CN115750772A - Gear shifting torque compensation method and device for four-wheel drive vehicle, vehicle and storage medium - Google Patents
Gear shifting torque compensation method and device for four-wheel drive vehicle, vehicle and storage medium Download PDFInfo
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- CN115750772A CN115750772A CN202211425673.2A CN202211425673A CN115750772A CN 115750772 A CN115750772 A CN 115750772A CN 202211425673 A CN202211425673 A CN 202211425673A CN 115750772 A CN115750772 A CN 115750772A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
Abstract
The invention discloses a gear shifting torque compensation method and device for a four-wheel drive vehicle, the vehicle and a storage medium, wherein the method comprises the following steps: determining that the vehicle is in a front axle shift state; determining torque reduction torque of a front axle clutch according to the front axle gear shifting state; respectively determining first request torques of the front axle driving motor and the rear axle driving motor according to the torque reduction torque and the upper limit value of the available torque of the front axle driving motor; through the first torque request is right the front axle of vehicle shifts and carries out torque compensation for whole wheel end total torque does not change, guarantees that the wheel end does not have the moment of torsion loss, and the shift quality that the front axle shifted is good, thereby promotes and drives experience.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a gear shifting torque compensation method and device for a four-wheel drive vehicle, the vehicle and a storage medium.
Background
With the popularization of automatic transmission vehicles, the requirement of people on driving comfort is higher and higher. Under four-wheel drive hybrid control platform, hybrid controller can realize the intelligent distribution of whole car moment of torsion between the front and back axle to improve vehicle trafficability characteristic and control automobile body's gesture etc, however the vehicle is when carrying out the front axle and shift gears, because the clutch falls the torsion can lead to the total moment of torsion decline of vehicle wheel end, seriously influences vehicle dynamic nature and ride nature, lets driver's driving impression variation, consequently, how to carry out the problem that moment of torsion compensation is the urgent need to solve to the process of shifting gears.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention aims to provide a gear shifting torque compensation method and device for a four-wheel drive vehicle, the vehicle and a storage medium.
The invention provides a gear shifting torque compensation method of a four-wheel drive vehicle, wherein a front axle power source of the four-wheel drive vehicle comprises an engine, a front axle power generation motor and a front axle driving motor, a rear axle power source of the vehicle comprises a rear axle driving motor, the engine and the front axle power generation motor are connected through a fixed speed ratio, and power is transmitted to a wheel end through a front axle clutch and a two-gear mechanical structure, and the method comprises the following steps: determining that the vehicle is in a front axle shift state; determining torque reduction torque of the front axle clutch according to the front axle gear shifting state; respectively determining first request torques of the front axle driving motor and the rear axle driving motor according to the torque reduction torque and the upper limit value of the available torque of the front axle driving motor; torque compensating a front axle shift of the vehicle with the first requested torque.
In addition, the shifting torque compensation method for the four-wheel drive vehicle according to the embodiment of the invention can also have the following additional technical characteristics:
further, determining a torque reduction torque of the front axle clutch according to the front axle shifting state comprises: and taking the sum of the torque request of the engine and the torque request of the front axle generator motor before gear shifting as torque reduction torque of the front axle clutch.
Further, when calculating the torque reduction torque of the front axle clutch, determining that the requested torque of the engine is unchanged, and taking the torque reduction torque of the front axle generator motor as the torque reduction torque of the front axle clutch.
Further, determining a first requested torque of the front axle drive motor and the rear axle drive motor according to the torque reduction torque and the available torque upper limit value of the front axle drive motor comprises: judging whether the torque reduction torque of the front axle clutch exceeds the upper limit value of the available compensation torque of the front axle driving motor; when the torque reduction torque of the front axle clutch does not exceed the upper limit value of the available compensation torque of the front axle driving motor, the first request torque of the front axle driving motor is the sum of the request torque of the front axle driving motor and the first compensation torque before gear shifting, and the first request torque of the rear axle driving motor is the request torque of the rear axle driving motor before gear shifting; wherein the available compensation torque upper limit value is a difference between the available torque upper limit value and a requested torque of the front axle driving motor before the gear shifting.
Further, the first compensation torque is a torque reduction torque of the front axle clutch.
Further, the method further comprises: when the torque reduction torque of the front axle clutch exceeds the upper limit value of the available compensation torque of the front axle driving motor, the first request torque of the front axle driving motor is the upper limit value of the available torque of the front axle driving motor, and the first request torque of the rear axle driving motor is the sum of the request torque of the rear axle driving motor and the second compensation torque before gear shifting.
Further, the second compensation torque is the difference between the torque reduction torque of the front axle clutch and the upper limit value of the available compensation torque.
According to the gear shifting torque compensation method of the four-wheel drive vehicle, when a front axle is in a gear shifting state, first request torques of a front axle driving motor and a rear axle driving motor are respectively determined according to a torque reduction torque and an upper limit value of available torque of the front axle driving motor, and torque compensation is performed on front axle gear shifting of the vehicle through the first request torques, so that the total torque of a whole wheel end is not changed, torque loss at the wheel end is guaranteed, gear shifting quality of the front axle gear shifting is good, and driving experience is improved.
In view of the above problems, the present invention further provides a shifting torque compensation device for a four-wheel drive vehicle, where a front axle power source of the four-wheel drive vehicle includes an engine, a front axle power generation motor and a front axle driving motor, a rear axle power source of the vehicle includes a rear axle driving motor, the engine and the front axle power generation motor are connected by a fixed speed ratio, and power is transmitted to a wheel end by a front axle clutch and a two-gear mechanical structure, the device includes: the first determination module is used for determining that the vehicle is in a front axle gear shifting state; the second determination module is used for determining torque reduction torque of the front axle clutch according to the front axle gear shifting state; the third determining module is used for determining first request torques of the front axle driving motor and the rear axle driving motor according to the torque reduction torque and the available torque upper limit value of the front axle driving motor; a compensation module to torque compensate a front axle shift of the vehicle with the first requested torque.
According to the gear shifting torque compensation device of the four-wheel drive vehicle, when a front axle is in a gear shifting state, the first request torques of the front axle driving motor and the rear axle driving motor are respectively determined according to the torque reduction torque and the upper limit value of the available torque of the front axle driving motor, and the torque compensation is performed on the front axle gear shifting of the vehicle through the first request torques, so that the total torque of the whole wheel end is not changed, the wheel end is ensured to have no torque loss, the gear shifting quality of the front axle gear shifting is good, and the driving experience is improved.
In view of the above existing problems, the present invention also provides a vehicle, including: the shifting torque compensation device of the four-wheel drive vehicle according to any one of the embodiments.
According to the vehicle provided by the embodiment of the invention, when the front axle is in a gear shifting state, the first request torques of the front axle driving motor and the rear axle driving motor are respectively determined according to the torque reduction torque and the upper limit value of the available torque of the front axle driving motor, and the torque compensation is carried out on the front axle gear shifting of the vehicle through the first request torque, so that the total torque of the whole wheel end is not changed, the wheel end is ensured to have no torque loss, the gear shifting quality of the front axle gear shifting is good, and the driving experience is improved.
In view of the above problems, the present invention further provides a computer readable storage medium, on which a shift torque compensation program for a four-wheel drive vehicle is stored, and when executed by a processor, the shift torque compensation program for the four-wheel drive vehicle implements the shift torque compensation method for the four-wheel drive vehicle according to any one of the above embodiments.
According to the computer-readable storage medium of the embodiment of the invention, when the shift torque compensation program of the four-wheel drive vehicle stored on the computer-readable storage medium is executed by the processor, the front axle is in a shift state, the first request torques of the front axle driving motor and the rear axle driving motor are respectively determined according to the torque reduction torque and the available torque upper limit value of the front axle driving motor, and the torque compensation is performed on the front axle shift of the vehicle through the first request torque, so that the total torque of the whole wheel end is not changed, the wheel end is ensured to have no torque loss, the shift quality of the front axle shift is good, and the driving experience is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic structural diagram of a hybrid architecture of a four-wheel drive vehicle according to one embodiment of the present invention;
FIG. 2 is a flow chart of a method of torque distribution for a four-wheel drive vehicle according to one embodiment of the present invention;
FIG. 3 is a schematic illustration of calculating a first torque request for a front-rear axle drive motor of a four-wheel drive vehicle, in accordance with an embodiment of the present invention;
FIG. 4 is a schematic illustration of calculating a first torque request for a front-rear axle drive motor of a four-wheel drive vehicle, in accordance with another embodiment of the present invention;
fig. 5 is a schematic structural diagram of a shifting torque compensating device of a four-wheel drive vehicle according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below, the embodiments described with reference to the drawings being illustrative, and the embodiments of the present invention will be described in detail below.
First, a hybrid architecture of a four-wheel drive vehicle according to an embodiment of the present invention is described with reference to fig. 1, as shown in fig. 1, an engine and a front axle generator are connected by a fixed speed ratio, and power is transmitted to a wheel end through a front axle clutch and a two-gear mechanical structure. The power source of the front axle comprises an engine, a front axle power generation motor and a front axle driving motor, and the power source of the rear axle comprises a rear axle driving motor, so that the requested torque of the front axle is equal to the sum of the requested torque of the engine, the requested torque of the front axle power generation motor and the requested torque of the front axle driving motor, wherein the sum of the requested torque of the engine and the requested torque of the front axle power generation motor is equal to the requested torque of the front axle clutch; the requested torque of the rear axle is equal to the requested torque of the rear axle drive motor. Meanwhile, the ratio of the requested torque of the front axle to the requested torque of the rear axle is equal to the torque distribution proportion under the working condition of the vehicle, and the sum of the requested torque of the front axle and the requested torque of the rear axle is equal to the total wheel end torque under the working condition.
A shift torque compensation method, apparatus, vehicle and storage medium for a four-wheel drive vehicle according to embodiments of the present invention will be described with reference to fig. 2-5.
FIG. 2 is a flow chart of a method of torque distribution for a four-wheel drive vehicle according to one embodiment of the present invention. As shown in fig. 2, a shifting torque compensation method of a four-wheel drive vehicle includes the steps of:
step S1, determining that the vehicle is in a front axle gear shifting state.
In an embodiment, when the front axle is in the shift state, a front axle shift signal is sent to a controller of the hybrid architecture, and when the controller detects the front axle shift signal, it is determined that the vehicle is in the front axle shift state. Specifically, when the vehicle speed, the accelerator opening and the engine speed of the vehicle reach preset values, the front axle sends a front axle gear shifting signal to a controller of the hybrid power architecture, and the front axle enters a gear shifting state.
And S2, determining the torque reduction torque of the front axle clutch according to the gear shifting state of the front axle.
Specifically, when the vehicle is in a front axle shift state, the torque of the front axle clutch needs to be reduced to zero in order for the transmission to complete the shift. In order to ensure that the front axle realizes unpowered interrupted gear shifting, the front axle driving motor is required to compensate the torque reduction torque of the front axle clutch at the moment, so that the required torque of the front axle is not changed when the front axle shifts gears, the condition that the total torque of the wheel end is not reduced in the gear shifting process is ensured, namely, no torque loss of the wheel end is ensured, and unpowered interrupted gear shifting is realized.
And S3, respectively determining first request torques of the front axle driving motor and the rear axle driving motor according to the torque reduction torque and the available torque upper limit value of the front axle driving motor.
Specifically, the upper limit value of the available torque of the front axle drive motor is the maximum torque output capacity of the front axle drive motor, and is related to the terminal voltage of the front axle drive motor, the vehicle speed at the time of shifting the front axle, and the like. When the torque compensation is performed through the front axle driving motor, the first requested torque of the front axle driving motor may exceed the upper limit value of the available torque of the front axle driving motor, so that the gear shift compensation cannot be performed completely through the front axle driving motor, and at this time, the rear axle driving motor is required to participate in the torque compensation process of the front axle gear shift, so that the requested torque of the front axle is not changed, and the gear shift without power interruption is realized.
And S4, compensating the torque of the front axle gear shifting of the vehicle through the first request torque.
Specifically, after the first request torque is determined according to the torque reduction torque and the upper limit value of the available torque of the front axle driving motor, the front axle driving motor and the rear axle driving motor respond correspondingly according to the first request torque, the total torque of the whole wheel end does not change, the wheel end is guaranteed to have no torque loss, the gear shifting quality of the front axle gear shifting is good, and therefore the driving experience is improved.
In one embodiment of the present invention, determining a torque down torque of a front axle clutch based on a front axle shift state comprises: and taking the sum of the torque request of the engine before gear shifting and the torque request of the front axle generator motor as the torque reducing torque of the front axle clutch.
Specifically, when the front axle is shifted, the torque of the front axle clutch needs to be reduced to zero, and at this time, the torque reduction torque of the front axle clutch is the torque of the front axle clutch at the moment before the shift, and since the sum of the torque requested by the engine and the torque requested by the front axle generator is equal to the torque requested by the front axle clutch, the torque reduction torque of the front axle clutch is the sum of the torque requested by the engine and the torque requested by the front axle generator before the shift. It can be understood that the torque requested by the engine before shifting and the torque requested by the front axle generator may be determined according to the front and rear axle torque distribution ratio of the working condition of the vehicle before shifting, which is not described herein again.
In one embodiment of the present invention, when calculating the torque down torque of the front axle clutch, the torque down torque of the front axle generator motor is used as the torque down torque of the front axle clutch, by determining that the requested torque of the engine is not changed.
Specifically, since the sum of the torque request of the engine and the torque request of the front axle generator motor is equal to the torque request of the front axle clutch, when calculating the torque reduction torque of the front axle clutch, the torque reduction torque can be performed by at least one of the engine or the front axle generator motor to reduce the torque of the front axle clutch to zero, but the torque reduction process of the engine has the disadvantages of slow response and poor accuracy.
In one embodiment of the present invention, determining a first requested torque of a front axle drive motor and a rear axle drive motor based on a torque down torque and an upper limit value of available torque of the front axle drive motor comprises: judging whether the torque reduction torque of the front axle clutch exceeds the upper limit value of the available compensation torque of the front axle driving motor; when the torque reduction torque of the front axle clutch does not exceed the upper limit value of the available compensation torque of the front axle driving motor, the first request torque of the front axle driving motor is the sum of the request torque of the front axle driving motor and the first compensation torque before gear shifting, and the first request torque of the rear axle driving motor is the request torque of the front axle driving motor and the rear axle driving motor before gear shifting; the available compensation torque upper limit value is the difference between the available torque upper limit value and the torque request of the front axle driving motor before gear shifting. Specifically, the first compensation torque is a torque reduction torque of the front axle clutch.
In specific implementation, when the torque reduction torque of the front axle clutch does not exceed the upper limit value of the available compensation torque of the front axle driving motor, the torque reduction torque of the front axle clutch can be completely compensated through the front axle driving motor, and the rear axle driving motor does not need to participate in torque compensation of front axle gear shifting. As shown in fig. 3, the first requested torque of the front axle drive motor at the time of shifting is the sum of the requested torque of the front axle drive motor at the time of shifting and the torque reduction torque of the front axle clutch, and the first requested torque of the rear axle drive motor is the requested torque of the front axle drive motor at the time of shifting.
In one embodiment of the present invention, the shift torque compensation method for a four-wheel drive vehicle further comprises: when the torque reduction torque of the front axle clutch exceeds the upper limit value of the available compensation torque of the front axle driving motor, the first request torque of the front axle driving motor is the upper limit value of the available torque of the front axle driving motor, and the first request torque of the rear axle driving motor is the sum of the request torque of the front axle driving motor and the second compensation torque before and after gear shifting. Specifically, the second compensation torque is the difference between the torque reduction torque of the front axle clutch and the upper limit value of the available compensation torque, and the upper limit value of the available compensation torque is the difference between the upper limit value of the available torque and the torque requested by the front axle driving motor before gear shifting.
In a specific implementation, when the torque reduction torque of the front axle clutch exceeds the upper limit value of the available compensation torque of the front axle driving motor, the torque reduction torque of the front axle clutch cannot be completely compensated through the front axle driving motor, and the rear axle driving motor needs to participate in torque compensation of front axle gear shifting. As shown in fig. 4, the first requested torque of the front axle drive motor at the time of shifting is an upper limit value of available torque of the front axle drive motor, and the first requested torque of the rear axle drive motor is a sum of the requested torque of the front axle drive motor and the second compensation torque, where the second compensation torque is a difference between the torque-down torque of the front axle clutch and the upper limit value of the available compensation torque. Further, in calculating the second compensation torque, in order to improve accuracy, first, the vehicle speed, the vehicle load, and the temperature of the drive motor are obtained, then, a correction coefficient is calculated according to the vehicle speed, the vehicle load, and the temperature of the drive motor, and the product of the difference between the torque reduction torque of the front axle clutch and the upper limit value of the available compensation torque and the correction coefficient is used as the second compensation torque. When the correction coefficient is calculated according to the vehicle speed, the vehicle load, and the temperature of the driving motor, the correction coefficient may be calculated by PID (proportional integral derivative), or may be calculated according to a mapping table, where the mapping table includes correction coefficients corresponding to combinations of the vehicle speeds, the vehicle loads, and the temperature of the driving motor of different vehicles, and this is not limited here. According to the gear shifting torque compensation method of the four-wheel drive vehicle, when the front axle is in a gear shifting state, the first request torques of the front axle driving motor and the rear axle driving motor are respectively determined according to the torque reduction torque and the upper limit value of the available torque of the front axle driving motor, and the torque compensation is performed on the front axle gear shifting of the vehicle through the first request torque, so that the total torque of the whole wheel end is not changed, the wheel end is ensured to have no torque loss, the gear shifting quality of the front axle gear shifting is good, and the driving experience is improved.
The invention further discloses a gear shifting torque compensation device of the four-wheel drive vehicle. The front axle power source of the four-wheel drive vehicle comprises an engine, a front axle power generation motor and a front axle driving motor, the rear axle power source of the vehicle comprises a rear axle driving motor, the engine and the front axle power generation motor are connected through a fixed speed ratio, and power is transmitted to a wheel end through a front axle clutch and a two-gear mechanical structure. Fig. 5 is a schematic structural diagram of a shifting torque compensating device of a four-wheel drive vehicle according to an embodiment of the present invention, and as shown in fig. 5, the device 10 includes: a first determination module 11, a second determination module 12, a third determination module 13 and a compensation module 14. The first determination module 11 is used for determining that the vehicle is in a front axle shifting state; the second determination module 12 is configured to determine a torque reduction torque of a front axle clutch according to the front axle gear shifting state; the third determining module 13 is configured to determine first requested torques of the front axle drive motor and the rear axle drive motor according to the torque reduction torque and an upper limit value of available torque of the front axle drive motor; the compensation module 14 is configured to torque compensate a front axle shift of the vehicle with the first requested torque.
In one embodiment of the present invention, the second determination module 12 determines the torque down torque of the front axle clutch based on the front axle shift state, including: and taking the sum of the torque request of the engine before gear shifting and the torque request of the front axle generator motor as the torque reduction torque of the front axle clutch.
In one embodiment of the invention, the second determination module 12 determines that the torque request of the engine is not changed when calculating the torque down torque of the front axle clutch, and uses the torque down torque of the front axle generator motor as the torque down torque of the front axle clutch.
In one embodiment of the present invention, the third determining module 13 determines the first requested torques of the front axle drive motor and the rear axle drive motor according to the torque reduction torque and the available torque upper limit value of the front axle drive motor, and includes: judging whether the torque reduction torque of the front axle clutch exceeds the upper limit value of the available compensation torque of the front axle driving motor; when the torque reduction torque of the front axle clutch does not exceed the upper limit value of the available compensation torque of the front axle driving motor, the first request torque of the front axle driving motor is the sum of the request torque of the front axle driving motor and the first compensation torque before gear shifting, and the first request torque of the rear axle driving motor is equal to the request torque of the front axle driving motor and the rear axle driving motor before gear shifting; the available compensation torque upper limit value is the difference between the available torque upper limit value and the torque request of the front axle driving motor before gear shifting.
In one embodiment of the invention, the first compensation torque is a torque down torque of the front axle clutch.
In an embodiment of the present invention, the third determining module 13 is further configured to: when the torque reduction torque of the front axle clutch exceeds the upper limit value of the available compensation torque of the front axle driving motor, determining that the first request torque of the front axle driving motor is the upper limit value of the available torque of the front axle driving motor, and determining that the first request torque of the rear axle driving motor is the sum of the request torque of the front axle driving motor and the second compensation torque before and after gear shifting.
In one embodiment of the invention, the second compensation torque is the difference between the torque-down torque of the front axle clutch and the upper limit value of the available compensation torque.
It should be noted that, when the shifting torque compensation device 10 of the four-wheel drive vehicle according to the embodiment of the present invention performs shifting torque compensation of the four-wheel drive vehicle, a specific implementation manner thereof is similar to a specific implementation manner of the shifting torque compensation method of the four-wheel drive vehicle according to the embodiment of the present invention, please refer to the description of the method part specifically, and details are not repeated herein in order to reduce redundancy.
According to the gear shifting torque compensation device 10 of the four-wheel drive vehicle, when the front axle is in a gear shifting state, the first request torques of the front axle driving motor and the rear axle driving motor are respectively determined according to the torque reduction torque and the upper limit value of the available torque of the front axle driving motor, and the torque compensation is performed on the front axle gear shifting of the vehicle through the first request torque, so that the total torque of the whole wheel end is not changed, the wheel end is ensured to have no torque loss, the gear shifting quality of the front axle gear shifting is good, and the driving experience is improved.
A further embodiment of the present invention also discloses a vehicle, including: the shifting torque compensation device of the four-wheel drive vehicle according to any one of the embodiments.
It should be noted that, when the vehicle according to the embodiment of the present invention performs the shift torque compensation of the four-wheel drive vehicle, the specific implementation manner of the shift torque compensation method of the four-wheel drive vehicle according to the embodiment of the present invention is similar to that of the four-wheel drive vehicle, and please refer to the description of the method part specifically, and details are not repeated here in order to reduce redundancy.
According to the vehicle provided by the embodiment of the invention, when the front axle is in a gear shifting state, the first request torques of the front axle driving motor and the rear axle driving motor are respectively determined according to the torque reduction torque and the upper limit value of the available torque of the front axle driving motor, and the torque compensation is carried out on the front axle gear shifting of the vehicle through the first request torque, so that the total torque of the whole wheel end is not changed, the wheel end is ensured to have no torque loss, the gear shifting quality of the front axle gear shifting is good, and the driving experience is improved.
Further embodiments of the present invention also disclose a computer readable storage medium having stored thereon a shift torque compensation program for a four-wheel drive vehicle, which when executed by a processor implements the shift torque compensation method for a four-wheel drive vehicle as described in any of the above embodiments.
According to the computer-readable storage medium of the embodiment of the invention, when the shift torque compensation program of the four-wheel drive vehicle stored on the computer-readable storage medium is executed by the processor, the front axle is in a shift state, the first request torques of the front axle driving motor and the rear axle driving motor are respectively determined according to the torque reduction torque and the available torque upper limit value of the front axle driving motor, and the torque compensation is performed on the front axle shift of the vehicle through the first request torque, so that the total torque of the whole wheel end is not changed, the wheel end is ensured to have no torque loss, the shift quality of the front axle shift is good, and the driving experience is improved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A gear shifting torque compensation method for a four-wheel drive vehicle is characterized in that a front axle power source of the four-wheel drive vehicle comprises an engine, a front axle power generation motor and a front axle driving motor, a rear axle power source of the vehicle comprises a rear axle driving motor, the engine and the front axle power generation motor are connected through a fixed speed ratio, and power is transmitted to a wheel end through a front axle clutch and a two-gear mechanical structure, and the method comprises the following steps:
determining that the vehicle is in a front axle shift state;
determining torque reduction torque of the front axle clutch according to the front axle gear shifting state;
respectively determining first request torques of the front axle driving motor and the rear axle driving motor according to the torque reduction torque and the available torque upper limit value of the front axle driving motor;
torque compensating a front axle shift of the vehicle with the first requested torque.
2. The shift torque compensation method of a four-wheel drive vehicle according to claim 1, wherein determining a torque down torque of the front axle clutch based on the front axle shift state comprises:
and taking the sum of the torque request of the engine and the torque request of the front axle generator motor before gear shifting as the torque reduction torque of the front axle clutch.
3. The shift torque compensation method of a four-wheel drive vehicle according to claim 2, characterized in that, in calculating the torque down torque of the front axle clutch, it is determined that the torque requested of the engine is unchanged, and the torque down torque of the front axle generator motor is taken as the torque down torque of the front axle clutch.
4. The method of claim 1, wherein determining the first requested torques of the front axle drive motor and the rear axle drive motor based on the torque reduction torque and an upper limit value of available torque of the front axle drive motor comprises:
judging whether the torque reduction torque of the front axle clutch exceeds the upper limit value of the available compensation torque of the front axle driving motor;
when the torque reduction torque of the front axle clutch does not exceed the upper limit value of the available compensation torque of the front axle driving motor, the first request torque of the front axle driving motor is the sum of the request torque of the front axle driving motor and the first compensation torque before gear shifting, and the first request torque of the rear axle driving motor is the request torque of the rear axle driving motor before gear shifting; wherein the available compensation torque upper limit value is a difference between the available torque upper limit value and a requested torque of the front axle driving motor before the gear shifting.
5. The shift torque compensation method of a four-wheel drive vehicle according to claim 4, wherein the first compensation torque is a torque-down torque of the front axle clutch.
6. The shift torque compensation method for a four-wheel drive vehicle according to claim 4, characterized by further comprising:
when the torque reduction torque of the front axle clutch exceeds the upper limit value of the available compensation torque of the front axle driving motor, the first request torque of the front axle driving motor is the upper limit value of the available torque of the front axle driving motor, and the first request torque of the rear axle driving motor is the sum of the request torque of the rear axle driving motor and the second compensation torque before gear shifting.
7. The shift torque compensation method of a four-wheel drive vehicle according to claim 6, characterized in that the second compensation torque is a difference between a torque-down torque of the front axle clutch and the upper limit value of the available compensation torque.
8. The utility model provides a torque compensation arrangement that shifts of four-wheel drive vehicle, its characterized in that, the front axle power supply of four-wheel drive vehicle includes engine, front axle generator motor and front axle driving motor, the rear axle power supply of vehicle includes rear axle driving motor, the engine with connect through fixed velocity ratio between the front axle generator motor to pass power to wheel end through front axle clutch and two grades of mechanical structure, the device includes:
the first determination module is used for determining that the vehicle is in a front axle gear shifting state;
the second determination module is used for determining torque reduction torque of the front axle clutch according to the front axle gear shifting state;
the third determining module is used for determining first request torques of the front axle driving motor and the rear axle driving motor according to the torque reduction torque and the available torque upper limit value of the front axle driving motor;
a compensation module to torque compensate a front axle shift of the vehicle with the first requested torque.
9. A vehicle, characterized by comprising: a shifting torque compensating device for a four-wheel drive vehicle as claimed in claim 8.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a shift torque compensation program for a four-wheel drive vehicle, which when executed by a processor implements a shift torque compensation method for a four-wheel drive vehicle according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211425673.2A CN115750772A (en) | 2022-11-15 | 2022-11-15 | Gear shifting torque compensation method and device for four-wheel drive vehicle, vehicle and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211425673.2A CN115750772A (en) | 2022-11-15 | 2022-11-15 | Gear shifting torque compensation method and device for four-wheel drive vehicle, vehicle and storage medium |
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| CN115750772A true CN115750772A (en) | 2023-03-07 |
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| CN202211425673.2A Pending CN115750772A (en) | 2022-11-15 | 2022-11-15 | Gear shifting torque compensation method and device for four-wheel drive vehicle, vehicle and storage medium |
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| Country | Link |
|---|---|
| CN (1) | CN115750772A (en) |
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2022
- 2022-11-15 CN CN202211425673.2A patent/CN115750772A/en active Pending
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