CN115626153A - Method, device, storage medium and device for controlling gear shifting torque of hybrid electric vehicle - Google Patents

Abstract

The invention discloses a method, equipment, a storage medium and a device for controlling gear shifting torque of a hybrid electric vehicle, wherein the gear shifting torque is determined according to a target gear of a target vehicle when a gear shifting signal is received; if the target vehicle is in the pure electric gear shifting mode, controlling a TM motor and an ISG motor to carry out torque interaction according to the wheel end required torque so as to meet the wheel end required torque; and if the hybrid gear shifting mode is adopted, controlling the output torque of the engine according to the wheel end required torque to carry out torque interaction so as to meet the wheel end required torque. Because the torque compensation is carried out by using the torque coordination control strategy in the gear shifting process, the torque requirement of a driver is met, and compared with the power interruption in the gear shifting process of the synchronizer of the power division hybrid system in the prior art, the power interruption problem in the gear shifting process of the synchronizer in a pure electric gear shifting mode and a hybrid gear shifting mode is effectively solved, and the drivability in the gear shifting process of the whole vehicle is improved.

Description

Method, device, storage medium and device for controlling gear shifting torque of hybrid electric vehicle

Technical Field

The invention relates to the technical field of automobiles, in particular to a method, equipment, a storage medium and a device for controlling gear shifting torque of a hybrid electric vehicle.

Background

Hybrid vehicles have been widely developed due to their advantages such as high overall system efficiency, and for hybrid systems, the improvement of the efficiency of the motor is of great significance in improving the overall system efficiency and the improvement of the pure electric driving range. Therefore, gears of a plurality of hybrid systems are added aiming at the motor so as to improve the working efficiency of the motor, wherein the synchronizer gear shifting system is a scheme with lower cost and higher efficiency and is widely applied, but the problem of gear shifting power interruption exists, and the driving performance is greatly influenced.

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 method, equipment, a storage medium and a device for controlling gear shifting torque of a hybrid electric vehicle, and aims to solve the technical problem of poor user experience caused by power interruption in the gear shifting process of a synchronizer of a power division hybrid electric system in the prior art.

In order to achieve the purpose, the invention provides a gear shifting torque control method of a hybrid electric vehicle, which comprises the following steps:

if the target vehicle is in a pure electric gear shifting mode, controlling a TM motor and an ISG motor to perform torque interaction according to the wheel end required torque so as to meet the wheel end required torque;

and if the target vehicle is in a hybrid gear shifting mode, controlling the output torque of an engine according to the wheel end required torque to perform torque interaction so as to meet the wheel end required torque.

Optionally, if the target vehicle is in the pure electric gear shift mode, controlling the ISG motor to perform torque interaction according to the wheel end required torque to satisfy the wheel end required torque, including:

if the target vehicle is in the pure electric gear shifting mode, acquiring the actual torque of the TM motor, the wheel end speed ratio of the current gear of the TM motor and the planet row speed ratio in real time;

and controlling the ISG motor to carry out torque interaction according to the wheel end required torque, the TM motor actual torque, the wheel end speed ratio of the current gear of the TM motor and the planet row speed ratio so as to meet the wheel end required torque.

Optionally, the step of controlling the ISG motor to perform torque interaction according to the wheel end required torque, the TM motor actual torque, the wheel end speed ratio of the TM motor current gear, and the planet row speed ratio to meet the wheel end required torque includes:

adjusting the torque of the TM motor to be reduced to a first preset torque value according to a first preset gradient, and determining the required torque output by the ISG motor according to the wheel end required torque, the actual torque of the TM motor, the wheel end speed ratio of the current gear of the TM motor and the planetary gear ratio;

and controlling the ISG motor to carry out torque interaction according to the required torque output by the ISG motor so as to meet the wheel end required torque.

Optionally, after the step of controlling the ISG motor to perform torque interaction according to the required torque output by the ISG motor to meet the wheel end required torque, the method further includes:

when the torque of the TM motor reaches the preset torque value, the shifting fork is shifted back, and the TM motor is controlled to regulate the speed to the rotating speed corresponding to the target gear;

when the shifting fork is shifted up, adjusting the torque of the TM motor to rise to a target torque according to the first preset gradient, and determining the required torque output by the ISG motor according to the wheel end required torque, the actual torque of the TM motor, the wheel end speed ratio of the current gear of the TM motor and the planetary gear speed ratio;

and controlling the ISG motor to perform torque compensation according to the required torque output by the ISG motor until torque compensation is quitted.

Optionally, if the target vehicle is in a hybrid shift mode, controlling an output torque of an engine according to a wheel end required torque to perform torque interaction so as to meet the wheel end required torque, including:

if the target vehicle is in a hybrid gear shifting mode, acquiring actual torque of a TM motor and a wheel end speed ratio of a current gear of the TM motor in real time;

and controlling the output torque of the engine to carry out torque interaction according to the wheel end required torque, the TM motor actual torque, the wheel end speed ratio of the TM motor current gear and a preset planet row torque equation so as to meet the wheel end required torque.

Optionally, the step of controlling the output torque of the engine to perform torque interaction according to the wheel end required torque, the TM motor actual torque, the wheel end speed ratio of the TM motor current gear, and a preset planetary gear torque equation to meet the wheel end required torque includes:

controlling the TM motor torque to drop to a second preset torque value according to a second preset gradient, and determining the required torque output by the engine according to the wheel end required torque, the actual torque of the TM motor, the wheel end speed ratio of the current gear of the TM motor and a preset planet row torque equation;

and controlling the engine to carry out torque interaction according to the required torque output by the engine so as to meet the wheel end required torque.

Optionally, after the step of controlling the engine to perform torque interaction according to the required torque output by the engine so as to meet the wheel end required torque, the method further comprises:

when the torque of the TM motor reaches the preset torque value, the shifting fork is shifted back, and the TM motor is controlled to regulate the speed to the rotating speed corresponding to the target gear;

when shifting fork up-shifting is completed, adjusting the TM motor torque to rise to a target torque according to the second preset gradient, and determining the required torque output by the engine according to the wheel end required torque, the TM motor actual torque, the wheel end speed ratio of the TM motor current gear and the planet gear speed ratio;

and controlling the engine to perform torque compensation according to the required torque output by the engine until torque compensation is quitted.

In addition, in order to achieve the above object, the present invention further provides a hybrid vehicle shift torque control device, which includes a memory, a processor, and a hybrid vehicle shift torque control program stored in the memory and operable on the processor, wherein the hybrid vehicle shift torque control program is configured to implement the steps of the hybrid vehicle shift torque control described above.

In addition, in order to achieve the above object, the present invention further provides a storage medium, in which a hybrid vehicle shift torque control program is stored, and the hybrid vehicle shift torque control program, when executed by a processor, implements the steps of the hybrid vehicle shift torque control method as described above.

In addition, in order to achieve the above object, the present invention further provides a shift torque control device for a hybrid vehicle, including:

the pure electric gear shifting control module is used for controlling an ISG motor to carry out torque interaction according to the wheel end required torque if the target vehicle is in a pure electric gear shifting mode so as to meet the wheel end required torque;

and the hybrid gear shifting control module is used for controlling the output torque of the engine according to the wheel end required torque to perform torque interaction so as to meet the wheel end required torque if the target vehicle is in the hybrid gear shifting mode.

According to the invention, when a gear shifting signal is received, the required torque of a wheel end is determined according to the target gear of a target vehicle; if the target vehicle is in the pure electric gear shifting mode, controlling an ISG motor to perform torque interaction according to the wheel end required torque so as to meet the wheel end required torque; and if the target vehicle is in a hybrid gear shifting mode, controlling the output torque of the engine according to the wheel end required torque to carry out torque interaction so as to meet the wheel end required torque. According to the invention, the torque coordination control strategy is used in the gear shifting process, the torque interaction modes under the two gear shifting modes are set, and the torque compensation is carried out, so that the torque requirement of a driver is met, compared with the prior art that the power of the synchronizer of the power distribution hybrid system is interrupted in the gear shifting process, so that the user experience is poor, the problem of power interruption of the synchronizer in the pure electric gear shifting mode and the hybrid gear shifting mode is effectively solved, and the drivability of the whole vehicle in the gear shifting process is improved.

Drawings

FIG. 1 is a schematic diagram of a hybrid vehicle shift torque control device in a hardware operating environment according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart illustrating a first embodiment of a method for controlling shift torque of a hybrid electric vehicle according to the present invention;

FIG. 3 is a schematic structural diagram of a hybrid system according to a first embodiment of the method for controlling shift torque of a hybrid vehicle according to the present invention;

FIG. 4 is a flowchart illustrating a second embodiment of a method for controlling shift torque of a hybrid vehicle according to the present invention;

FIG. 5 is a flowchart of a shift torque coordination control in a pure electric shift mode according to a second embodiment of the shift torque control method for a hybrid electric vehicle of the present invention;

FIG. 6 is a flowchart illustrating a third exemplary embodiment of a method for controlling shift torque of a hybrid vehicle according to the present invention;

FIG. 7 is a flow chart of a shift torque coordination control for a hybrid shift mode in accordance with a third embodiment of the method for controlling shift torque in a hybrid vehicle of the present invention;

fig. 8 is a block diagram showing the structure of the first embodiment of the shifting torque control device for a hybrid vehicle according to 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 hybrid vehicle shift torque control device in a hardware operating environment according to an embodiment of the present invention.

As shown in fig. 1, the hybrid vehicle shift torque 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), and the optional user interface 1003 may further include a standard wired interface and a wireless interface, and the wired interface for the user interface 1003 may be a USB interface in the present invention. 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) or a Non-volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001 described previously.

Those skilled in the art will appreciate that the configuration shown in FIG. 1 does not constitute a limitation of a hybrid vehicle shift torque control device, and may include more or fewer components than shown, or some components combined, or a different arrangement of components.

As shown in FIG. 1, a memory 1005, identified as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a hybrid vehicle shift torque control program.

In the gear shifting torque control device of the hybrid electric vehicle shown in fig. 1, the network interface 1004 is mainly used for connecting a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting user equipment; the hybrid electric vehicle gear shifting torque control device calls a hybrid electric vehicle gear shifting torque control program stored in the memory 1005 through the processor 1001 and executes the hybrid electric vehicle gear shifting torque control method provided by the embodiment of the invention.

Based on the hardware structure, the embodiment of the gear shifting torque control method of the hybrid electric vehicle is provided.

Referring to fig. 2, fig. 2 is a flowchart illustrating a shift torque control method of a hybrid electric vehicle according to a first embodiment of the present invention.

In this embodiment, the method for controlling the shift torque of the hybrid electric vehicle includes the following steps:

step S10: and if the target vehicle is in the pure electric gear shifting mode, controlling the ISG motor to perform torque interaction according to the wheel end required torque so as to meet the wheel end required torque.

It should be noted that the execution main body of the embodiment may be a device having a torque compensation control function, and the device may be a computing device connected to a Vehicle Control Unit (VCU), a TM motor (large motor), an ISG motor (integrated starter generator) and various body sensors in a vehicle, such as: the present invention is not limited to the above embodiments, and the torque compensation control device is taken as an example to describe the torque control method in the shifting process of the hybrid vehicle in the present embodiment and the following embodiments.

It can be understood that the target vehicle is a vehicle with a hybrid system structure, and for further description, reference may be made to the schematic diagram of the hybrid system structure shown in fig. 3, and the target gear of the target vehicle may be a target gear engaged or a gear corresponding to a gear shifting requirement during a normal driving process of the target vehicle. The wheel end required torque refers to wheel end torque when the vehicle is successfully engaged in the target gear.

It should be understood that, when the gear is shifted in the pure electric gear shifting mode, the TM motor is shifted from the driving state to the standby state to start the gear shifting, and the ISG motor is required to perform torque compensation at this time to meet the torque demand of the driver because the TM motor cannot provide power. When the target vehicle is in the pure electric gear shifting mode, if a gear shifting demand exists, the wheel end demand torque needs to be determined according to the target gear corresponding to the gear shifting signal, and the ISG motor is controlled to perform torque interaction according to the wheel end demand torque, so that the wheel end demand torque reaches the wheel end demand torque corresponding to the target gear.

Step S20: and if the target vehicle is in a hybrid gear shifting mode, controlling the output torque of the engine according to the wheel end required torque to carry out torque interaction so as to meet the wheel end required torque.

It should be noted that, when the hybrid shift mode shifts gears, the TM motor cannot output driving power, and at this time, torque compensation is performed by the output torque of the engine to meet the torque demand of the driver.

In concrete implementation, when a target vehicle is in a hybrid shift mode, if a shift demand exists, the wheel end required torque needs to be determined according to a target gear corresponding to a shift signal, and the output torque of the engine is controlled according to the wheel end required torque to perform torque interaction, so that the wheel end required torque reaches the wheel end required torque corresponding to the target gear.

The embodiment determines the wheel end required torque according to the target gear of the target vehicle when the gear shifting signal is received; if the target vehicle is in the pure electric gear shifting mode, controlling an ISG motor to perform torque interaction according to the wheel end required torque so as to meet the wheel end required torque; and if the target vehicle is in a hybrid gear shifting mode, controlling the output torque of the engine according to the wheel end required torque to carry out torque interaction so as to meet the wheel end required torque. Because this embodiment uses the moment of torsion coordinated control strategy through the gear shift in-process, sets for the moment of torsion interactive mode under two kinds of modes of shifting gears, carries out the torque compensation to satisfy driver's moment of torsion demand, compare in prior art power split thoughtlessly moves synchronizer gear shift in-process power interruption, lead to user experience to feel poor, this embodiment effectively solves the power interruption problem of pure electric mode of shifting gears and thoughtlessly moves synchronizer gear shift in-process, promotes the drivability of whole car gear shift process.

Referring to fig. 4, fig. 4 is a flowchart illustrating a second embodiment of a shift torque control method for a hybrid vehicle according to the present invention, and the second embodiment of the shift torque control method for the hybrid vehicle according to the present invention is proposed based on the first embodiment illustrated in fig. 2.

In this embodiment, the step S10 includes:

step S101: and if the target vehicle is in the pure electric gear shifting mode, acquiring the actual torque of the TM motor, the wheel end speed ratio of the current gear of the TM motor and the planet row speed ratio in real time.

It should be noted that the wheel end speed ratio of the TM motor at the current gear may refer to the current wheel end speed ratio of the TM motor before shifting, that is, the current gear transmission ratio of the TM motor. The planetary gear ratio can refer to the transmission ratio of a planetary gear type gear speed change mechanism in the gearbox; the planetary gear mechanism consists of a sun gear (central wheel), a planetary gear carrier (planet carrier), a gear ring and the like, is a shaft type gear system, and can also realize speed change and torque change as well as a fixed shaft type gear system, wherein the operation of the planetary gear mechanism follows a motion characteristic equation of the planetary gear mechanism.

It should be understood that, when the vehicle is in the pure electric gear shifting mode, when there is a gear shifting demand, the TM motor is switched from the driving state to the standby state to start gear shifting, and since power cannot be provided, the TM motor actual torque, the wheel end speed ratio of the TM motor current gear, and the planetary gear ratio are obtained at this time to complete the interaction of the driving torque from the TM motor to the ISG motor.

Step S102: and controlling the ISG motor to carry out torque interaction according to the wheel end required torque, the TM motor actual torque, the wheel end speed ratio of the TM motor current gear and the planet row speed ratio so as to meet the wheel end required torque.

It should be noted that, when torque compensation is performed by the ISG motor, the ISG motor is controlled to perform torque interaction according to the actual torque of the TM motor, the wheel end speed ratio of the current gear of the TM motor, and the planetary gear ratio, so as to meet the torque demand of the driver.

It should be understood that, when torque compensation is performed by the ISG motor, the torque compensation may decrease the torque compensation value according to an increase of the TM motor actual torque value, and may also increase the torque compensation value according to a decrease of the TM motor actual torque value, thereby performing torque interaction in the above manner.

Further, the step S102 further includes: adjusting the TM motor torque to a first preset torque value according to a first preset gradient, and determining the required torque output by the ISG motor according to the wheel end required torque, the actual torque of the TM motor, the wheel end speed ratio of the current gear of the TM motor and the planet row speed ratio; and controlling the ISG motor to carry out torque interaction according to the required torque output by the ISG motor so as to meet the wheel end required torque.

It can be understood that the first preset gradient may be a preset gradient for controlling TM motor torque to decrease when the vehicle is in the pure electric shift mode, the gradient may be manually controlled or set according to actual conditions, and the first preset torque value may be a preset torque value for TM motor torque to decrease when the vehicle is in the pure electric shift mode, where the ISG required torque calculation formula during the shift in the pure electric shift mode is as follows:

ISG motor torque request = (wheel end required torque/final reduction ratio-TM motor actual torque × (TM) motor current gear to wheel end speed ratio)/(-K);

the torque request of the ISG motor is changed according to the change of the actual torque value of the TM motor, and K is a characteristic parameter of the planet row and is equal to the number of teeth of a ring gear/the number of teeth of a sun gear of the planet row; the ISG motor load torque is driving torque. In the torque interaction process, only TM motor required torque gradient is filtered smoothly, and ISG motor required torque is not filtered, so that the torque change slopes of the two power sources are matched in the torque interaction process.

In the concrete implementation, when a vehicle is in a pure electric gear shifting mode and normally runs, and a gear shifting requirement is identified, the TM motor torque is controlled to smoothly drop to a first preset torque value (such as 0 Nm) according to a first preset gradient, meanwhile, the actual torque of the TM motor is subtracted from the wheel end required torque to be multiplied by the wheel end speed ratio of the current gear of the TM motor, and then the obtained product is divided by the planetary gear ratio K to obtain the torque required to be output by the ISG motor. In the process, the torque gradient of the TM motor is smoothly reduced, the torque gradient of the ISG motor is smoothly increased, and the interaction of the driving torque from the TM motor to the ISG motor is completed.

Further, after the step S102, the method further includes: when the torque of the TM motor reaches the preset torque value, the shifting fork is shifted back, and the TM motor is controlled to regulate the speed to the rotating speed corresponding to the target gear; when the shifting fork is shifted up, adjusting the torque of the TM motor to rise to a target torque according to the first preset gradient, and determining the required torque output by the ISG motor according to the wheel end required torque, the actual torque of the TM motor, the wheel end speed ratio of the current gear of the TM motor and the planetary gear speed ratio; and controlling the ISG motor to perform torque compensation according to the required torque output by the ISG motor until torque compensation is quitted.

It should be noted that after the TM motor torque is completed, the shifting fork can be controlled to move back, the TM motor is controlled to adjust the speed to the rotating speed corresponding to the target gear, and then the shifting fork is controlled to move up. And after the gear shifting is finished, controlling the TM motor torque gradient to smoothly rise to a wheel end required torque and dividing the wheel end required torque by the current gear to wheel end speed ratio of the TM motor, meanwhile, subtracting the actual torque of the TM motor from the wheel end required torque, multiplying the current gear to wheel end speed ratio of the TM motor by the actual torque of the TM motor, and dividing the actual torque by the planet gear speed ratio K to obtain the torque required to be output by the ISG motor. In the process, the TM motor torque gradient smoothly rises, the ISG motor torque gradient smoothly falls, and the interaction of the driving torque from the ISG motor to the TM motor is completed. After the TM motor torque rises to the target torque, the shift process is complete.

In the concrete implementation, for further explaining the shift torque control process in the pure electric shift mode, referring to a pure electric shift mode shift torque coordination control flow chart shown in fig. 5, in the normal running process of the pure electric shift mode, when a shift demand exists, firstly, the TM motor torque gradient is controlled to smoothly drop to 0Nm, meanwhile, the TM motor actual torque is subtracted by the TM motor current gear to wheel end speed ratio according to the wheel end demand torque, and then, the TM motor actual torque is divided by the planet speed ratio K to obtain the torque required to be output by the ISG motor. In the process, the torque gradient of the TM motor is smoothly reduced, the torque gradient of the ISG motor is smoothly increased, and the interaction of the driving torque from the TM motor to the ISG motor is completed. After the TM motor torque is finished, the shifting fork can be controlled to move back, the TM motor is controlled to regulate the speed to the rotating speed corresponding to the target gear, and then the shifting fork is controlled to move up. And after the gear shifting is finished, controlling the TM motor torque gradient to smoothly rise to the wheel end required torque divided by the TM motor current gear to wheel end speed ratio, meanwhile, subtracting the TM motor actual torque multiplied by the TM motor current gear to wheel end speed ratio according to the wheel end required torque, and dividing by the planet gear speed ratio K to obtain the torque required to be output by the ISG motor. In the process, the TM motor torque gradient smoothly rises, the ISG motor torque gradient smoothly falls, and interaction of driving torque from the ISG motor to the TM motor is completed. And after the TM motor torque is increased to the target torque, the gear shifting process is completed.

The embodiment determines the wheel end required torque according to the target gear of the target vehicle when the gear shifting signal is received; if the target vehicle is in the pure electric gear shifting mode, acquiring the actual torque of the TM motor, the wheel end speed ratio of the current gear of the TM motor and the planet row speed ratio in real time; controlling an ISG motor to carry out torque interaction according to the wheel end required torque, the TM motor actual torque, the wheel end speed ratio of the current gear of the TM motor and the planet row speed ratio so as to meet the wheel end required torque; and if the target vehicle is in a hybrid gear shifting mode, controlling the output torque of the engine according to the wheel end required torque to carry out torque interaction so as to meet the wheel end required torque. Because this embodiment uses the moment of torsion coordinated control strategy through the gear shift in-process, sets for the moment of torsion interactive mode under two kinds of modes of shifting, carries out the torque compensation to satisfy driver's moment of torsion demand, compare in prior art power split thoughtlessly move synchronizer gear shift in-process power interruption, lead to user experience to feel poor, this embodiment effectively solves the power interruption problem of pure electric mode of shifting and thoughtlessly move synchronizer gear shift in-process, promotes the drivability of whole car gear shift process.

Referring to fig. 6, fig. 6 is a flowchart illustrating a second embodiment of a shift torque control method for a hybrid vehicle according to the present invention, and a third embodiment of the shift torque control method for the hybrid vehicle according to the present invention is proposed based on the first embodiment illustrated in fig. 2.

In this embodiment, the step S20 includes:

step S201: and if the target vehicle is in the hybrid gear shifting mode, acquiring the actual torque of the TM motor and the wheel end speed ratio of the current gear of the TM motor in real time.

It should be noted that the wheel end speed ratio of the TM motor at the current gear may refer to the current wheel end speed ratio of the TM motor before shifting, that is, the current gear transmission ratio of the TM motor. The planetary gear ratio can refer to the transmission ratio of a planetary gear type gear speed change mechanism in the gearbox; the planetary gear mechanism consists of a sun gear (central wheel), a planetary gear carrier (planet carrier), a gear ring and the like, is an axial gear system, can realize speed change and torque change as well as a fixed shaft gear system, and operates according to a motion characteristic equation of the planetary gear mechanism.

It should be understood that when the gear shifting is carried out in the hybrid gear shifting mode, when the gear shifting is required, the TM motor cannot output driving power, and the interaction of the driving torque from the TM motor to the engine is completed by acquiring the actual torque of the TM motor and the wheel end speed ratio of the current gear of the TM motor.

Step S202: and controlling the output torque of the engine to carry out torque interaction according to the wheel end required torque, the actual torque of the TM motor, the wheel end speed ratio of the current gear of the TM motor and a preset planet row torque equation so as to meet the wheel end required torque.

It should be noted that, when the hybrid gear shifting mode shifts gears, because the TM motor cannot output driving power, the output torque of the engine is used for torque compensation, and the output torque of the engine is controlled according to the actual torque of the TM motor, the wheel end speed ratio of the current gear of the TM motor and the preset planetary gear torque equation to perform torque interaction so as to meet the torque demand of the driver.

It should be understood that, in the torque compensation by the engine, the torque compensation may be to decrease the torque compensation value according to an increase in the TM motor actual torque value or to increase the torque compensation value according to a decrease in the TM motor actual torque value. And controlling the engine to improve the output torque to perform torque compensation or controlling the engine to reduce the output torque to perform torque compensation according to the wheel end required torque, the TM motor actual torque, the wheel end speed ratio of the TM motor current gear and a preset planet row torque equation so as to complete torque interaction between the engine and the TM motor.

Further, the step S202 further includes: controlling the TM motor torque to drop to a second preset torque value according to the second preset gradient, and determining the required torque output by the engine according to the wheel end required torque, the actual torque of the TM motor, the wheel end speed ratio of the current gear of the TM motor and a preset planet row torque equation; and controlling the engine to carry out torque interaction according to the required torque output by the engine so as to meet the wheel end required torque.

It should be noted that the preset planet row torque equation is a preset motion characteristic equation, and the engine required torque calculation formula in the hybrid gear shifting process is as follows:

engine torque demand = (wheel end torque demand/main reduction ratio-TM motor actual torque: (TM) motor current gear to wheel end speed ratio) ((1 + k)/k).

The engine torque demand is changed according to the change of the actual torque value of the TM motor, and K is a characteristic parameter of the planet row and is equal to the number of teeth of a ring gear of the planet row/the number of teeth of a sun gear; in the torque interaction process, only the torque gradient of the TM motor is filtered smoothly, and the required torque of the engine is not filtered, so that the torque change slopes of the two power sources are matched in the torque interaction process.

In the concrete implementation, when a vehicle is in a hybrid shift mode and normally runs, and a shift demand is identified, the torque of a TM motor is controlled to smoothly drop to a preset torque value (such as 0 Nm) according to a preset gradient, meanwhile, the actual torque of the TM motor is subtracted from the torque required by a wheel end and multiplied by the speed ratio from the current gear of the TM motor to the wheel end, and then the actual torque is multiplied by (1 + K)/K according to a planet gear torque equation to obtain the torque required to be output by an engine. In the process, the TM motor torque gradient is smoothly reduced, the engine torque gradient is smoothly increased, and the interaction of the driving torque from the TM motor to the engine is completed.

Further, after the step S202, the method further includes: when the torque of the TM motor reaches the preset torque value, the shifting fork is shifted back, and the TM motor is controlled to regulate the speed to the rotating speed corresponding to the target gear; when shifting fork up-shifting is completed, adjusting the TM motor torque to rise to a target torque according to the second preset gradient, and determining the required torque output by the engine according to the wheel end required torque, the TM motor actual torque, the wheel end speed ratio of the TM motor current gear and the planet gear speed ratio; and controlling the engine to perform torque compensation according to the required torque output by the engine until the torque compensation is quitted.

It should be noted that after the TM motor torque is completed, the shifting fork can be controlled to move back, the TM motor is controlled to adjust the speed to the rotating speed corresponding to the target gear, and then the shifting fork is controlled to move up. After the gear shifting is finished, controlling the torque gradient of the TM motor to smoothly rise to the target torque of the TM motor under the non-gear shifting hybrid working condition, meanwhile, multiplying the actual torque of the TM motor by the speed ratio from the current gear of the TM motor to the wheel end according to the wheel end required torque, and multiplying the actual torque by (1 + K)/K according to a planet row torque equation to obtain the required output torque of the engine. In the process, the TM motor torque gradient is smoothly increased, the engine torque gradient is smoothly decreased, and the interaction of the driving torque from the engine torque to the TM motor torque is completed. After the TM motor torque rises to the target torque, the shift process is complete.

In concrete implementation, for further explaining the shift torque control process in the hybrid shift mode, referring to a shift torque coordination control flow chart in the hybrid shift mode in fig. 7, when there is a shift demand during normal running in the hybrid shift mode, firstly, the TM motor torque gradient is controlled to smoothly drop to 0Nm, meanwhile, the actual torque of the TM motor is subtracted from the wheel end demand torque to be multiplied by the speed ratio from the current gear of the TM motor to the wheel end, and then, the actual torque is multiplied by (1 + K)/K according to a planet row torque equation to obtain the torque required to be output by the engine. In the process, the TM motor torque gradient is smoothly reduced, the engine torque gradient is smoothly increased, and the interaction of the driving torque from the TM motor to the engine is completed. After the TM motor torque is finished, the shifting fork can be controlled to move back, the TM motor is controlled to regulate the speed to the rotating speed corresponding to the target gear, and then the shifting fork is controlled to move up. After the gear shifting is finished, the TM motor torque gradient is controlled to smoothly rise to the TM motor target torque under the non-gear shifting hybrid working condition, meanwhile, the TM motor actual torque is subtracted from the wheel end required torque to be multiplied by the TM motor current gear to wheel end speed ratio, and then the TM motor actual torque is multiplied by (1 + K)/K according to the planet gear torque equation to obtain the required output torque of the engine. In the process, the TM motor torque gradient smoothly rises, the engine torque gradient smoothly falls, and the interaction of the driving torque from the engine torque to the TM motor torque is completed. After the TM motor torque rises to the target torque, the shift process is complete.

The embodiment determines the wheel end required torque according to the target gear of the target vehicle when the gear shifting signal is received; if the target vehicle is in the pure electric gear shifting mode, controlling an ISG motor to perform torque interaction according to the wheel end required torque so as to meet the wheel end required torque; if the target vehicle is in a hybrid gear shifting mode, acquiring the actual torque of the TM motor and the wheel end speed ratio of the current gear of the TM motor in real time; and controlling the output torque of the engine to carry out torque interaction according to the wheel end required torque, the TM motor actual torque, the wheel end speed ratio of the TM motor current gear and a preset planet row torque equation so as to meet the wheel end required torque. Because this embodiment uses the moment of torsion coordinated control strategy through the gear shift in-process, sets for the moment of torsion interactive mode under two kinds of modes of shifting, carries out the torque compensation to satisfy driver's moment of torsion demand, compare in prior art power split thoughtlessly move synchronizer gear shift in-process power interruption, lead to user experience to feel poor, this embodiment effectively solves the power interruption problem of pure electric mode of shifting and thoughtlessly move synchronizer gear shift in-process, promotes the drivability of whole car gear shift process.

In addition, in order to achieve the above object, the present invention further provides a hybrid vehicle shift torque control device, which includes a memory, a processor, and a hybrid vehicle shift torque control program stored in the memory and operable on the processor, wherein the hybrid vehicle shift torque control program is configured to implement the steps of the hybrid vehicle shift torque control described above.

In addition, in order to achieve the above object, the present invention further provides a storage medium, in which a hybrid vehicle shift torque control program is stored, and the hybrid vehicle shift torque control program, when executed by a processor, implements the steps of the hybrid vehicle shift torque control method as described above.

Referring to fig. 8, fig. 8 is a block diagram illustrating a first embodiment of a shifting torque control device for a hybrid vehicle according to the present invention.

As shown in fig. 8, a hybrid vehicle shift torque control device according to an embodiment of the present invention includes:

the pure electric gear shifting control module 10 is used for controlling an ISG motor to perform torque interaction according to the wheel end required torque so as to meet the wheel end required torque if the target vehicle is in a pure electric gear shifting mode;

and the hybrid shift control module 20 is further configured to control an output torque of the engine according to the wheel end required torque to perform torque interaction to meet the wheel end required torque if the target vehicle is in the hybrid shift mode.

The embodiment determines the wheel end required torque according to the target gear of the target vehicle when the gear shifting signal is received; if the target vehicle is in the pure electric gear shifting mode, controlling an ISG motor to perform torque interaction according to the wheel end required torque so as to meet the wheel end required torque; and if the target vehicle is in a hybrid gear shifting mode, controlling the output torque of the engine according to the wheel end required torque to carry out torque interaction so as to meet the wheel end required torque. Because this embodiment uses the moment of torsion coordinated control strategy through the gear shift in-process, sets for the moment of torsion interactive mode under two kinds of modes of shifting, carries out the torque compensation to satisfy driver's moment of torsion demand, compare in prior art power split thoughtlessly move synchronizer gear shift in-process power interruption, lead to user experience to feel poor, this embodiment effectively solves the power interruption problem of pure electric mode of shifting and thoughtlessly move synchronizer gear shift in-process, promotes the drivability of whole car gear shift process.

Further, the pure electric gear shift control module 10 is further configured to obtain an actual torque of the TM motor, a wheel end speed ratio of a current gear of the TM motor, and a planetary gear ratio in real time if the target vehicle is in the pure electric gear shift mode;

the pure electric gear shifting control module 10 is further configured to control the ISG motor to perform torque interaction according to the wheel end required torque, the TM motor actual torque, the wheel end speed ratio of the TM motor current gear, and the planetary gear ratio, so as to meet the wheel end required torque.

Further, the pure electric gear shift control module 10 is further configured to adjust the TM motor torque to decrease to a first preset torque value according to a first preset gradient, and determine a required torque output by the ISG motor according to a wheel end required torque, the TM motor actual torque, a wheel end speed ratio of a current gear of the TM motor, and the planetary gear ratio;

the pure electric gear shifting control module 10 is further used for controlling the ISG motor to perform torque interaction according to the required torque output by the ISG motor so as to meet the wheel end required torque.

Further, the pure electric gear shifting control module 10 is further configured to shift a shifting fork to shift back when the TM motor torque reaches the preset torque value, and control the TM motor to regulate the speed to the rotating speed corresponding to the target gear;

the pure electric gear shifting control module 10 is further configured to adjust the TM motor torque to rise to a target torque according to the first preset gradient when shifting of a shifting fork is completed, and determine a required torque output by the ISG motor according to a wheel end required torque, the TM motor actual torque, a wheel end speed ratio of a current gear of the TM motor, and the planet row speed ratio;

the pure electric gear shifting control module 10 is further configured to control the ISG motor to perform torque compensation according to the required torque output by the ISG motor until torque compensation is quitted.

Further, the hybrid shift control module 20 is further configured to obtain an actual torque of the TM motor and a wheel end speed ratio of a current gear of the TM motor in real time if the target vehicle is in the hybrid shift mode;

the hybrid shift control module 20 is further configured to control an output torque of the engine according to a wheel end required torque, the TM motor actual torque, a wheel end speed ratio of a current gear of the TM motor, and a preset planet row torque equation to perform torque interaction, so as to meet the wheel end required torque.

Further, the hybrid shift control module 20 is further configured to control the TM motor torque to decrease to a second preset torque value according to a second preset gradient, and determine the required torque output by the engine according to the wheel end required torque, the TM motor actual torque, the wheel end speed ratio of the TM motor current gear, and a preset planet row torque equation;

the hybrid shift control module 20 is further configured to control the engine to perform torque interaction according to the required torque output by the engine, so as to meet the wheel end required torque.

Further, the hybrid shift control module 20 is further configured to shift a shifting fork to shift back when the TM motor torque reaches the preset torque value, and control the TM motor to regulate the speed to the rotation speed corresponding to the target gear;

the hybrid shift control module 20 is further configured to adjust a TM motor torque to increase to a target torque according to the second preset gradient when a shift upshift is completed, and determine a required torque output by the engine according to the wheel end required torque, the TM motor actual torque, a wheel end speed ratio of a current gear of the TM motor, and the planetary gear ratio;

the hybrid shift control module 20 is further configured to control the engine to perform torque compensation according to the required torque output by the engine until the torque compensation is exited.

It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.

It should be noted that the above-mentioned work flows are only illustrative and do not limit the scope of the present invention, and in practical applications, those skilled in the art may select some or all of them according to actual needs to implement the purpose of the solution of the present embodiment, and the present invention is not limited herein.

In addition, the technical details that are not elaborated in this embodiment can be referred to the method for controlling the shifting torque of the hybrid vehicle according to any embodiment of the present invention, and are not described herein again.

It should 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 phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional 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. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order, but rather the words first, second, third, etc. are to be interpreted as names.

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., a Read Only Memory (ROM)/Random Access Memory (RAM), a magnetic disk, or an optical disk), and includes several instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) 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 gear shifting torque control method for a hybrid electric vehicle is characterized by comprising the following steps of:

if the target vehicle is in the pure electric gear shifting mode, controlling an ISG motor to perform torque interaction according to the wheel end required torque so as to meet the wheel end required torque;

and if the target vehicle is in a hybrid gear shifting mode, controlling the output torque of the engine according to the wheel end required torque to carry out torque interaction so as to meet the wheel end required torque.

2. The method for controlling the shifting torque of the hybrid electric vehicle according to claim 1, wherein if the target vehicle is in the pure electric shifting mode, the step of controlling the ISG motor to perform torque interaction according to the wheel end required torque to satisfy the wheel end required torque comprises:

if the target vehicle is in the pure electric gear shifting mode, acquiring the actual torque of the TM motor, the wheel end speed ratio of the current gear of the TM motor and the planet row speed ratio in real time;

and controlling the ISG motor to carry out torque interaction according to the wheel end required torque, the TM motor actual torque, the wheel end speed ratio of the current gear of the TM motor and the planet row speed ratio so as to meet the wheel end required torque.

3. The method for controlling shifting torque of a hybrid electric vehicle according to claim 2, wherein the step of controlling the ISG motor to perform torque interaction according to the wheel end required torque, the TM motor actual torque, the wheel end speed ratio of the TM motor current gear, and the planetary gear ratio to meet the wheel end required torque comprises:

adjusting the torque of the TM motor to be reduced to a first preset torque value according to a first preset gradient, and determining the required torque output by the ISG motor according to the wheel end required torque, the actual torque of the TM motor, the wheel end speed ratio of the current gear of the TM motor and the planetary gear ratio;

and controlling the ISG motor to carry out torque interaction according to the required torque output by the ISG motor so as to meet the wheel end required torque.

4. The method for controlling shift torque of a hybrid electric vehicle according to claim 3, wherein after the step of controlling the ISG motor to perform torque interaction according to the required torque output by the ISG motor to satisfy the wheel end required torque, the method further comprises:

when the torque of the TM motor reaches the preset torque value, the shifting fork is shifted back, and the TM motor is controlled to regulate the speed to the rotating speed corresponding to the target gear;

when the shifting fork is shifted up, adjusting the torque of the TM motor to rise to a target torque according to the first preset gradient, and determining the required torque output by the ISG motor according to the wheel end required torque, the actual torque of the TM motor, the wheel end speed ratio of the current gear of the TM motor and the planetary gear speed ratio;

and controlling the ISG motor to perform torque compensation according to the required torque output by the ISG motor until torque compensation is quitted.

5. The method for controlling shift torque of a hybrid vehicle according to claim 1, wherein the step of controlling an output torque of an engine according to a wheel-end required torque to perform torque interaction to satisfy the wheel-end required torque if the target vehicle is in a hybrid shift mode comprises:

if the target vehicle is in a hybrid gear shifting mode, acquiring the actual torque of the TM motor and the wheel end speed ratio of the current gear of the TM motor in real time;

and controlling the output torque of the engine to carry out torque interaction according to the wheel end required torque, the actual torque of the TM motor, the wheel end speed ratio of the current gear of the TM motor and a preset planet row torque equation so as to meet the wheel end required torque.

6. The method for controlling shifting torque of a hybrid electric vehicle according to claim 5, wherein the step of controlling the output torque of the engine according to the wheel-end required torque, the TM motor actual torque, the wheel-end speed ratio of the TM motor current gear, and a preset planetary gear torque equation to perform torque interaction so as to satisfy the wheel-end required torque comprises:

controlling the TM motor torque to drop to a second preset torque value according to a second preset gradient, and determining the required torque output by the engine according to the wheel end required torque, the actual torque of the TM motor, the wheel end speed ratio of the current gear of the TM motor and a preset planet row torque equation;

and controlling the engine to carry out torque interaction according to the required torque output by the engine so as to meet the wheel end required torque.

7. The method for controlling shifting torque of a hybrid electric vehicle according to claim 6, wherein after the step of controlling the engine to perform torque interaction according to the torque demand output by the engine to meet the wheel-end torque demand, the method further comprises:

when the TM motor torque reaches the preset torque value, a shifting fork is shifted back, and the TM motor is controlled to regulate the speed to the rotating speed corresponding to the target gear;

when shifting fork up-shifting is completed, adjusting the TM motor torque to rise to a target torque according to the second preset gradient, and determining the required torque output by the engine according to the wheel end required torque, the TM motor actual torque, the wheel end speed ratio of the TM motor current gear and the planet gear speed ratio;

and controlling the engine to perform torque compensation according to the required torque output by the engine until torque compensation is quitted.

8. A hybrid vehicle shift torque control apparatus, characterized by comprising: a memory, a processor, and a hybrid vehicle shift torque control program stored on the memory and executable on the processor, the hybrid vehicle shift torque control program when executed by the processor implementing the hybrid vehicle shift torque control method of any one of claims 1-7.

9. A storage medium having a hybrid vehicle shift torque control program stored thereon, the hybrid vehicle shift torque control program when executed by a processor implementing the hybrid vehicle shift torque control method of any one of claims 1-7.

10. A hybrid vehicle shift torque control device, comprising:

the pure electric gear shifting control module is used for controlling an ISG motor to carry out torque interaction according to the wheel end required torque if the target vehicle is in a pure electric gear shifting mode so as to meet the wheel end required torque;

and the hybrid gear shifting control module is used for controlling the output torque of the engine according to the wheel end required torque to perform torque interaction so as to meet the wheel end required torque if the target vehicle is in the hybrid gear shifting mode.

Images