CN114347972B - E-H switching coordination control method for hybrid electric vehicle based on interference compensation - Google Patents
E-H switching coordination control method for hybrid electric vehicle based on interference compensation Download PDFInfo
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Abstract
The application discloses an interference compensation-based hybrid electric vehicle E-H switching coordination control method, which comprises the following steps of deducing a secondary target torque T 'of a second motor at the stage when running in a pure electric mode' MG2 According to the set switching speed threshold v thr The VCU judges whether to switch modes; if the vehicle speed v is greater than or equal to v thr The VCU controls the first motor to enable the vehicle to enter an engine to drag from a pure electric mode, and in the engine dragging stage, the first motor is controlled to drag the engine until the idle speed omega idle Designing a torque distribution strategy formed by disturbance compensation control and basic motor torque compensation control estimated based on an improved extended state observer, and solving secondary target torques of the first motor and the second motor; if the rotation speed omega of the engine e ≥ω idle The vehicle enters a hybrid driving mode, and the secondary target torque of the first motor and the second motor in the hybrid driving mode is solved; the application realizes stable and efficient mode switching quality.
Description
Technical Field
The application relates to the technical field of vehicle dynamic control, in particular to a hybrid electric vehicle E-H switching coordination control method based on interference compensation.
Background
In order to meet the increasing demands of people on vehicle performance, vehicle researchers are increasingly focusing on the development and application of control systems. In addition to concerns about fuel economy and safety, comfort is an important criterion for hybrid vehicles. By controlling and switching 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 problem of smoothness of mode switching is inevitably involved. In the actual running process of the hybrid electric vehicle, the hybrid electric vehicle is easy to be interfered by road gradient change, road adhesion coefficient, engine torque fluctuation and the like. The mode switching process has obvious transient performance, so that the mode switching process is relatively sensitive to tiny external interference, and even the whole switching system is unstable when serious.
Disclosure of Invention
This section is intended to outline some aspects of embodiments of the application and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the description of the application and in the title of the application, which may not be used to limit the scope of the application.
The present application has been made in view of the above-described problems occurring in the mode switching during running of the conventional automobile.
Therefore, the application provides the hybrid electric vehicle E-H switching coordination control method based on interference compensation, which can realize stable and efficient mode switching quality.
In order to solve the technical problems, the application provides the following technical scheme: the hybrid electric vehicle E-H switching coordination control method based on interference compensation comprises the following steps,
when the vehicle runs in the pure electric mode, the second motor completely bears the torque required by the vehicle driving, an interference 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' MG2 At the same time, the speed sensor and the accelerator pedal position sensing device on the hybrid electric vehicle monitor the current speed information and the accelerator pedal and brake pedal position signals in real timeAnd input to the vehicle controller VCU according to the set switching vehicle speed threshold v thr The vehicle controller VCU judges whether to switch modes;
if the vehicle speed v is greater than or equal to v thr The vehicle controller VCU controls the first motor to enable the vehicle to enter the engine to drag from the pure electric mode, and in the engine dragging stage, controls the first motor to drag the engine (103) until the idle speed omega in a short time idle In the process, a torque distribution strategy consisting of disturbance compensation control and basic motor torque compensation control based on the estimation of the improved extended state observer is designed, and the secondary target torques (T 'of the first motor and the second motor are solved' MG1 ,T′ MG2 )；
If the rotation speed omega of the engine e ≥ω idle The vehicle enters a hybrid driving mode, the engine starts to ignite and drives the whole vehicle to run in cooperation with the second motor, and the first motor speed-regulating engine works at economic rotation speed omega e-eco In this process, a torque distribution strategy composed of disturbance compensation control and base motor torque compensation control based on the improved extended state observer estimation is designed, and the secondary target torques (T 'of the first motor and the second motor in this mode are solved' MG1 ,T′ MG2 ) When the hybrid drive mode is in a steady state, the power of the engine and the power of the first motor are converged and output on the front planetary gear ring, and the power transmission from the second motor in the rear planetary gear frame is combined, and finally, three power flows are output together to drive wheels, so that the mode switching process is finished.
As a preferable scheme of the hybrid electric vehicle E-H switching coordination control method based on interference compensation, the application comprises the following steps: in the electric-only mode, the secondary target torque T' MG2 The calculation formula of (a) is as follows,
wherein,is the load torque disturbance d at the output end of the vehicle 2 Estimate of T req For outputting shaft end target torque, k for power coupling device 2 Is a characteristic parameter of a rear planet row in the power coupling mechanism.
As a preferable scheme of the hybrid electric vehicle E-H switching coordination control method based on interference compensation, the application comprises the following steps: during the engine dragging phase, the torque distribution strategy formed by the disturbance compensation control based on the improved extended state observer estimation and the basic motor torque compensation control is that,
wherein T is ef For starting resistance moment, k of engine 1 Is the characteristic parameter of the front planet row in the power coupling mechanism, I 11 And I 21 Respectively different rotational inertia combinations of the engine, the front planet row gear ring and the first motor, delta T' MG2 For the compensation torque of the second motor,is the engine torque disturbance d 1 Is used for the estimation of the estimated value of (a).
As a preferable scheme of the hybrid electric vehicle E-H switching coordination control method based on interference compensation, the application comprises the following steps: in the hybrid drive mode, the torque distribution strategy constituted by the disturbance compensation control based on the improved extended state observer estimation and the base motor torque compensation control is,
ΔT MG1 ＝k p2 (ω e-eco -ω e )+k i2 ∫(ω e-eco -ω e )dt；
wherein T is E-est For estimating torque, k of the engine p2 And k i2 Respectively a proportional parameter and an integral parameter, omega in the first motor controller MG1 And omega MG2 The rotation speeds of the first motor and the second motor are respectively, I 12 Is a rotational inertia combination among the first motor, the second motor and the double planetary rows.
As a preferable scheme of the hybrid electric vehicle E-H switching coordination control method based on interference compensation, the application comprises the following steps: the engine torque disturbance d 1 Estimate of (2)And vehicle output load torque disturbance d 2 Estimate of (2)Are all observed by an improved extended state observer, and the input of the improved extended state observer is the rotational speed omega of the engine e And output rotational speed omega of power coupling mechanism out The design of a specific improved extended state observer is as follows,
the following state space model can be obtained according to the rotation speed and torque balance equation of the power coupling mechanism,
a new extended state vector is constructed and,
the improved extended state observer is that,
wherein Z is 1 And Z 2 State vector X and extended state vector, respectivelyT E 、T MG1 、T MG2 Actual output torque of the engine, the first motor and the second motor respectively, T out Is the output end load of the power coupling mechanism.
The application has the beneficial effects that: according to the application, through the design of the improved extended state observer, the accurate estimation of the engine torque interference and the load torque interference can be realized, and the interference compensation torque of the power source is deduced by utilizing the 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 application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:
fig. 1 is a layout diagram of a power system of a hybrid electric vehicle according to the present application.
Fig. 2 is a flow chart of E-H mode switching of the hybrid electric vehicle according to the present application.
Fig. 3 is a general control scheme diagram of a hybrid electric vehicle E-H switching coordination control strategy based on time lag estimation in the present application.
FIG. 4 is a graph comparing the effects of the improved linear extended state observer and the conventional linear extended state observer on engine torque disturbance estimation in the present application.
FIG. 5 is a graph comparing the effects of the improved linear extended state observer and the conventional linear extended state observer on the output shaft load torque disturbance estimation in the present application.
FIG. 6 is a graph comparing the effects of the improved linear extended state observer and the conventional linear extended state observer on the engine speed estimation error in the present application.
FIG. 7 is a graph comparing the effects of the improved linear extended state observer and the conventional linear extended state observer on the estimation error of the rotation speed of the output shaft in the present application.
In the figure, a hybrid power system 100, a front-row planetary carrier 101, a buffer locking mechanism 102, an engine 103, a second motor 104, a front-row planetary gear ring 105, a front-row sun gear 106, a rear-row planetary gear ring 107, a first motor 108, a rear-row sun gear 109 and a rear-row planetary carrier 110 are shown.
Detailed Description
So that the manner in which the above recited objects, features and advantages of the present application can be understood in detail, a more particular description of the application, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present application is not limited to the specific embodiments disclosed below.
Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be included in at least one implementation of the application. 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.
While the embodiments of the present application have been illustrated and described in detail in the drawings, the cross-sectional view of the device structure is not to scale in the general sense for ease of illustration, and the drawings are merely exemplary and should not be construed as limiting the scope of the application. In addition, the three-dimensional dimensions of length, width and depth should be included in actual fabrication.
Also in the description of the present application, it should be noted that the orientation or positional relationship indicated by the terms "upper, lower, inner and outer", etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application. 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 coupled" should be construed broadly in this disclosure unless otherwise specifically indicated and defined, such as: can be fixed connection, detachable connection or integral connection; it may also be a mechanical connection, an electrical connection, or a direct connection, or may be indirectly connected through an intermediate medium, or may be a communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
Example 1
Referring to fig. 1 to 3, in a first embodiment of the present application, a hybrid E-H switching coordination control method based on interference compensation is provided, which can realize accurate estimation of engine torque interference and load torque interference, and realize stable and efficient mode switching quality.
The double-row planetary hybrid system 100 studied in this embodiment includes a front row ring gear 105, a front row carrier 101, a front row sun gear 106, a rear row ring gear 107, a rear row carrier 110, and a rear row sun gear 109, the engine 103 is connected to the front row carrier 101 through a buffer lock mechanism 102, a rotor shaft of a first motor 108 is connected to the front row sun gear 106, a rotor shaft of a second motor 104 is connected to the rear row sun gear 109, and the front row ring gear 105 is connected to the rear row carrier 110.
Referring to fig. 2 and 3, the interference compensation-based hybrid E-H handover coordination control method includes the steps of,
(1) When running in the electric-only mode, the engine is turned off, the second motor 104 completely bears the torque required by the vehicle driving, and considering that the actual running conditions of the vehicle are changeable, for example, the change of the road rolling damping coefficient and the gradient can cause the change of the load torque in the running process of the vehicle, the road surface interference directly acts on the vehicle and is easy to cause obvious longitudinal impact, based on the road surface interference, an interference compensation mechanism fused with the improved extended state observer is designed, and the secondary target torque T 'of the second motor 104 at the stage is deduced' MG2 The secondary target torque T 'of the second motor 104 at this stage is derived' MG2 ，
Wherein,is the load torque disturbance d at the output end of the vehicle 2 Estimation of (1)Counting, T req For outputting shaft end target torque, k for power coupling device 2 Characteristic parameters of a rear planet row in the power coupling mechanism;
simultaneously, a speed sensor and an accelerator pedal position sensing device on the hybrid electric vehicle monitor current speed information and accelerator pedal and brake pedal position signals in real time and input the current speed information and the accelerator pedal and brake pedal position signals into a vehicle controller VCU, and the speed sensor and the accelerator pedal position sensing device are used for switching the speed threshold value v according to the set speed threshold value v thr The vehicle controller VCU judges whether to switch modes;
(2) If the vehicle speed v is greater than or equal to v thr The vehicle controller VCU controls the first motor 108 to enable the vehicle to enter the engine 103 to drag from the pure electric mode, and during the dragging stage of the engine 103, controls the first motor 108 to drag the engine 103 until the idle speed omega is reached in a short time idle While reducing longitudinal shock, considering that the actual output torque of the engine 103 is mainly composed of inertia torque and gas pressure fluctuation torque, the torque exhibits a large periodic fluctuation phenomenon before and after ignition, the vibration can be directly transmitted to wheels, the riding comfort and drivability of the whole vehicle are affected, and the torque of the engine 103 interferes d 1 Vehicle output load torque disturbance d 2 A torque distribution strategy consisting of disturbance compensation control based on improved extended state observer estimation and base motor torque compensation control at this stage is designed to solve for the secondary target torque (T 'of the first motor 108 and the second motor 104' MG1 ,T′ MG2 )；
Wherein T is ef For starting resistance moment, k of engine 103 1 Is the characteristic parameter of the front planet row in the power coupling mechanism, I 11 And I 21 Different rotational inertia combinations of the engine 103, front planetary gear ring 105 and first motor 108, respectively, ΔT' MG2 For the compensation torque of the second motor 104,is the torque disturbance d of the engine 103 1 Is a function of the estimated value of (2);
(3) If the rotation speed omega of the engine 103 e ≥ω idle The vehicle enters a hybrid driving mode, the engine 103 starts to ignite, and the second motor 104 is cooperated to drive the whole vehicle to run, and the first motor 108 regulates the engine 103 to work at the economic rotation speed omega e-eco Also consider the engine 103 torque disturbance d 1 And vehicle output load torque d 2 Dual effect of disturbance, a torque distribution strategy consisting of disturbance compensation control based on improved extended state observer estimation and base motor torque compensation control at this stage is designed to derive the secondary target torques (T 'for the first motor 108 and the second motor 104 in this mode' MG1 ,T′ MG2 )，
ΔT MG1 ＝k p2 (ω e-eco -ω e )+k i2 ∫(ω e-eco -ω e )dt；
Wherein T is E-est K is the estimated torque of the engine 103 p2 And k i2 Respectively a proportional parameter and an integral parameter, omega in the first motor controller MG1 And omega MG2 Rotational speeds, I, of the first motor 108 and the second motor 104, respectively 12 A combination of moments of inertia between the first motor 108, the second motor 104, and the double row;
when the hybrid drive mode is brought to steady state, the power of the engine 103 and the first motor 108 is converged and output at the front planetary gear 105, and the three power flows are finally output together to drive the wheels in combination with the power transmission from the second motor 104 in the rear planetary gear 110, so that the mode switching process is ended.
In the whole mode switching process, the construction method of the improved extended state observer is as follows,
the following state space model can be obtained according to the rotation speed and torque balance equation of the power coupling mechanism,
a new extended state vector is constructed and,
the improved extended state observer is that,
wherein Z is 1 And Z 2 Respectively are provided withFor state vector X and extended state vectorT E 、T MG1 、T MG2 Actual output torques of the engine 103, the first motor 108, and the second motor 104, T out 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 the set threshold v thr The vehicle controller VCU receives a mode switching signal for switching from pure electric to hybrid drive, and calculates the required torque T of the output end of the power coupling mechanism under each mode according to the target vehicle speed and the running driving force-running resistance balance equation of the vehicle req During actual driving of the hybrid vehicle, the hybrid vehicle is disturbed by torque fluctuation d from the engine 103 1 And vehicle output load torque d 2 The dual effects of the two interferences can aggravate the switching smoothness and stability of the whole vehicle mode, a staged coordination control strategy is designed for reducing the impact vibration of a driving shaft caused by the interference, and the target torque T 'of the double motors in the whole switching process is solved through the interference compensation control and the basic motor torque compensation control strategy' MG1 And T' MG2 While the torque limiting modules are designed in view of the actual operating limitations of the actuators, wherein the torque limiting modules of the first and second electric machines 108 and 104 are,
T MG1-min (ω MG1 )≤T MG1 (ω MG1 )≤T MG1-max (ω MG1 )；
T MG2-min (ω MG2 )≤T MG2 (ω MG2 )≤T MG2-max (ω MG2 )；
executing torque T via the second motor 104 MG2 And the first motor 108 performs torque T MG1 Input to the controlled object, output response signals of the engine 103, the second motor 104, the first motor 108, the power coupling mechanism, the battery and the like of the whole vehicle are collected and input to the coordination controller, and the rear part can be realizedDistributing the external ring torque of the continuous power source; in addition, the improved extended state observer may output a signal ω according to the rotational speed of the engine 103 e And output rotational speed signal omega of power coupling mechanism out Accurate calculation of an estimate of engine 103 torque ripple disturbanceAnd the estimate of the load torque disturbance of the whole vehicle +.>And the torque is input into a coordination controller for compensating and distributing the inner ring interference torque, so that a complete closed-loop coordination control system of the hybrid electric vehicle is formed.
The application enables the whole vehicle to effectively reduce the mode switching impact under the influence of system interference by the construction of the improved extended state observer and the design of the coordination control strategy, and simultaneously realizes the stable speed regulation of the engine 103.
Example 2
Referring to fig. 4 to 7, in a second embodiment of the present application, a comparison of the simulation estimation effects of the improved linear expansion state observer and the conventional linear expansion state observer is given, and the test results are compared by means of scientific proof to verify the true effect of the present method.
It can be seen that the conventional linear extended state observer (TLESO) has significant deviations from the estimates of the engine 103 disturbance and the output load disturbance at multiple points in time, while the Improved Linear Extended State Observer (ILESO) disturbance estimates are more accurate, while the improved linear extended state observer estimates the state variable ω e ，ω out The steady state observation error of (2) is also smaller than the state variable omega of the traditional linear expansion state observer e ，ω out Compared with the prior art, the improved linear expansion state observer provided by the application can not only reduce 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 embodiments are only for illustrating the technical solution of the present application and not for limiting the same, and although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present application may be modified or substituted without departing from the spirit and scope of the technical solution of the present application, which is intended to be covered in the scope of the claims of the present application.
Claims (5)
1. The hybrid electric vehicle E-H switching coordination control method based on interference compensation is characterized by comprising the following steps of: comprises the steps of,
when the vehicle runs in the pure electric mode, the second motor (104) completely bears the torque required by the driving of the vehicle, an interference compensation mechanism fused with the improved extended state observer is designed in the process, and the secondary target torque T of the second motor (104) at the stage is deduced M ′ G2 Simultaneously, a speed sensor and an accelerator pedal position sensing device on the hybrid electric vehicle monitor current speed information and accelerator pedal and brake pedal position signals in real time and input the current speed information and the accelerator pedal and brake pedal position signals into a vehicle controller VCU, and the speed sensor and the accelerator pedal position sensing device are used for switching the speed threshold value v according to the set speed threshold value v thr The vehicle controller VCU judges whether to switch modes;
if the vehicle speed v is greater than or equal to v thr The vehicle controller VCU controls the first motor (108) to enable the vehicle to enter the engine (103) to drag from the pure electric mode, and in the dragging stage of the engine (103), the first motor (108) is controlled to drag the engine (103) until the idle speed omega in a short time idle In the process, a torque distribution strategy consisting of disturbance compensation control and basic motor torque compensation control based on the estimation of the improved extended state observer is designed, and the secondary target torque (T) of the first motor (108) and the second motor (104) is solved M ′ G1 ,T M ′ G2 )；
If the rotation speed omega of the engine (103) e ≥ω idle The vehicle enters a hybrid driving mode, the engine (103) starts to ignite and drives the whole vehicle to run in cooperation with the second motor (104), and the first motor (108) regulates the speed of the engine (103) to work at the economic rotation speed omega e-eco In the process, a torque distribution strategy consisting of disturbance compensation control and basic motor torque compensation control based on the improved extended state observer estimation is designed, and the secondary target torques (T) of the first motor (108) and the second motor (104) in the mode are solved M ′ G1 ,T M ′ G2 ) When the hybrid drive mode is in a steady state, the power of the engine (103) and the power of the first motor (108) are converged and output on the front planet row gear ring (105), and finally three power flows are output together to drive wheels by combining the power transmission of the second motor (104) in the rear row planet carrier (110), so that the mode switching process is finished.
2. The interference compensation-based hybrid electric vehicle E-H switching coordination control method of claim 1, wherein: in the electric-only mode, the secondary target torque T M ′ G2 The calculation formula of (a) is as follows,
wherein,is the load torque disturbance d at the output end of the vehicle 2 Estimate of T req For outputting shaft end target torque, k for power coupling device 2 Is a characteristic parameter of a rear planet row in the power coupling mechanism.
3. The interference compensation-based hybrid electric vehicle E-H switching coordination control method according to claim 1 or 2, characterized in that: during a motoring phase of the engine (103), the torque distribution strategy constituted by the disturbance compensation control based on the improved extended state observer estimation and the base motor torque compensation control is,
wherein T is ef For starting resistance moment, k of the engine (103) 1 Is the characteristic parameter of the front planet row in the power coupling mechanism, I 11 And I 21 Respectively different rotational inertia combinations of the engine (103), the front planetary gear ring (105) and the first motor (108), delta T M ′ G2 For the compensation torque of the second motor (104),is the torque disturbance d of the engine (103) 1 Is used for the estimation of the estimated value of (a).
4. The interference compensation-based hybrid electric vehicle E-H switching coordination control method according to claim 1 or 2, characterized in that: in the hybrid drive mode, the torque distribution strategy constituted by the disturbance compensation control based on the improved extended state observer estimation and the base motor torque compensation control is,
ΔT MG1 ＝k p2 (ω e-eco -ω e )+k i2 ∫(ω e-eco -ω e )dt；
wherein T is E-est For the estimated torque, k, of the engine (103) p2 And k i2 Respectively a proportional parameter and an integral parameter, omega in the first motor controller MG1 And omega MG2 The rotational speeds of the first motor (108) and the second motor (104), I 12 Is a combination of moments of inertia between the first motor (108), the second motor (104) and the double row.
5. The interference compensation-based hybrid electric vehicle E-H switching coordination control method of claim 4, wherein: the engine (103) torque disturbance d 1 Estimate of (2)And vehicle output load torque disturbance d 2 Estimate of +.>Are each observed by an improved extended state observer, the improved extended state observer input being the rotational speed ω of the engine (103) e And output rotational speed omega of power coupling mechanism out The design of a specific improved extended state observer is as follows,
the following state space model can be obtained according to the rotation speed and torque balance equation of the power coupling mechanism,
a new extended state vector is constructed and,
the improved extended state observer is that,
wherein Z is 1 And Z 2 State vector X and extended state vector, respectivelyT E 、T MG1 、T MG2 Actual output torque of the engine (103), the first motor (108) and the second motor (104), T out Is the output end load of the power coupling mechanism.
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