CN115571107A - Vehicle starting clutch control method and device, hybrid vehicle and storage medium - Google Patents

Vehicle starting clutch control method and device, hybrid vehicle and storage medium Download PDF

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Publication number
CN115571107A
CN115571107A CN202211560422.5A CN202211560422A CN115571107A CN 115571107 A CN115571107 A CN 115571107A CN 202211560422 A CN202211560422 A CN 202211560422A CN 115571107 A CN115571107 A CN 115571107A
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clutch
torque
engine
target
vehicle
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CN115571107B (en
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单宝洪
李雪峰
尹良
宋超凡
谢锋
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Weichai Power Co Ltd
Weichai New Energy Technology Co Ltd
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Weichai Power Co Ltd
Weichai New Energy Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/15—Control strategies specially adapted for achieving a particular effect
    • 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
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • 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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/10—Weight
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/02—Clutches
    • B60W2710/021—Clutch engagement state
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0644—Engine speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/081—Speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)

Abstract

The invention relates to the technical field of hybrid vehicles, and particularly discloses a vehicle starting clutch control method, a device, a hybrid vehicle and a storage medium, wherein the vehicle starting clutch control method comprises the steps of obtaining the gradient of the position where the vehicle is located and the load of the vehicle; determining a total torque required for vehicle launch based on grade and payload; distributing the total torque to the motor and the engine to obtain the required torque of the motor and the required torque of the engine; determining an actual output torque of the engine based on a required torque of the engine; determining a target transmission torque of the clutch based on the actual output torque; determining a target position of the clutch based on the target transfer torque; starting the engine and adjusting the rotating speed of the engine to a difference value between the rotating speed of the engine and the rotating speed of the motor within a preset range; the method can avoid the phenomena of vehicle starting and jumping and relatively rush when the clutch responds to the target position, and simultaneously can ensure that the position of the clutch is matched with the required torque of the engine, so that the position of the clutch has relatively high precision.

Description

Vehicle starting clutch control method and device, hybrid vehicle and storage medium
Technical Field
The invention relates to the technical field of hybrid vehicles, in particular to a vehicle starting clutch control method and device, a hybrid vehicle and a storage medium.
Background
The hybrid vehicle adopting the P2 system needs engine intervention if insufficient power or high voltage has faults during vehicle starting. When an engine intervenes, the clutch needs to eliminate idle stroke and search for a sliding friction point, and in the process of searching for the sliding friction point, the driving disc easily touches the driven disc, so that the starting of a vehicle is relatively rushed and the vehicle moves due to the difference of the rotating speed between the engine and the motor, and the comfort is poor.
In the prior art, as disclosed in the earlier patent with the application number of CN201610261974.4, a mode switching control method for starting an engine by a motor of a parallel hybrid power system can ensure smooth vehicle power in a mode switching process by synchronizing the rotation speed of the engine and the rotation speed of the motor and then combining a clutch, but is difficult to ensure the position precision of the clutch and is not suitable for vehicle starting.
Disclosure of Invention
The invention aims to: the method and the device for controlling the vehicle starting clutch, the hybrid vehicle and the storage medium are provided, and the problems that in the prior art, smooth vehicle power can be guaranteed in a mode switching process by controlling the rotation speed of an engine and the rotation speed of a motor to be synchronous and then combining the clutch, but the position precision of the clutch is difficult to guarantee, and the method and the device are not suitable for vehicle starting are solved.
The invention provides a vehicle starting clutch control method, which is used for a hybrid vehicle with an engine and a motor connected in parallel, and comprises the following steps:
acquiring the gradient of the position where the vehicle is located and the load of the vehicle;
determining a total torque required for vehicle launch based on the grade and the load;
distributing the total torque to the motor and the engine, and obtaining the required torque of the motor and the required torque of the engine, wherein the total torque = the required torque of the motor + the required torque of the engine;
determining an actual output torque of the engine based on a required torque of the engine;
determining a target transmission torque of a clutch based on an actual output torque of the engine;
determining a target position of the clutch based on the target transfer torque of the clutch;
starting an engine and adjusting the rotating speed of the engine to be within a preset range of a difference value of the rotating speed of the engine and the rotating speed of the motor;
the clutch responds to the target position.
As a preferable technical solution of the vehicle launch clutch control method, the vehicle launch clutch control method further includes, after the clutch responds to the target position:
acquiring actual transmission torque of the clutch;
if the absolute value of the difference value between the actual transmission torque of the clutch and the target transmission torque of the clutch is larger than a set threshold value;
trimming the target position of the clutch based on the actual transmission torque of the clutch and the target transmission torque of the clutch and obtaining a corrected position of the clutch;
the clutch responds to the corrected position.
As a preferable technical solution of the vehicle starting clutch control method, when an absolute value of a difference between an actual transmission torque of the clutch and a target transmission torque of the clutch is greater than a set threshold, if the actual transmission torque of the clutch is less than the target transmission torque of the clutch; the formula for trimming the target position of the clutch based on the actual transfer torque of the clutch and the target transfer torque of the clutch and obtaining the corrected position of the clutch is:
△L1=a*Trq_Clu/Trq_CluAct+b；
Lco=L+△L1；
lco is the corrected position of the clutch; l is a target position of the clutch; Δ L1 is a first correction displacement; a is a position increasing coefficient, b is a position increasing offset and is a constant; trq _ CluAct is the actual transfer torque of the clutch; trq _ Clu is the target transfer torque of the clutch.
As a preferable technical scheme of the vehicle starting clutch control method, when the absolute value of the difference value between the actual transmission torque of the clutch and the target transmission torque of the clutch is larger than a set threshold value, if the actual transmission torque of the clutch is larger than the target transmission torque of the clutch; the formula for trimming the target position of the clutch based on the actual transfer torque of the clutch and the target transfer torque of the clutch and obtaining the corrected position of the clutch is:
△L2=c*Trq_Clu/Trq_CluAct+d；
Lco=L-△L2；
lco is the corrected position of the clutch; l is the target position of the clutch; Δ L2 is a second correction displacement; c is a position decreasing coefficient, d is a position decreasing offset, and is a constant; trq _ CluAct is the actual transfer torque of the clutch; trq _ Clu is the target transfer torque of the clutch.
As a preferable aspect of the vehicle starting clutch control method, a formula for determining an actual output torque of the engine based on a required torque of the engine is:
Figure 45010DEST_PATH_IMAGE001
Figure 430992DEST_PATH_IMAGE002
wherein Trq _ Eng is the engine required torque, trq _ EngAct is the actual output torque of the engine, Δ Trq is the difference between the engine required torque and the actual output torque of the engine, P is a gain coefficient, I is an integral gain coefficient, D is a differential gain coefficient, and t is time.
As a preferable aspect of the vehicle starting clutch control method, an equation for determining the target transmission torque of the clutch based on the actual output torque of the engine is:
Figure 663259DEST_PATH_IMAGE003
Figure 324047DEST_PATH_IMAGE004
wherein Trq _ Clu is a target transmission torque of the clutch, trq _ EngAct is an actual output torque of the engine, and J e Is the rotational inertia of the engine, alpha e For angular acceleration of the engine shaft, omega e Is the engine shaft angular velocity and t is the time.
As a preferable aspect of the vehicle starting clutch control method, determining the target position of the clutch based on the target transmission torque of the clutch includes:
acquiring a first map of a target transmission torque of the clutch and a target position of the clutch;
a target position of the clutch is determined based on the first map and a target transfer torque of the clutch.
The present invention also provides a vehicle starting clutch control device, comprising:
the parameter acquisition module is used for acquiring the gradient of the position where the vehicle is located and the load of the vehicle;
a total torque determination module for determining a total torque required for vehicle launch based on the grade and the load;
the torque distribution module is used for distributing the total torque to the motor and the engine and obtaining the required torque of the motor and the required torque of the engine, wherein the total torque = the required torque of the motor + the required torque of the engine;
an engine actual output torque determination module to determine an actual output torque of the engine based on a requested torque of the engine;
a clutch target transfer torque determination module for determining a target transfer torque of a clutch based on an actual output torque of the engine;
a clutch target position determination module to determine a target position of the clutch based on a target transfer torque of the clutch;
the first execution module is used for starting an engine and controlling the difference value between the rotating speed of the engine and the rotating speed of the motor to be within a preset range;
a second execution module to cause the clutch to respond to the target position.
The present invention also provides a hybrid vehicle including an engine, a motor, and a clutch, the hybrid vehicle further including:
a controller;
the gyroscope is used for acquiring the gradient of the vehicle and sending the gradient to the controller;
a pressure sensor for detecting a load of the vehicle and transmitting the load to the controller;
the torque sensor is used for acquiring the actual transmission torque of the clutch and sending the actual transmission torque of the clutch to the controller;
a memory for storing one or more programs;
the one or more programs, when executed by the controller, cause the controller to control a hybrid vehicle to implement the vehicle launch clutch control method of any of the above aspects.
The present invention also provides a storage medium having stored thereon a computer program which, when executed by a controller, causes a hybrid vehicle to carry out a vehicle launch clutch control method as set out in any of the above aspects.
The invention has the beneficial effects that:
the invention provides a vehicle starting clutch control method, a vehicle starting clutch control device, a hybrid vehicle and a storage medium, wherein the vehicle starting clutch control method comprises the steps of obtaining the gradient of the position where a vehicle is located and the load of the vehicle; determining a total torque required for vehicle launch based on grade and payload; distributing the total torque to the motor and the engine, and obtaining the required torque of the motor and the required torque of the engine; determining an actual output torque of the engine based on a required torque of the engine; determining a target transmission torque of the clutch based on an actual output torque of the engine; determining a target position of the clutch based on the target transmission torque of the clutch; starting the engine and adjusting the rotating speed of the engine to a difference value between the rotating speed of the engine and the rotating speed of the motor within a preset range; the clutch responds to the target position. The vehicle starting clutch control method can avoid the phenomena of vehicle starting jumping and rushing, can realize the quick combination of the clutch, and can ensure that the position of the clutch is matched with the required torque of an engine, so that the position of the clutch has higher precision.
Drawings
FIG. 1 is a flow chart of a method for controlling a vehicle launch clutch according to an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a vehicle launch clutch control apparatus according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a hybrid vehicle according to an embodiment of the present invention.
In the figure:
201. a parameter acquisition module; 202. a total torque determination module; 203. a torque distribution module; 204. an engine actual output torque determination module; 205. a clutch target transfer torque determination module; 206. a clutch target position determination module; 207. a first execution module; 208. a second execution module;
301. an engine; 302. a motor; 303. a clutch; 304. a controller; 305. a gyroscope; 306. a pressure sensor; 307. a torque sensor; 308. a memory.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Where the terms "first position" and "second position" are two different positions, and where a first feature is "over", "above" and "on" a second feature, it is intended that the first feature is directly over and obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
Example one
In the prior art, the control of the rotation speed of the engine and the rotation speed of the motor are synchronous, and then the clutch is combined, so that the smoothness of the vehicle power in the mode switching process can be ensured, but the position precision of the clutch is difficult to ensure, and the clutch is not suitable for vehicle starting.
In view of the above, the present embodiment provides a method for controlling a vehicle starting clutch to solve the above problems. The vehicle starting clutch control method can be executed by a vehicle starting clutch control device, the vehicle starting clutch control device can be realized in a software and/or hardware mode and is integrated in a hybrid vehicle,
specifically, fig. 1 is a flowchart of a method for controlling a vehicle starting clutch according to a first embodiment of the present invention, and as shown in fig. 1, the method includes the following steps:
s100: the gradient of the position where the vehicle is located, and the load of the vehicle are acquired.
The vehicle inclination angle can be detected through a gyroscope to obtain the gradient of the position where the vehicle is located, or the controller obtains the gradient of the position where the vehicle is located through interaction with a navigation system; the load of the vehicle can be detected by the pressure sensor.
S110: a total torque required for vehicle launch is determined based on grade and load.
A second map of the gradient, the load and the total torque may be prestored in the controller, wherein the gradient and the load are input variables, and the total torque is an output variable, so that the total torque required for vehicle starting can be obtained by inputting the gradient and the load collected in step S100 to the second map. The second map can be obtained by a large number of preliminary experiments.
It should be noted that, for a hybrid vehicle, the vehicle is usually driven by the motor to start, but when the total torque required for starting the vehicle is greater than the maximum output torque of the motor or close to the maximum output torque of the motor, an intervention of the engine is required, and the normal starting of the vehicle is ensured through cooperation of the engine and the motor.
S120: the total torque is distributed to the motor and the engine, and the required torque of the motor and the required torque of the engine are obtained, the total torque = the required torque of the motor + the required torque of the engine.
Wherein the total torque is Trq _ tot, the required torque of the engine is Trq _ Eng, the required torque of the motor is Trq _ MT, and Trq _ tot = Trq _ MT + Trq _ Eng.
The total torque is distributed by considering the state of charge of the battery, the state of the motor and the state of the engine, so as to ensure the reasonability of the distribution. The method for distributing the total torque is the prior art, and is not described herein again, for example, the energy-based optimized hybrid electric vehicle engine and motor torque distribution method disclosed in the earlier patent with the application number of cn201210526797.
S130: an actual output torque of the engine is determined based on a required torque of the engine.
In the present embodiment, the formula for determining the actual output torque of the engine based on the required torque of the engine is:
Figure 607261DEST_PATH_IMAGE005
Figure 632986DEST_PATH_IMAGE006
wherein, trq _ EngAct is the actual output torque of the engine, Δ Trq is the difference between the engine demand torque and the actual output torque of the engine, P is a gain coefficient, I is an integral gain coefficient, D is a differential gain coefficient, and t is time.
S140: a target transmission torque of the clutch is determined based on an actual output torque of the engine.
In the present embodiment, the formula for determining the target transmission torque of the clutch based on the actual output torque of the engine is:
Figure 368861DEST_PATH_IMAGE007
Figure 285870DEST_PATH_IMAGE008
wherein Trq _ Clu is a target transmission torque of the clutch, J e Is the rotational inertia of the engine, and is a constant, alpha e For angular acceleration of the engine shaft, omega e Is the angular speed of the engine shaft, alpha e And ω e The method can be obtained through interaction with the whole vehicle controller, and t is time.
S150: a target position of the clutch is determined based on the target transfer torque of the clutch.
Determining the target position of the clutch based on the target transfer torque of the clutch includes:
acquiring a first map of a target transmission torque of the clutch and a target position of the clutch; a target position of the clutch is determined based on the first map and a target transfer torque of the clutch. The target transmission torque of the clutch and the target position of the clutch have a corresponding relationship, the first map can be obtained through the autonomous learning of the vehicle, for example, the self-learning method of the transmission torque of the AMT clutch disclosed in the earlier patent with the application number of cn202110351250.X, and the first map is updated after the vehicle self-learns every time.
S160: and starting the engine and adjusting the rotating speed of the engine to be within a preset range of a difference value of the rotating speed of the motor.
The difference may be 0 or a number close to 0, and when the difference between the rotation speed of the engine and the rotation speed of the motor is within a preset range, it may be considered that the engine and the motor are synchronized at this time. Adjusting the rotational speed of the engine to be consistent with the rotational speed of the motor is the prior art and is not described herein.
S170: the clutch responds to the target position.
The clutch comprises a driving disc, a driven disc and an actuating mechanism for driving the driving disc to move, the actuating mechanism comprises an oil cylinder and an electric push rod, and the controller controls the position of the driving disc by controlling the extending length of the actuating mechanism so as to realize the adjustment of the position of the clutch.
Because the engine and the motor are already synchronous, when the driving disc and the driven disc are combined, the vehicle does not move, and compared with the prior art, the phenomenon that the vehicle rushes can be improved. And the engine and the motor are synchronous, so that the clutch can be ensured to have high combination speed, the combination efficiency is further improved, and the smooth power transmission of the vehicle is ensured.
Optionally, the vehicle launch clutch control method further comprises steps S180-S210 following step S170.
S180: the actual transmission torque of the clutch is obtained.
The actual transmission torque of the clutch may be detected by a torque sensor.
S190: it is determined whether the absolute value of the difference between the actual transfer torque of the clutch and the target transfer torque of the clutch is greater than a set threshold.
If the absolute value of the difference value between the actual transmission torque of the clutch and the target transmission torque of the clutch is larger than the set threshold value; s200 is performed.
S200: the target position of the clutch is trimmed based on the actual transfer torque of the clutch and the target transfer torque of the clutch and a corrected position of the clutch is obtained.
In step S190, when the absolute value of the difference between the actual transmission torque of the clutch and the target transmission torque of the clutch is greater than the set threshold, it indicates that the difference between the actual transmission torque of the clutch and the target transmission torque of the clutch is large, which may be caused by wear of the clutch, reduction of the transmission torque of the clutch, or inaccuracy of the first map, and the target position of the clutch needs to be corrected.
Specifically, the reason why the absolute value of the difference between the actual transmission torque of the clutch and the target transmission torque of the clutch in S190 is larger than the set threshold value may be because the actual transmission torque of the clutch is larger than the sum of the target transmission torque of the clutch and the threshold value. In this case, in S200, the formula for obtaining the corrected position of the clutch by correcting the target position of the clutch based on the actual transmission torque of the clutch and the target transmission torque of the clutch is:
△L1=a*Trq_Clu/Trq_CluAct+b；
Lco=L+△L1；
lco is the corrected position of the clutch; l is the target position of the clutch; Δ L1 is a first correction displacement; a is a position increase coefficient, b is a position increase offset, and is constant.
The reason why the absolute value of the difference between the actual transmission torque of the clutch and the target transmission torque of the clutch in S190 is larger than the set threshold value may be because the target transmission torque of the clutch is larger than the sum of the actual transmission torque of the clutch and the threshold value. When the absolute value of the difference between the actual transfer torque of the clutch and the target transfer torque of the clutch is greater than the set threshold value in S190 because the actual transfer torque of the clutch is greater than the target transfer torque of the clutch, the formula for trimming the target position of the clutch and obtaining the corrected position of the clutch in S200 based on the actual transfer torque of the clutch and the target transfer torque of the clutch is as follows:
△L2=c*Trq_Clu/Trq_CluAct+d；
Lco=L-△L2；
lco is the corrected position of the clutch; l is the target position of the clutch; Δ L2 is a second correction displacement; c is a position decreasing coefficient, d is a position decreasing offset, and is a constant; trq _ CluAct is the actual transmission torque of the clutch; trq _ Clu is a target transmission torque of the clutch.
S210: the clutch responds to the corrected position and S180 is repeated.
By executing S180 after step S210, closed-loop control of the corrected position of the clutch can be achieved, eventually correcting the clutch position until the actual transfer torque of the clutch is nearly equal to the target transfer torque of the clutch.
The method for controlling the vehicle starting clutch provided by the embodiment comprises the steps of obtaining the gradient of the position where a vehicle is located and the load of the vehicle; determining a total torque required for vehicle launch based on grade and payload; distributing the total torque to the motor and the engine, and obtaining the required torque of the motor and the required torque of the engine; determining an actual output torque of the engine based on a required torque of the engine; determining a target transmission torque of the clutch based on an actual output torque of the engine; determining a target position of the clutch based on the target transfer torque of the clutch; starting the engine and adjusting the rotating speed of the engine to be within a preset range of a difference value of the rotating speed of the motor and the rotating speed of the engine; the clutch responds to the target position. The vehicle starting clutch control method can avoid the phenomena of vehicle starting jumping and rushing, can realize the quick combination of the clutch, and can ensure that the position of the clutch is matched with the required torque of an engine, so that the position of the clutch has higher precision.
Example two
Fig. 2 is a structural diagram of a vehicle starting clutch control device according to a second embodiment of the present invention, and as shown in fig. 2, the vehicle starting clutch control device may execute the vehicle starting clutch control method according to the second embodiment.
Specifically, the vehicle launch clutch control apparatus includes a parameter acquisition module 201, a total torque determination module 202, a torque split module 203, an engine actual output torque determination module 204, a clutch target transfer torque determination module 205, a clutch target position determination module 206, a first execution module 207, and a second execution module 208.
The parameter obtaining module 201 is used for obtaining the gradient of the position where the vehicle is located and the load of the vehicle; the total torque determination module 202 is used to determine a total torque required for vehicle launch based on grade and load; the torque distribution module 203 is used for distributing the total torque to the motor and the engine and obtaining the required torque of the motor and the required torque of the engine, wherein the total torque = the required torque of the motor + the required torque of the engine; the engine actual output torque determination module 204 is used to determine an actual output torque of the engine based on a requested torque of the engine; the clutch target transfer torque determination module 205 is used to determine a target transfer torque for the clutch based on the actual output torque of the engine; the clutch target position determination module 206 is used to determine a target position of the clutch based on the target transfer torque of the clutch; the first execution module 207 is used for starting the engine and controlling the difference value between the rotating speed of the engine and the rotating speed of the motor to be within a preset range; the second execution module 208 is for the clutch to respond to the target position.
Optionally, the vehicle starting clutch control device further comprises a clutch actual transmission torque obtaining module, a judging module, a corrected position determining module and a third executing module. The actual transmission torque acquisition module of the clutch is used for acquiring the actual transmission torque of the clutch; the judgment module is used for judging the absolute value of the difference value between the actual transmission torque of the clutch and the target transmission torque of the clutch and the set threshold value; the correction position determining module is used for trimming the target position of the clutch based on the actual transmission torque of the clutch and the target transmission torque of the clutch to obtain the correction position of the clutch when the absolute value of the difference value between the actual transmission torque of the clutch and the target transmission torque of the clutch is larger than a set threshold; a third execution module is for the clutch to respond to the corrected position.
The vehicle starting clutch control device provided by the embodiment acquires the gradient of the position where the vehicle is located and the load of the vehicle through the parameter acquisition module 201; determining, by the total torque determination module 202, a total torque required for vehicle launch based on the grade and the payload; distributing the total torque to the motor and the engine through a torque distribution module 203, and obtaining the required torque of the motor and the required torque of the engine; determining, by the engine actual output torque determination module 204, an actual output torque of the engine based on the requested torque of the engine; determining, by the clutch target transfer torque determination module 205, a target transfer torque for the clutch based on the actual output torque of the engine; determining, by the clutch target position determination module 206, a target position of the clutch based on the target transmission torque of the clutch; starting the engine through the first execution module 207 and controlling the difference value between the rotating speed of the engine and the rotating speed of the motor to be within a preset range; through the response of the second execution module 208 to the target position, the vehicle starting clutch control device can avoid the phenomena of vehicle starting jumping and rushing, can realize the quick combination of the clutch, and can ensure that the position of the clutch is matched with the required torque of the engine, so that the position of the clutch has higher precision.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a hybrid vehicle according to a third embodiment of the present invention. As shown in fig. 3, the hybrid vehicle includes an engine 301, a motor 302, a clutch 303, a controller 304, a gyroscope 305, a pressure sensor 306, a torque sensor 307, and a memory 308. The engine 301, the motor 302, the clutch 303, the controller 304, the gyroscope 305, the pressure sensor 306, the torque sensor 307, and the memory 308 may be connected by a bus. The gyroscope 305 is used for acquiring the gradient of the vehicle and sending the gradient to the controller 304; the pressure sensor 306 is used for detecting the load of the vehicle and sending the load to the controller 304; the torque sensor 307 is used to acquire the actual transmission torque of the clutch and send the actual transmission torque of the clutch to the controller 304.
The memory 308 is provided as a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the vehicle launch clutch control method in the embodiments of the present invention. The controller 304 executes various functional applications and data processing of the vehicle by executing software programs, instructions and modules stored in the memory 308, so as to implement the vehicle starting clutch control method of the above embodiment.
The memory 308 mainly includes a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 308 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 308 may further include memory located remotely from the controller 304, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The hybrid vehicle provided by the third embodiment of the invention and the vehicle starting clutch control method provided by the above embodiment belong to the same inventive concept, and the technical details which are not described in detail in the present embodiment can be referred to the above embodiment, and the present embodiment has the same beneficial effects as the vehicle starting clutch control method.
Example four
A fourth embodiment of the present invention further provides a storage medium having a computer program stored thereon, where the computer program is executed by a controller to implement a vehicle starting clutch control method according to the above-mentioned embodiments of the present invention.
Of course, the storage medium containing the computer-executable instructions provided in the embodiments of the present invention is not limited to the operations in the vehicle starting clutch control method described above, and may also perform related operations in the vehicle starting clutch control method provided in the embodiments of the present invention, and has corresponding functions and advantages.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes instructions for enabling a computer device (which may be a robot, a personal computer, a server, or a network device) to execute the clutch self-learning method according to the embodiments of the present invention.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. This need not be, nor should it be exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. A vehicle launch clutch control method for a hybrid vehicle having an engine and an electric machine connected in parallel, comprising:
acquiring the gradient of the position where the vehicle is located and the load of the vehicle;
determining a total torque required for vehicle launch based on the grade and the payload;
distributing the total torque to the motor and the engine, and obtaining the required torque of the motor and the required torque of the engine, wherein the total torque = the required torque of the motor + the required torque of the engine;
determining an actual output torque of the engine based on a required torque of the engine;
determining a target transmission torque of a clutch based on an actual output torque of the engine;
determining a target position of the clutch based on the target transfer torque of the clutch;
starting an engine and adjusting the rotating speed of the engine to a difference value between the rotating speed of the engine and the rotating speed of the motor within a preset range;
the clutch responds to the target position.
2. The vehicle launch clutch control method of claim 1, further comprising, after the clutch responds to the target position:
acquiring actual transmission torque of the clutch;
if the absolute value of the difference value between the actual transmission torque of the clutch and the target transmission torque of the clutch is larger than a set threshold value;
trimming the target position of the clutch based on the actual transmission torque of the clutch and the target transmission torque of the clutch and obtaining a corrected position of the clutch;
the clutch responds to the corrected position.
3. The vehicle launch clutch control method of claim 2, characterized in that when the absolute value of the difference between the actual transfer torque of the clutch and the target transfer torque of the clutch is greater than a set threshold, if the actual transfer torque of the clutch is less than the target transfer torque of the clutch; the formula for trimming the target position of the clutch based on the actual transfer torque of the clutch and the target transfer torque of the clutch and obtaining the corrected position of the clutch is:
△L1=a*Trq_Clu/Trq_CluAct+b；
Lco=L+△L1；
lco is the corrected position of the clutch; l is a target position of the clutch; Δ L1 is a first correction displacement; a is a position increasing coefficient, b is a position increasing offset and is a constant; trq _ CluAct is the actual transfer torque of the clutch; trq _ Clu is the target transfer torque of the clutch.
4. The vehicle launch clutch control method of claim 2, characterized in that when the absolute value of the difference between the actual transfer torque of the clutch and the target transfer torque of the clutch is greater than a set threshold, if the actual transfer torque of the clutch is greater than the target transfer torque of the clutch; the formula for trimming the target position of the clutch based on the actual transfer torque of the clutch and the target transfer torque of the clutch and obtaining the corrected position of the clutch is:
△L2=c*Trq_Clu/Trq_CluAct+d；
Lco=L-△L2；
lco is the corrected position of the clutch; l is a target position of the clutch; Δ L2 is a second correction displacement; c is a position decreasing coefficient, d is a position decreasing offset, and is a constant; trq _ CluAct is the actual transfer torque of the clutch; trq _ Clu is the target transfer torque of the clutch.
5. The vehicle launch clutch control method of claim 1, characterized in that the formula for determining the actual output torque of the engine based on the demanded torque of the engine is:
Figure 587292DEST_PATH_IMAGE001
Figure 173607DEST_PATH_IMAGE002
wherein Trq _ Eng is the engine required torque, trq _ EngAct is the actual output torque of the engine, Δ Trq is the difference between the engine required torque and the actual output torque of the engine, P is a gain coefficient, I is an integral gain coefficient, D is a differential gain coefficient, and t is time.
6. The vehicle launch clutch control method of claim 1, wherein the formula for determining the target transfer torque of the clutch based on the actual output torque of the engine is:
Figure DEST_PATH_IMAGE003
Figure 484502DEST_PATH_IMAGE004
wherein Trq _ Clu is a target transmission torque of the clutch, trq _ EngAct is an actual output torque of the engine, and J e Is the rotational inertia of the engine, alpha e For angular acceleration of the engine shaft, omega e Is the engine shaft angular velocity and t is the time.
7. The vehicle launch clutch control method of claim 1, wherein determining the target position of the clutch based on the target transfer torque of the clutch comprises:
acquiring a first map of a target transmission torque of the clutch and a target position of the clutch;
and determining a target position of the clutch according to the first map and the target transmission torque of the clutch.
8. A vehicle launch clutch control apparatus, comprising:
the parameter acquisition module is used for acquiring the gradient of the position where the vehicle is located and the load of the vehicle;
a total torque determination module for determining a total torque required for vehicle launch based on the grade and the load;
the torque distribution module is used for distributing the total torque to the motor and the engine and obtaining the required torque of the motor and the required torque of the engine, wherein the total torque = the required torque of the motor + the required torque of the engine;
an engine actual output torque determination module to determine an actual output torque of the engine based on a requested torque of the engine;
a clutch target transfer torque determination module for determining a target transfer torque of a clutch based on an actual output torque of the engine;
a clutch target position determination module to determine a target position of the clutch based on a target transfer torque of the clutch;
the first execution module is used for starting an engine and controlling the difference value between the rotating speed of the engine and the rotating speed of the motor to be within a preset range;
a second execution module to cause the clutch to respond to the target position.
9. A hybrid vehicle including an engine, an electric machine, and a clutch, characterized by further comprising:
a controller;
the gyroscope is used for acquiring the gradient of the vehicle and sending the gradient to the controller;
a pressure sensor for detecting a load of the vehicle and transmitting the load to the controller;
the torque sensor is used for acquiring the actual transmission torque of the clutch and sending the actual transmission torque of the clutch to the controller;
a memory for storing one or more programs;
the one or more programs, when executed by the controller, cause the controller to control a hybrid vehicle to implement the vehicle launch clutch control method of any of claims 1-7.
10. A storage medium having a computer program stored thereon, wherein the program, when executed by a controller, causes a hybrid vehicle to carry out a vehicle launch clutch control method according to any one of claims 1 to 7.
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CN112161049A (en) * 2020-09-17 2021-01-01 潍柴动力股份有限公司 Real-time self-learning control method and device for clutch
CN112519754A (en) * 2020-12-08 2021-03-19 潍柴动力股份有限公司 Vehicle hill starting control method and device
CN113696882A (en) * 2021-09-30 2021-11-26 潍柴动力股份有限公司 Method and device for determining position of clutch sliding friction point and automobile
CN114379532A (en) * 2022-02-16 2022-04-22 联陆智能交通科技(上海)有限公司 Starting control method and system for plug-in hybrid electric vehicle with DCT (discrete cosine transformation)

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JP2010188806A (en) * 2009-02-17 2010-09-02 Nissan Motor Co Ltd Controller for hybrid vehicle
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