motor controllerMG1And ωMG2The rotational speeds of the first motor (108) and the second motor (104), I12The rotational inertia combination of the first motor (108), the second motor (104) and the double planetary rows.
5. The interference compensation-based E-H switching coordination control method for the hybrid electric vehicle as claimed in claim 4, characterized in that: the engine (103) torque disturbance d1Is estimated value of
And vehicle output load torque disturbance d2Is estimated value of
The output is observed by an improved extended state observer, and the input of the improved extended state observer is the rotating speed omega of the engine (103)eAnd the output speed omega of the power coupling mechanismoutThe specific improved extended state observer is designed as follows,
the following state space model can be obtained according to the rotating speed and torque balance equation of the power coupling mechanism,
a new extended state vector is constructed which,
the improved extended state observer is provided with a linear observer,
wherein Z is1And Z2Respectively, state vector X and extended state vector
Real-time estimate of (T)E、TMG1、TMG2Actual output torques, T, of the engine (103), the first electric machine (108), and the second electric machine (104), respectivelyoutThe load is the output end load of the power coupling mechanism.
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