CN114906122A - Mode switching control method, device, equipment and storage medium - Google Patents
Mode switching control method, device, equipment and storage medium Download PDFInfo
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- CN114906122A CN114906122A CN202210584434.5A CN202210584434A CN114906122A CN 114906122 A CN114906122 A CN 114906122A CN 202210584434 A CN202210584434 A CN 202210584434A CN 114906122 A CN114906122 A CN 114906122A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/20—Control strategies involving selection of hybrid configuration, e.g. selection between series or parallel configuration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/40—Controlling the engagement or disengagement of prime movers, e.g. for transition between prime movers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0657—Engine torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/083—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
Abstract
The invention relates to the technical field of vehicle control, and discloses a mode switching control method, a mode switching control device, mode switching equipment and a storage medium, wherein the method comprises the following steps: determining a target vehicle operation mode according to the current vehicle speed and the current torque of the hybrid vehicle; determining a current vehicle running mode according to the current running parameters of the hybrid vehicle; switching the current vehicle operating mode according to the target vehicle operating mode through a clutch control strategy; the invention determines the target vehicle running mode according to the current speed and the current torque of the hybrid vehicle, determines the current vehicle running mode according to the current running parameters of the hybrid vehicle, the target vehicle running mode and the current vehicle running mode are two different modes, and controls the switching between the target vehicle running mode and the current vehicle running mode through the clutch control strategy, thereby ensuring the smooth intervention and exit of the clutch and further improving the stability of the vehicle.
Description
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a method, an apparatus, a device, and a storage medium for controlling mode switching.
Background
With the development of vehicle technology, the functions of the vehicle have been gradually improved, especially for a hybrid vehicle of a P1+ P3 architecture, modes of the hybrid vehicle include a series mode in which the vehicle runs by means of an electric motor and by causing the engine to drive a generator to generate electric power, a parallel mode in which the vehicle runs by means of both the engine and the electric motor, and other modes, during switching between the series mode and the parallel mode, the switching is mainly achieved by controlling the engagement and the disengagement of a clutch, while the switching of the control mode is currently achieved based on the rotation speed of a conventional electric motor, but the mode switching cannot ensure the smoothness of the engagement and the disengagement of the clutch, thereby resulting in low stability of the vehicle.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a mode switching control method, a mode switching control device, mode switching equipment and a mode switching storage medium, and aims to solve the technical problem that the stability of a vehicle is poor due to the fact that smooth intervention and exit of a clutch cannot be guaranteed in the prior art.
In order to achieve the above object, the present invention provides a mode switching control method, including the steps of:
determining a target vehicle operation mode according to the current vehicle speed and the current torque of the hybrid vehicle;
determining a current vehicle running mode according to the current running parameters of the hybrid vehicle;
and switching the current vehicle running mode according to the target vehicle running mode through a clutch control strategy.
Optionally, the target vehicle operating modes include a series mode and a parallel mode;
the determining a target vehicle operation mode according to a current vehicle speed and a current torque of the hybrid vehicle includes:
when the current speed of the hybrid vehicle is greater than or equal to a preset speed threshold and the current torque is greater than or equal to a preset torque threshold, identifying the current speed and the current torque according to a preset speed-torque-operation model to determine that a target vehicle operation mode is a parallel mode, wherein the current vehicle operation mode is a series mode;
when the current vehicle speed of the hybrid vehicle is smaller than a preset vehicle speed threshold value and the current torque is smaller than a preset torque threshold value, identifying the current vehicle speed and the current torque according to a preset vehicle speed-torque-operation model to determine that a target vehicle operation mode is a series mode, wherein the current vehicle operation mode is a parallel mode.
Optionally, the current vehicle operation mode is a series mode, and the target vehicle operation mode is a parallel mode;
the switching the current vehicle operating mode according to the target vehicle operating mode via a clutch control strategy includes:
determining a speed regulation range of a driving end of a target clutch according to the rotating speed of the engine, the rotating speed of a first motor and the current speed;
regulating the rotating speed of the clutch input shaft through the target clutch speed regulation range until the rotating speed of the clutch input shaft is consistent with the rotating speed of the clutch output shaft;
acquiring the current torque of the clutch after the adjustment is finished;
and adjusting the current torque according to the required torque of the mechanical input shaft through a clutch control strategy so as to switch the current vehicle running mode into the target vehicle running mode.
Optionally, before determining the speed regulation range of the driving end of the target clutch according to the engine speed, the first motor speed and the current vehicle speed, the method further includes:
when the SOC of the battery is higher than a preset electric quantity threshold value, acquiring the torque required by the engine;
calculating a first motor required torque according to the first motor-engine speed ratio, the required torque of the mechanical input shaft and the engine required torque, wherein the engine target torque is the engine required torque;
when the battery SOC is lower than a preset electric quantity threshold value, acquiring the current battery SOC, the wheel end required torque and the current vehicle speed;
obtaining a first motor demand torque according to the current battery SOC, the wheel end demand torque and the current vehicle speed;
and calculating to obtain the target torque of the engine according to the first motor required torque and the required torque of the mechanical input shaft.
Optionally, before the adjusting the current torque according to the torque demand of the mechanical input shaft by the clutch control strategy to realize the switching of the current vehicle operation mode to the target vehicle operation mode, the method further includes:
obtaining a target shaft rotating speed according to the rotating speed of the mechanical output shaft, the shaft speed ratio and the compensation parameter;
acquiring the current actual rotating speed and the moment of inertia of the mechanical input shaft;
obtaining a first torque and a second torque according to the current actual rotating speed and the target rotating speed;
calculating according to the moment of inertia of the mechanical input shaft and the change rate of the rotating speed of the target shaft to obtain a third torque;
and calculating according to the first term torque, the second term torque and the third term torque to obtain the required torque of the mechanical input shaft.
Optionally, the adjusting the current torque according to the torque demand of the mechanical input shaft by the clutch control strategy to realize the switching of the current vehicle operation mode to the target vehicle operation mode includes:
acquiring wheel end required torque and engine actual torque;
calculating a second motor required torque according to the engine-wheel end speed ratio, the second motor-wheel end speed ratio, the wheel end required torque, the actual torque of the engine and the current torque of the clutch;
compensating the wheel end required torque according to the second motor required torque;
and in the compensation process, regulating the current torque according to the required torque of the mechanical input shaft through a clutch control strategy so as to switch the current vehicle running mode into the target vehicle running mode.
Optionally, the current vehicle operation mode is a parallel mode, and the target vehicle operation mode is a series mode;
the switching the current vehicle operating mode according to the target vehicle operating mode via a clutch control strategy includes:
acquiring the current torque of a first motor and the current torque of an engine;
reducing the current torque of the first motor through a target slope to obtain the torque required by the first motor;
judging whether the required torque of the mechanical input shaft is met or not according to the required torque of the first motor;
when the first motor torque does not meet the required torque of the mechanical input shaft, reducing the current torque of the engine to obtain the target torque of the engine;
judging whether the required torque of the mechanical input shaft is met or not according to the required torque of the first motor and the target torque of the engine;
and when the first motor required torque and the engine target torque meet the required torque of the mechanical input shaft, reducing the current torque of the clutch to a preset torque so as to switch the current vehicle running mode to a target vehicle running mode.
In order to achieve the above object, the present invention further provides a mode switching control device, including:
the determination module is used for determining a target vehicle operation mode according to the current vehicle speed and the current torque of the hybrid vehicle;
the determining module is further used for determining a current vehicle running mode according to the current running parameters of the hybrid vehicle;
and the switching module is used for switching the current vehicle running mode according to the target vehicle running mode through a clutch control strategy.
Further, to achieve the above object, the present invention also proposes a mode switching control apparatus including: the system comprises a memory, a processor and a mode switching control program stored on the memory and capable of running on the processor, wherein the mode switching control program is configured to realize the mode switching control method.
In addition, in order to achieve the above object, the present invention further provides a storage medium having a mode switching control program stored thereon, wherein the mode switching control program, when executed by a processor, implements the mode switching control method as described above.
The mode switching control method provided by the invention determines a target vehicle running mode according to the current speed and the current torque of the hybrid vehicle; determining a current vehicle running mode according to the current running parameters of the hybrid vehicle; switching the current vehicle operating mode according to the target vehicle operating mode through a clutch control strategy; the invention determines the target vehicle running mode according to the current speed and the current torque of the hybrid vehicle, determines the current vehicle running mode according to the current running parameters of the hybrid vehicle, the target vehicle running mode and the current vehicle running mode are two different modes, and controls the switching between the target vehicle running mode and the current vehicle running mode through the clutch control strategy, thereby ensuring the smooth intervention and exit of the clutch and further improving the stability of the vehicle.
Drawings
Fig. 1 is a schematic structural diagram of a control device for mode switching in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a mode switching control method according to a first embodiment of the present invention;
FIG. 3 is a flowchart illustrating a mode switching control method according to a second embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a series mode switching to a parallel mode according to an embodiment of the mode switching control method of the present invention;
FIG. 5 is a flowchart illustrating a mode switching control method according to a third embodiment of the present invention;
fig. 6 is a functional block diagram of a control device for mode switching according to a first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a control device for mode switching in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the mode switching control apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to implement connection communication among these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the mode switching control device and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a mode switching control program.
In the mode switching control apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with the network-integrated platform workstation; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the mode switching control apparatus of the present invention may be provided in the mode switching control apparatus which calls the mode switching control program stored in the memory 1005 by the processor 1001 and executes the mode switching control method provided by the embodiment of the present invention.
Based on the above hardware structure, an embodiment of the mode switching control method of the present invention is provided.
Referring to fig. 2, fig. 2 is a flowchart illustrating a mode switching control method according to a first embodiment of the present invention.
In a first embodiment, the control method of the mode switching includes the steps of:
in step S10, a target vehicle operating mode is determined based on the current vehicle speed and the current torque of the hybrid vehicle.
It should be noted that the executing subject of the present embodiment is a control device for mode switching, and may also be other devices that can implement the same or similar functions, such as a vehicle control unit.
It should be understood that the current vehicle speed refers to the vehicle speed of the hybrid vehicle during driving, and the current vehicle speed can be acquired in real time through a vehicle speed sensor, the current torque refers to the torque output by the engine from the crankshaft end at the current moment, and the torque is in inverse proportion to the rotating speed of the engine under the condition that the power of the engine is fixed.
It is understood that the target vehicle operation mode refers to an operation mode that the hybrid vehicle needs to be switched to at the present moment, and the target vehicle operation mode includes a series mode and a parallel mode, that is, the mode switching of the embodiment is a reasonable switching between the series mode and the parallel mode, specifically, when the hybrid vehicle is running at a low speed, the series mode is selected, the clutch is controlled to be disconnected, and when the hybrid vehicle is running at a high speed and a high torque, the parallel mode is selected, and the clutch is controlled to be engaged.
Further, step S10 includes: when the current speed of the hybrid vehicle is greater than or equal to a preset speed threshold and the current torque is greater than or equal to a preset torque threshold, identifying the current speed and the current torque according to a preset speed-torque-operation model to determine that a target vehicle operation mode is a parallel mode, wherein the current vehicle operation mode is a series mode; when the current vehicle speed of the hybrid vehicle is smaller than a preset vehicle speed threshold value and the current torque is smaller than a preset torque threshold value, identifying the current vehicle speed and the current torque according to a preset vehicle speed-torque-operation model to determine that a target vehicle operation mode is a series mode, wherein the current vehicle operation mode is a parallel mode.
It should be understood that the preset vehicle speed threshold value is a minimum value for distinguishing whether the vehicle speed of the hybrid vehicle is a high speed, and when the current vehicle speed is greater than or equal to the preset vehicle speed threshold value, it indicates that the hybrid vehicle is running at a high speed, whereas, when the current vehicle speed is less than the preset vehicle speed threshold value, it indicates that the hybrid vehicle is running at a low speed, and likewise, the preset torque threshold value is a minimum value for distinguishing whether the torque of the hybrid vehicle is a high torque, when the current torque is greater than or equal to the preset torque threshold value, it indicates that the torque value of the hybrid vehicle is high, and conversely, when the current torque is less than the preset torque threshold value, it indicates that the torque value of the hybrid vehicle is low.
In the specific implementation, after the current speed and the current torque of the hybrid vehicle of the vehicle control unit are obtained, the current speed and the current torque are identified through a preset speed-torque-operation model, when the identification result is that the current speed is greater than or equal to a preset speed threshold and the current torque is greater than or equal to a preset torque threshold, the operation mode of the target vehicle is determined to be a parallel mode, and when the identification result is that the current speed is less than the preset speed threshold and the current torque is less than the preset torque threshold, the operation mode of the target vehicle is determined to be a series mode.
And step S20, determining the current vehicle running mode according to the current running parameters of the hybrid vehicle.
It is understood that the current driving parameter refers to a parameter of the hybrid vehicle during driving, and the current driving parameter may be a vehicle speed, an actuation function, and a driving behavior, for example, when the vehicle speed is less than a preset vehicle speed threshold, the actuation function is not performed, and the driving behavior is a normal driving behavior, the operation mode of the hybrid vehicle is determined as a current vehicle operation mode, and the current vehicle operation mode may be a series mode or a parallel mode.
And step S30, switching the current vehicle running mode according to the target vehicle running mode through a clutch control strategy.
It should be understood that the clutch control strategy refers to a strategy for switching the vehicle operation mode by controlling the clutch parameters, which may be for adjusting the rotation speed of the clutch input shaft or setting the torque of the clutch, and after determining the current vehicle operation mode of the hybrid vehicle, the current vehicle operation mode is switched to the target vehicle operation mode by the clutch control strategy, for example, when the current vehicle operation mode is the series mode, the current vehicle operation mode is switched to the parallel mode by the clutch control strategy, and vice versa, when the current vehicle operation mode is the parallel mode, the current vehicle operation mode is switched to the series mode by the clutch control strategy.
The present embodiment determines a target vehicle operation mode according to a current vehicle speed and a current torque of a hybrid vehicle; determining a current vehicle running mode according to the current running parameters of the hybrid vehicle; switching the current vehicle operation mode according to the target vehicle operation mode through a clutch control strategy; according to the method, the target vehicle running mode is determined according to the current speed and the current torque of the hybrid vehicle, the current vehicle running mode is determined according to the current running parameters of the hybrid vehicle, the target vehicle running mode and the current vehicle running mode are two different modes, and then the switching between the target vehicle running mode and the current vehicle running mode is controlled through a clutch control strategy, so that smooth intervention and quitting of a clutch can be guaranteed, and the stability of the vehicle is improved.
In an embodiment, as shown in fig. 3, a second embodiment of the mode switching control method according to the present invention is proposed based on the first embodiment, and the step S30 includes:
and S301, determining the speed regulation range of the driving end of the target clutch according to the rotating speed of the engine, the rotating speed of the first motor and the current speed.
It should be understood that the target clutch driving end speed regulation range refers to a range of regulating the rotating speed of the clutch driving end, the engine rotating speed refers to the rotating speed of the engine before regulation, the first motor rotating speed refers to the rotating speed of the first motor before regulation, the first motor can be an integrated-starter-generator (ISG) motor, and the first motor is a starting-generator integrated machine and is directly integrated in the main shaft of the engine.
Further, before step S301, the method includes: when the SOC of the battery is higher than a preset electric quantity threshold value, acquiring the required torque of the engine; calculating a first motor required torque according to the first motor-engine speed ratio, the required torque of the mechanical input shaft and the engine required torque, wherein the engine target torque is the engine required torque; when the battery SOC is lower than a preset electric quantity threshold value, acquiring the current battery SOC, the wheel end required torque and the current vehicle speed; obtaining a first motor demand torque according to the current battery SOC, the wheel end demand torque and the current vehicle speed; and calculating to obtain the target torque of the engine according to the first motor required torque and the required torque of the mechanical input shaft.
It can be understood that the preset electric quantity threshold refers to distinguishing whether the battery SOC is the minimum electric quantity value of the high electric quantity, when the battery SOC is higher than the preset electric quantity threshold, it indicates that the electric quantity of the battery is high, the engine demand torque refers to the torque required by the engine in the current running process, that is, the engine target torque is taken as the engine demand torque, specifically, the engine needs to meet the functions of speed regulation and battery SOC maintenance, when the battery electric quantity is high, the engine responds slowly, so the speed regulation is mainly performed by depending on the first motor, and the engine demand torque is maintained unchanged, when the engine demand torque is obtained, the first motor demand torque is calculated according to the first motor-engine speed ratio, the demand torque of the mechanical input shaft and the engine demand torque; when the battery electric quantity is low, the first motor demand torque is the sum of the power generation torque meeting the battery charging demand and the power generation torque meeting the wheel end demand, the engine needs to meet the speed regulation and power generation demands, the engine demand torque is the sum of the demand torque of the mechanical input shaft minus the first motor demand torque multiplied by the first motor-engine speed ratio, in the speed regulation mode, because the clutch is not involved yet, the second motor needs to meet the torque demand of a driver, and the demand torque of the second motor is the wheel end demand torque/speed ratio.
It should be understood that when the electric quantity of the battery is low, the first motor required torque needs to meet the power generation torque for maintaining the SOC of the battery and the power generation torque for maintaining the wheel end required power, and at this time, the first motor required torque needs to be subjected to slope limitation, so as to avoid the NVH problem caused by torque jump.
And step S302, regulating the rotating speed of the clutch input shaft through the speed regulating range of the driving end of the target clutch until the rotating speed of the clutch input shaft is consistent with the rotating speed of the clutch output shaft.
It can be understood that after the speed regulation range of the driving end of the target clutch is obtained, the current vehicle running mode of the hybrid vehicle is a series mode, the running mode of the front vehicle needs to be switched to a parallel mode, the speed regulation mode and the clutch combination mode need to pass in the switching process, the speed regulation mode is realized by the combined action of the engine and the first motor, and in order to ensure the smoothness of the clutch combination, the rotating speed of the clutch input shaft is regulated through the speed regulation range of the driving end of the target clutch, so that the rotating speed of the clutch input shaft is consistent with the rotating speed of the clutch output shaft.
In step S303, after the adjustment is completed, the current torque of the clutch is acquired.
It should be understood that the current torque refers to the torque when the clutch mode is entered, and after the adjustment is completed, the hybrid vehicle smoothly transits from the speed regulation mode to the clutch mode, and then obtains the current torque of the clutch.
And step S304, adjusting the current torque according to the required torque of the mechanical input shaft through a clutch control strategy so as to switch the current vehicle running mode into the target vehicle running mode.
It is understood that after the current torque of the clutch is obtained, the current torque is adjusted through the clutch control strategy so that the current torque Ramp of the clutch is equal to the required torque of the mechanical input shaft, and after the adjustment is completed, the hybrid vehicle smoothly transitions from the clutch mode to the parallel mode, i.e., the current vehicle operating mode (series mode) is switched to the target vehicle operating mode (parallel mode).
Further, before step S304, the method further includes: obtaining a target shaft rotating speed according to the rotating speed of the mechanical output shaft, the shaft speed ratio and the compensation parameter; acquiring the current actual rotating speed of the mechanical input shaft; obtaining a first torque and a second torque according to the current actual rotating speed and the target shaft rotating speed; calculating according to the moment of inertia of the mechanical input shaft and the change rate of the rotating speed of the target shaft to obtain a third torque; and calculating according to the first term torque, the second term torque and the third term torque to obtain the required torque of the mechanical input shaft.
It should be understood that the target shaft rotation speed refers to a required rotation speed of the mechanical input shaft at the current moment, the target shaft rotation speed is obtained by calculating a rotation speed of the mechanical output shaft, a shaft rotation speed ratio and a compensation parameter, specifically, the rotation speed of the mechanical output shaft is the shaft rotation speed ratio plus the rotation speed corresponding to the compensation parameter, the first term torque and the second term torque are obtained by calculating a difference value between an actual rotation speed of the mechanical input shaft and the target rotation speed through PID calculation, and the third term torque refers to a change rate of a rotational inertia of the mechanical input shaft and the target shaft rotation speed, and then calculation is performed according to the first term torque, the second term torque and the third term torque to obtain the required torque of the mechanical input shaft.
Further, step S304 includes: acquiring wheel end required torque and engine actual torque; calculating a second motor required torque according to the engine-wheel end speed ratio, the second motor-wheel end speed ratio, the wheel end required torque, the actual torque of the engine and the current torque of the clutch; compensating the wheel end required torque according to the second motor required torque; and in the compensation process, the current torque is adjusted according to the required torque of the mechanical input shaft through a clutch control strategy so as to switch the current vehicle running mode into the target vehicle running mode.
It is understood that the engine-wheel end speed ratio refers to the engine-wheel end speed ratio, and similarly, the second torque motor-wheel end speed ratio refers to the second motor-wheel end speed ratio, which may be a TM motor, and the second motor required torque refers to the torque required by the TM motor during operation, specifically, the torque motor required torque is calculated by the following formula:
T_TM＝(T_wheel-min(T_eng,(T_clu1+T_clu2))*i)/i_TM；
wherein T _ TM is the second electric machine requested torque, T _ wheel is the wheel end requested torque, T _ eng is the actual torque of the engine, T _ clu1 and T _ clu2 are the current torques of the clutch, i is the engine-wheel end speed ratio, and i _ TM is the second electric machine-wheel end speed ratio.
It should be understood that, since the hybrid vehicle is in the clutch mode, the clutch starts to be gradually engaged at this time, the second electric machine is used for compensating the torque, since the current torque of the clutch is changing, and the torque required by the second electric machine is obtained through the wheel end required torque, the actual torque of the engine and the current torque of the clutch, the torque required by the second electric machine is also changing continuously, and in the compensation process, the current torque is adjusted according to the required torque of the mechanical input shaft through the clutch control strategy, so that the series mode is switched to the parallel mode.
It can be understood that, referring to fig. 4, fig. 4 is a schematic diagram of switching from the series mode to the parallel mode, specifically: the method comprises three stages, namely clutch torque, speed regulation and parallel connection mode entering of a series mode, wherein the clutch torque is 12.8s-13s, the speed regulation is 12.6s-13s, and the parallel connection mode entering of the series mode is 12.6s-13.2 s.
The speed regulation range of the driving end of the target clutch is determined according to the rotating speed of the engine, the rotating speed of the first motor and the current speed; regulating the rotating speed of the clutch input shaft through the speed regulating range of the driving end of the target clutch until the rotating speed of the clutch input shaft is consistent with the rotating speed of the clutch output shaft; acquiring the current torque of the clutch after the adjustment is finished; adjusting the current torque according to the required torque of the mechanical input shaft through a clutch control strategy so as to switch the current vehicle running mode into a target vehicle running mode; according to the method, the speed regulation range of the driving end of the target clutch is determined according to the rotating speed of the engine, the rotating speed of the first motor and the current speed, then the rotating speed of the input shaft of the clutch is regulated to be consistent with the rotating speed of the output shaft of the clutch according to the speed regulation range of the driving end of the target clutch, and then the current torque is regulated according to the required torque of the mechanical input shaft through a clutch control strategy, so that the switching of the current vehicle running mode is realized, and the running stability of the hybrid vehicle is improved.
In an embodiment, as shown in fig. 5, a third embodiment of the mode switching control method according to the present invention is proposed based on the first embodiment, and the step S30 includes:
in step S305, the current torque of the first motor and the current torque of the engine are acquired.
It can be understood that the current vehicle operation mode of the embodiment is the parallel mode, and the target vehicle operation mode is the series mode, that is, the switching from the parallel mode to the series mode is realized mainly through two stages of torque reduction of the mechanical input shaft and clutch opening, the current torque refers to the torque of the first motor and the engine in the operation process, and the current torque is acquired in real time through the torque sensor.
And S306, reducing the current torque of the first motor through the target slope to obtain the required torque of the first motor.
It should be understood that the target slope refers to a slope of decreasing torque, and the current torque of the first motor is preferentially decreased, and the motor decreasing torque refers to torque decreased by the target slope.
And step S307, judging whether the required torque of the mechanical input shaft is met or not according to the required torque of the first motor.
It is understood that, in the process of reducing the required torque of the first electric machine, it is necessary to determine whether the required torque of the first electric machine satisfies the required torque of the mechanical input shaft.
And step S308, when the first motor torque does not meet the required torque of the mechanical input shaft, reducing the current torque of the engine to obtain the target torque of the engine.
It should be understood that the engine target torque refers to a torque after the current torque of the engine is reduced, and if the first electric machine torque does not meet the required torque of the mechanical input shaft as a result of the determination, it is necessary to continuously adjust the current torque of the engine, that is, reduce the current torque of the engine, so as to obtain the engine target torque.
And step S309, judging whether the required torque of the mechanical input shaft is met or not according to the first motor required torque and the engine target torque.
It is understood that after the current torque of the engine is reduced, it is necessary to determine whether the required torque of the mechanical input shaft is satisfied or not based on the target torque of the engine and the required torque of the first motor together, and to determine whether the clutch needs to be fully opened or not based on the determination result.
And S310, when the first motor required torque and the engine target torque meet the required torque of the mechanical input shaft, reducing the current torque of the clutch to a preset torque so as to switch the current vehicle running mode to the target vehicle running mode.
It should be understood that, when the determination results in that the first electric machine required torque and the engine target torque satisfy the required torque of the mechanical input shaft, indicating that torque is no longer being transmitted through the clutch at this time, the current torque of the clutch may be reduced to the preset torque, and after the setting is completed, the hybrid vehicle smoothly transitions from the parallel mode to the series mode.
The method comprises the steps of reducing the current torque of a first motor through a target slope, judging whether the required torque of a mechanical input shaft is met or not according to the required torque of the first motor, reducing the current torque of an engine to obtain the target torque of the engine if the required torque of the mechanical input shaft is not met, and judging whether the required torque of the mechanical input shaft is met or not according to the target torque of the engine and the required torque of the first motor; if so, reducing the current torque of the clutch to the preset torque to realize switching the current vehicle running mode to the target vehicle running mode, so as to ensure smooth intervention and exit of the clutch and further improve the stability of the vehicle.
Furthermore, an embodiment of the present invention further provides a storage medium, where a mode switching control program is stored, and the mode switching control program, when executed by a processor, implements the steps of the mode switching control method as described above.
Since the storage medium adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.
In addition, referring to fig. 6, an embodiment of the present invention further provides a mode switching control apparatus, where the mode switching control apparatus includes:
a determination module 10 for determining a target vehicle operation mode according to a current vehicle speed and a current torque of the hybrid vehicle;
the determining module 10 is further configured to determine a current vehicle operating mode according to the current driving parameters of the hybrid vehicle;
and the switching module 20 is used for switching the current vehicle running mode according to the target vehicle running mode through a clutch control strategy.
The present embodiment determines a target vehicle operation mode according to a current vehicle speed and a current torque of a hybrid vehicle; determining a current vehicle running mode according to the current running parameters of the hybrid vehicle; switching the current vehicle operating mode according to the target vehicle operating mode through a clutch control strategy; according to the method, the target vehicle running mode is determined according to the current speed and the current torque of the hybrid vehicle, the current vehicle running mode is determined according to the current running parameters of the hybrid vehicle, the target vehicle running mode and the current vehicle running mode are two different modes, and then the switching between the target vehicle running mode and the current vehicle running mode is controlled through a clutch control strategy, so that smooth intervention and quitting of a clutch can be guaranteed, and the stability of the vehicle is improved.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment may refer to the method for controlling mode switching provided in any embodiment of the present invention, and are not described herein again.
In one embodiment, the determination module 10 is further configured to determine the target vehicle operating mode to include a series mode and a parallel mode; when the current speed of the hybrid vehicle is greater than or equal to a preset speed threshold and the current torque is greater than or equal to a preset torque threshold, identifying the current speed and the current torque according to a preset speed-torque-operation model to determine that a target vehicle operation mode is a parallel mode, wherein the current vehicle operation mode is a series mode; when the current vehicle speed of the hybrid vehicle is smaller than a preset vehicle speed threshold value and the current torque is smaller than a preset torque threshold value, identifying the current vehicle speed and the current torque according to a preset vehicle speed-torque-operation model to determine that a target vehicle operation mode is a series mode, wherein the current vehicle operation mode is a parallel mode.
In an embodiment, the switching module 20 is further configured to set the current vehicle operation mode to a series mode, and set the target vehicle operation mode to a parallel mode; determining a speed regulation range of a driving end of a target clutch according to the rotating speed of the engine, the rotating speed of a first motor and the current speed; regulating the rotating speed of the clutch input shaft through the speed regulating range of the driving end of the target clutch until the rotating speed of the clutch input shaft is consistent with the rotating speed of the clutch output shaft; after the adjustment is completed, acquiring the current torque of the clutch; and adjusting the current torque according to the required torque of the mechanical input shaft through a clutch control strategy so as to switch the current vehicle running mode into the target vehicle running mode.
In one embodiment, the switching module 20 is further configured to obtain a torque required by the engine when the SOC of the battery is higher than a preset electric quantity threshold; calculating a first motor required torque according to the first motor-engine speed ratio, the required torque of the mechanical input shaft and the engine required torque, wherein the engine target torque is the engine required torque; when the battery SOC is lower than a preset electric quantity threshold value, acquiring the current battery SOC, the wheel end required torque and the current vehicle speed; obtaining a first motor demand torque according to the current battery SOC, the wheel end demand torque and the current vehicle speed; and calculating to obtain the target torque of the engine according to the first motor required torque and the required torque of the mechanical input shaft.
In an embodiment, the switching module 20 is further configured to obtain a target shaft rotation speed according to a rotation speed of a mechanical output shaft, a shaft speed ratio, and a compensation parameter; acquiring the current actual rotating speed and the moment of inertia of the mechanical input shaft; obtaining a first torque and a second torque according to the current actual rotating speed and the target shaft rotating speed; calculating according to the moment of inertia of the mechanical input shaft and the change rate of the target shaft rotating speed to obtain a third torque; and calculating according to the first term torque, the second term torque and the third term torque to obtain the required torque of the mechanical input shaft.
In one embodiment, the switching module 20 is further configured to obtain a wheel end required torque and an engine actual torque; calculating a second motor required torque according to the engine-wheel end speed ratio, the second motor-wheel end speed ratio, the wheel end required torque, the actual torque of the engine and the current torque of the clutch; compensating the wheel end required torque according to the second motor required torque; and in the compensation process, the current torque is adjusted according to the required torque of the mechanical input shaft through a clutch control strategy so as to switch the current vehicle running mode into the target vehicle running mode.
In one embodiment, the switching module 20 is further configured to obtain a current torque of the first motor and a current torque of the engine; reducing the current torque of the first motor through a target slope to obtain the torque required by the first motor; judging whether the required torque of the mechanical input shaft is met or not according to the required torque of the first motor; when the first motor torque does not meet the required torque of the mechanical input shaft, reducing the current torque of the engine to obtain the target torque of the engine; judging whether the required torque of the mechanical input shaft is met or not according to the required torque of the first motor and the target torque of the engine; and when the first motor required torque and the engine target torque meet the required torque of the mechanical input shaft, reducing the current torque of the clutch to a preset torque so as to switch the current vehicle running mode to a target vehicle running mode.
Other embodiments or methods of implementing the mode switching control device of the present invention are described with reference to the above embodiments, and are not exhaustive.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (which may be a mobile phone, a computer, an all-in-one platform workstation, or a network device, etc.) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method for controlling mode switching, the method comprising:
determining a target vehicle operation mode according to the current vehicle speed and the current torque of the hybrid vehicle;
determining a current vehicle running mode according to the current running parameters of the hybrid vehicle;
and switching the current vehicle running mode according to the target vehicle running mode through a clutch control strategy.
2. The mode switching control method according to claim 1, wherein the target vehicle running mode includes a series mode and a parallel mode;
the determining a target vehicle operation mode according to a current vehicle speed and a current torque of the hybrid vehicle includes:
when the current speed of the hybrid vehicle is greater than or equal to a preset speed threshold and the current torque is greater than or equal to a preset torque threshold, identifying the current speed and the current torque according to a preset speed-torque-operation model to determine that a target vehicle operation mode is a parallel mode, wherein the current vehicle operation mode is a series mode;
when the current vehicle speed of the hybrid vehicle is smaller than a preset vehicle speed threshold value and the current torque is smaller than a preset torque threshold value, identifying the current vehicle speed and the current torque according to a preset vehicle speed-torque-operation model to determine that a target vehicle operation mode is a series mode, wherein the current vehicle operation mode is a parallel mode.
3. The mode switching control method according to claim 1, wherein the current vehicle operation mode is a series mode, and the target vehicle operation mode is a parallel mode;
the switching the current vehicle operating mode according to the target vehicle operating mode via a clutch control strategy includes:
determining a speed regulation range of a driving end of a target clutch according to the rotating speed of the engine, the rotating speed of a first motor and the current speed;
regulating the rotating speed of the clutch input shaft through the speed regulating range of the driving end of the target clutch until the rotating speed of the clutch input shaft is consistent with the rotating speed of the clutch output shaft;
acquiring the current torque of the clutch after the adjustment is finished;
and adjusting the current torque according to the required torque of the mechanical input shaft through a clutch control strategy so as to switch the current vehicle running mode into the target vehicle running mode.
4. The mode switching control method according to claim 3, wherein before determining the target clutch active end speed regulation range based on the engine speed, the first motor speed, and the current vehicle speed, further comprising:
when the SOC of the battery is higher than a preset electric quantity threshold value, acquiring the torque required by the engine;
calculating a first motor required torque according to the first motor-engine speed ratio, the required torque of the mechanical input shaft and the engine required torque, wherein the engine target torque is the engine required torque;
when the battery SOC is lower than a preset electric quantity threshold value, acquiring the current battery SOC, the wheel end required torque and the current vehicle speed;
obtaining a first motor demand torque according to the current battery SOC, the wheel end demand torque and the current vehicle speed;
and calculating to obtain the target torque of the engine according to the first motor required torque and the required torque of the mechanical input shaft.
5. The mode switching control method according to claim 3, wherein said adjusting the current torque according to the torque demand of the mechanical input shaft by the clutch control strategy to achieve switching of the current vehicle running mode to the target vehicle running mode further comprises:
obtaining a target shaft rotating speed according to the rotating speed of the mechanical output shaft, the shaft speed ratio and the compensation parameter;
acquiring the current actual rotating speed and the moment of inertia of the mechanical input shaft;
obtaining a first torque and a second torque according to the current actual rotating speed and the target shaft rotating speed;
calculating according to the moment of inertia of the mechanical input shaft and the change rate of the target shaft rotating speed to obtain a third torque;
and calculating according to the first term torque, the second term torque and the third term torque to obtain the required torque of the mechanical input shaft.
6. The mode switching control method of claim 3, wherein said adjusting the current torque according to the torque demand of the mechanical input shaft by the clutch control strategy to effect switching the current vehicle operating mode to the target vehicle operating mode comprises:
acquiring wheel end required torque and engine actual torque;
calculating a second motor required torque according to the engine-wheel end speed ratio, the second motor-wheel end speed ratio, the wheel end required torque, the actual torque of the engine and the current torque of the clutch;
compensating the wheel end required torque according to the second motor required torque;
and in the compensation process, the current torque is adjusted according to the required torque of the mechanical input shaft through a clutch control strategy so as to switch the current vehicle running mode into the target vehicle running mode.
7. The mode switching control method according to claim 1, wherein the current vehicle operation mode is a parallel mode, and the target vehicle operation mode is a series mode;
the switching the current vehicle operating mode according to the target vehicle operating mode through a clutch control strategy comprises:
acquiring the current torque of a first motor and the current torque of an engine;
reducing the current torque of the first motor through a target slope to obtain the torque required by the first motor;
judging whether the required torque of the mechanical input shaft is met or not according to the required torque of the first motor;
when the first motor torque does not meet the required torque of the mechanical input shaft, reducing the current torque of the engine to obtain the target torque of the engine;
judging whether the required torque of the mechanical input shaft is met or not according to the required torque of the first motor and the target torque of the engine;
and when the first motor required torque and the engine target torque meet the required torque of the mechanical input shaft, reducing the current torque of the clutch to a preset torque so as to switch the current vehicle running mode to the target vehicle running mode.
8. A mode switching control device, characterized by comprising:
the determination module is used for determining a target vehicle operation mode according to the current vehicle speed and the current torque of the hybrid vehicle;
the determining module is further used for determining a current vehicle running mode according to the current running parameters of the hybrid vehicle;
and the switching module is used for switching the current vehicle running mode according to the target vehicle running mode through a clutch control strategy.
9. A mode switching control apparatus characterized by comprising: a memory, a processor, and a mode-switching control program stored on the memory and executable on the processor, the mode-switching control program being configured with a control method of implementing the mode switching according to any one of claims 1 to 7.
10. A storage medium, characterized in that a mode switching control program is stored thereon, which when executed by a processor implements the mode switching control method according to any one of claims 1 to 7.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116001770A (en) * | 2023-03-27 | 2023-04-25 | 成都赛力斯科技有限公司 | Generator speed regulation control method and device for hybrid electric vehicle |
| CN116620258A (en) * | 2023-07-24 | 2023-08-22 | 成都赛力斯科技有限公司 | Torque switching control method and device applied to emergency braking |
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2022
- 2022-05-27 CN CN202210584434.5A patent/CN114906122A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116001770A (en) * | 2023-03-27 | 2023-04-25 | 成都赛力斯科技有限公司 | Generator speed regulation control method and device for hybrid electric vehicle |
| CN116620258A (en) * | 2023-07-24 | 2023-08-22 | 成都赛力斯科技有限公司 | Torque switching control method and device applied to emergency braking |
| CN116620258B (en) * | 2023-07-24 | 2023-09-22 | 成都赛力斯科技有限公司 | Torque switching control method and device applied to emergency braking |
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