CN115773187A - Control method and device for cold start of engine, vehicle and storage medium - Google Patents
Control method and device for cold start of engine, vehicle and storage medium Download PDFInfo
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- CN115773187A CN115773187A CN202211586222.7A CN202211586222A CN115773187A CN 115773187 A CN115773187 A CN 115773187A CN 202211586222 A CN202211586222 A CN 202211586222A CN 115773187 A CN115773187 A CN 115773187A
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention provides a control method and a control device for cold start of an engine, a vehicle and a storage medium, wherein the control method comprises the following steps: the method comprises the following steps that an engine is in a low-temperature cold starting working condition, an engine starting instruction is received, the water temperature before the engine is started, the oil temperature of a gearbox, the crankshaft position of the engine, the slip difference of the front end and the rear end of a clutch and the opening degree of an accelerator pedal are obtained, and the feed-forward torque of the clutch is determined; when the rotating speed of the engine is lower than a first preset rotating speed, controlling the starter to start, when the rotating speed of the engine exceeds the first preset rotating speed, controlling the starter to turn off, and when the rotating speed of the engine exceeds a second preset rotating speed and an ignition instruction is received, acquiring the target rotating speed of the engine at the current stage; the rotating speed of the engine is adjusted according to the target rotating speed and the feedforward torque until the rotating speed exceeds a third preset rotating speed, the engine is determined to be successfully started and run at the target rotating speed, the success rate of low-temperature starting of the engine is improved, and the smoothness of the whole vehicle in the starting process of the engine is ensured.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a control method and device for cold start of an engine, a vehicle and a storage medium.
Background
With the continuous development of new energy vehicles, hybrid vehicles with different structures are more and more, such as a single driving motor, a dual driving motor, a triple driving motor and the like.
At present, when a hybrid vehicle with a front axle and a rear axle combined is started, the vehicle has the problems of starting success rate and smoothness in the starting process, particularly when an engine is in a low-temperature cold starting working condition, the starting process is more complicated, the starting rapidity and the starting smoothness are difficult to ensure, and when the vehicle is started, if a starter is adopted for independent starting, the starter is easy to fail when being independently started due to overlarge starting resistance moment; if the driving motor is adopted for independent starting, the smoothness is poor in the starting process due to the fact that the torque of the clutch is not controllable.
When the slip of the clutch is taken as a target, the closed-loop control cannot cope with all working conditions, and particularly, under the condition that the water temperature of an engine and the oil temperature of a gearbox are reduced, overshoot is easy to occur, the starting time is prolonged, and the starting smoothness is poor in the driving process; if under the open-loop working condition, the accuracy of the target rotating speed of the engine is difficult to ensure, so that the success rate of starting is greatly reduced.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art.
Therefore, one object of the present invention is to provide a method for controlling cold start of an engine, which ensures the smoothness of the whole vehicle during the starting process of the engine while increasing the success rate of low-temperature start of the engine.
To this end, a second object of the invention is to propose a control device for cold starting of an engine.
To this end, a third object of the invention is to propose a vehicle.
To this end, a fourth object of the invention is to propose a storage medium.
In order to achieve the above object, an embodiment of a first aspect of the present invention proposes a control method of an engine cold start, the method including: when the engine is in a low-temperature cold start working condition, if an engine start instruction is received, acquiring the water temperature before the engine is started, the oil temperature of a gearbox, the crankshaft position of the engine, the slip difference of the front end and the rear end of a clutch and the opening degree of an accelerator pedal; determining the feed-forward torque of the clutch according to the water temperature of the engine before the engine is started, the oil temperature of the gearbox, the position of a crankshaft of the engine, the slip of the front end and the rear end of the clutch and the opening of an accelerator pedal; when the rotating speed of the engine is less than a first preset rotating speed, controlling a starter to start, when the rotating speed of the engine is between the first preset rotating speed and a second preset rotating speed, controlling the starter to reduce torque, and when the rotating speed of the engine reaches the second preset rotating speed and the starting torque of the starter is preset torque, controlling the starter to close until the rotating speed of the engine exceeds the second preset rotating speed and an ignition instruction is received, and acquiring the target rotating speed of the engine at the current stage; and adjusting the rotating speed of the engine according to the target rotating speed and the feedforward torque until the rotating speed of the engine exceeds a third preset rotating speed, and if the engine is successfully started, controlling the engine to operate at the target rotating speed according to the rotating speed of the engine and the gear of the gearbox, wherein the second preset rotating speed is greater than the first preset rotating speed, and the third preset rotating speed is greater than the second preset rotating speed.
According to the control method for the cold start of the engine, when the engine is in a low-temperature cold start working condition, if an engine start instruction is received, the feedforward torque of the clutch is determined according to the water temperature of the engine, the oil temperature of the gearbox, the crankshaft position of the engine and the slip difference of the front end and the rear end of the clutch, so that under the starting working condition at different moments, the more appropriate feedforward torque of the clutch is determined according to the parameters, after the feedforward torque of the clutch is determined, the engine rotating speed in the starting process of the engine is detected, when the engine is in the initial starting stage and the rotating speed is low, the clutch is greatly influenced by low temperature, the torque deviation of the clutch is overlarge, at the moment, the starter is controlled to be started, the starter and is combined with the driving motor to provide required torque for normal work of the engine, the torque deviation is reduced, and the smoothness in the starting process is guaranteed while the success rate of the low-temperature start of the engine is improved.
In some implementations, determining the feed-forward torque of the clutch according to the water temperature of the engine before the engine is started, the oil temperature of the gearbox, the crankshaft position of the engine, the slip magnitude of the front end and the rear end of the clutch and the opening degree of an accelerator pedal comprises: and inputting the water temperature of the engine, the oil temperature of the gearbox, the crankshaft position of the engine, the slip difference of the front end and the rear end of the clutch and the opening degree of the accelerator pedal into a preset self-learning model to determine the feedforward torque.
In some implementations, adjusting the speed of the engine based on the target speed and the feed-forward torque includes: calculating a difference between the target rotational speed and a rotational speed of the engine; determining a gain parameter according to the rotating speed of the engine and the oil temperature of the gearbox; carrying out PID closed-loop control on the requested torque of the clutch according to the difference value and the gain parameter; and adjusting the rotating speed of the engine according to the request torque and the feedforward torque.
In some implementations, controlling the starter to de-torque when the rotational speed of the engine is between the first preset rotational speed and a second preset rotational speed, and controlling the starter to turn off when the torque of the starter is a preset torque, includes: and controlling the starter to reduce torque according to a preset torque change rate, and controlling the starter to be closed until the torque of the starter is zero.
In some implementations, when the rotational speed of the engine exceeds a third preset rotational speed, the method further includes: and if the engine fails to start, correcting the target rotating speed and the feedforward torque so as to adjust the rotating speed of the engine according to the corrected target rotating speed and the corrected feedforward torque, restarting the engine when the rotating speed of the engine exceeds the third preset rotating speed again, and counting the number of times of starting the engine.
In some embodiments, when the number of times of the engine starting reaches a preset number, a warning message of the engine starting failure is sent out.
In order to achieve the above object, an embodiment of a second aspect of the present invention proposes a control device for cold start of an engine, including: the acquisition module is used for acquiring the water temperature before the engine is started, the oil temperature of a gearbox, the crankshaft position of the engine, the slip of the front end and the rear end of a clutch and the opening of an accelerator pedal if an instruction of starting the engine is received when the engine is in a low-temperature cold start working condition; the determining module is used for determining the feedforward torque of the clutch according to the water temperature before the engine is started, the oil temperature of the gearbox, the position of a crankshaft of the engine, the slip difference of the front end and the rear end of the clutch and the opening degree of an accelerator pedal; the first control module is used for controlling a starter to start when the rotating speed of the engine is less than a first preset rotating speed, controlling the starter to reduce torque when the rotating speed of the engine is between the first preset rotating speed and a second preset rotating speed, and controlling the starter to close when the rotating speed of the engine reaches the second preset rotating speed and the starting torque of the starter is a preset torque, so that the target rotating speed of the engine at the current stage is obtained when the rotating speed of the engine exceeds the second preset rotating speed and an ignition instruction is received; and the second control module is used for adjusting the rotating speed of the engine according to the target rotating speed and the feedforward torque until the rotating speed of the engine exceeds a third preset rotating speed, and if the engine is determined to be started successfully, controlling the engine to operate at the target rotating speed according to the rotating speed of the engine and a gear where a gearbox is located, wherein the second preset rotating speed is greater than the first preset rotating speed, and the third preset rotating speed is greater than the second preset rotating speed.
According to the control device for the cold start of the engine, when the engine is in a low-temperature cold start working condition, if an engine start instruction is received, the feedforward torque of the clutch is determined according to the water temperature of the engine, the oil temperature of the gearbox, the crankshaft position of the engine and the slip difference between the front end and the rear end of the clutch, so that under the starting working condition at different moments, the more appropriate feedforward torque of the clutch is determined according to the parameters, after the feedforward torque of the clutch is determined, the engine rotating speed in the starting process of the engine is detected, when the engine is in the initial starting stage and the rotating speed is low, the clutch is greatly influenced by low temperature, the torque deviation of the clutch is overlarge, at the moment, the starter is controlled to be started, the starter and is combined with the driving motor to provide required torque for normal work of the engine, the torque deviation is reduced, and the smoothness in the starting process is guaranteed while the success rate of the low-temperature start of the engine is improved.
In some embodiments, the determination module is to: and inputting the water temperature of the engine, the oil temperature of the gearbox, the crankshaft position of the engine, the slip difference of the front end and the rear end of the clutch and the opening degree of the accelerator pedal into a preset self-learning model to determine the feedforward torque.
In order to achieve the above object, an embodiment of a third aspect of the invention proposes a vehicle that employs the control device for engine cold start as described in the above embodiment.
According to the vehicle provided by the embodiment of the invention, when the engine is in a low-temperature cold start working condition, if an engine start instruction is received, the water temperature of the engine, the oil temperature of a gearbox, the crankshaft position of the engine and the slip difference of the front end and the rear end of the clutch determine the feedforward torque of the clutch, so that under the starting working condition at different moments, the more appropriate feedforward torque of the clutch is determined according to the parameters, after the feedforward torque of the clutch is determined, the engine rotating speed in the starting process of the engine is detected, when the engine is in the initial starting stage and the rotating speed is low, the clutch is greatly influenced by low temperature, the torque deviation of the clutch is overlarge, at the moment, the starter is controlled to be started, the starter and is combined with the driving motor to provide the required torque for the normal work of the engine, the torque deviation is reduced, and the smoothness in the starting process is ensured while the success rate of the low-temperature starting of the engine is improved.
In order to achieve the above object, an embodiment of a fourth aspect of the present invention proposes a storage medium having stored thereon a control program for cold start of an engine, which when executed by a processor, implements a control method for cold start of an engine as described in the above embodiment.
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 flowchart of a control method of an engine cold start according to one embodiment of the invention;
FIG. 2 is a flow chart of a method of controlling a cold start of an engine according to an embodiment of the present disclosure;
FIG. 3 is a block diagram of a control apparatus for cold start of an engine according to an embodiment of the present invention;
FIG. 4 is a block diagram of a vehicle according to one 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.
In the related art, when a hybrid vehicle is started at a low temperature and in a cold state, the starting smoothness cannot be met, and meanwhile, the starting success rate is ensured, when an engine is started at the low temperature, the required dragging torque is large, and the positions of a crankshaft of the engine during shutdown are different, so that the torques required at the initial stage of each starting are different, for example, the torques required by the current starting working condition and the next starting working condition cannot be ensured to be the same, and if the torque is too small, the engine cannot be ensured to be started successfully; if the torque is too large, the smoothness of starting of the engine under a low-temperature cold starting working condition such as a static starting working condition and a running starting working condition is difficult to ensure, and especially the smoothness of starting in a running starting process is difficult to ensure.
Meanwhile, the types of clutches are different, the torque source of a wet clutch is mainly a hydraulic system, the water temperature of an engine and the oil temperature of a gearbox are overshot under the condition of low temperature, the friction coefficient estimation of a clutch plate generates deviation due to the increase of the viscosity of the oil, the precision of the torque of the clutch cannot be accurately controlled, the overshoot is obvious under the condition of PID (Proportional-Integral-Derivative) closed-loop regulation, and a large force is required to drag the crankshaft of the engine to rotate at the initial stage of torque establishment and the early stage of engine starting, so that the starting difficulty is increased.
Therefore, when the engine is in a low-temperature cold start working condition, the starter and the driving motor are jointly started, so that the problem of failed starting of the starter caused by overlarge starting resistance of the low-temperature engine is solved, and the problem of unsmooth starting process caused by overlarge torque deviation of the clutch caused by low temperature in the starting process of the driving motor can be solved.
The control method of the engine cold start according to the embodiment of the present invention will be described below with reference to fig. 1 and 2.
As shown in fig. 1, the control method of the engine cold start according to the embodiment of the present invention includes at least steps S1 to S4.
Step S1, when the engine is in a low-temperature cold start working condition, if an engine start instruction is received, acquiring the water temperature before the engine is started, the oil temperature of a gearbox, the crankshaft position of the engine, the slip of the front end and the rear end of a clutch and the opening of an accelerator pedal.
When the engine is in the low-temperature cold start working condition, the water temperature of the engine, the oil temperature of the gearbox, the position of a crankshaft of the engine, the slip difference of the front end and the rear end of the clutch and the opening degree of an accelerator pedal are detected by sensors arranged at different positions, and it can be understood that the parameters can be changed according to different motion states of the engine, the gearbox and the clutch.
In the embodiment, when the engine is determined to be in a low-temperature cold start working condition and when the engine has a start request, the HCU (hybrid Control Unit) sends an engine start instruction to Control the starter to start, and the starting torque of the clutch during the engine start can be determined as the feedforward torque according to the parameters by acquiring the water temperature of the engine before the engine is started, the oil temperature of the gearbox, the crankshaft position of the engine, the slip values of the front end and the rear end of the clutch, the opening degree of an accelerator pedal and the like, so that the problem of unsmooth start caused by inaccurate feedforward torque of the clutch under the condition of low-temperature cold start of the vehicle is solved.
And S2, determining the feedforward torque of the clutch according to the water temperature of the engine before the engine is started, the oil temperature of the gearbox, the position of a crankshaft of the engine, the slip difference of the front end and the rear end of the clutch and the opening degree of an accelerator pedal.
The water temperature of the engine, the oil temperature of the gearbox, the crankshaft position of the engine, the slip magnitude of the front end and the rear end of the clutch and the opening degree of the accelerator pedal are different, the corresponding feedforward torques of the clutches are different, when the feedforward torque of the clutches is determined, the parameters are learned in a self-learning mode under the starting working conditions of different states to determine the feedforward torque of the clutches, and the feedforward torque of the clutches is determined according to the parameters, so that the torque required by the starting working conditions of the vehicle at different moments can be ensured not to be too small or too large, and data support is provided for the successful starting of the engine.
In the embodiment, the feedforward torque of the clutch is determined according to the running parameters such as the water temperature of the engine before the engine is started, the oil temperature of the gearbox, the crankshaft position of the engine, the slip difference between the front end and the rear end of the clutch, the opening degree of an accelerator pedal and the like, the feedforward torque of the clutch is determined according to the parameters, and the appropriate feedforward torque of the clutch can be determined according to different engine crankshaft positions and different engine water temperatures in the starting process of the engine.
And S3, when the rotating speed of the engine is less than a first preset rotating speed, controlling the starter to start, simultaneously combining the clutch, controlling the starter to reduce the torque when the rotating speed of the engine is between the first preset rotating speed and a second preset rotating speed, and controlling the starter to close when the rotating speed of the engine reaches the second preset rotating speed and the starting torque of the starter is the preset torque until the rotating speed of the engine exceeds the second preset rotating speed and an ignition instruction is received, so as to obtain the target rotating speed of the engine at the current stage.
The method comprises the steps that at different stages of engine starting, the rotating speed of an engine is different, the rotating speed of the engine is divided into a first preset rotating speed, a second preset rotating speed and a third preset rotating speed, the magnitude of the feedforward torque of a clutch in the current state at the last time is read and corrected by combining current operation parameters at different rotating speeds, and when the engine is controlled to be cold started at a low temperature, for example, at the starting stage, the rotating speed of the engine is small, the performance of the clutch is poor under the low-temperature working condition, the feedforward torque of the clutch is difficult to be completely transmitted to the engine only by driving a motor to output the torque, so that the engine can normally work according to the torque.
It can be understood that when the rotating speed of the engine is too low, the engine is considered to be in a starting stage, the required torque is large, at this time, the starter needs to be started, and the clutch is combined to enable the starter to be combined with the driving motor, so that the starter outputs partial torque to compensate the output torque of the driving motor, and the output torques of the starter and the driving motor meet the feedforward torque of the clutch, namely meet the required torque when the clutch normally works, wherein the feedforward torque of the clutch is determined jointly according to the operating parameters such as the water temperature of the engine before the engine is started, the oil temperature of a gearbox, the crankshaft position of the engine, the slip difference of the front end and the rear end of the clutch, the opening degree of an accelerator pedal and the like; when the rotating speed of the engine is high, the clutch is considered to have been operated for a period of time, at the moment, the clutch is not in a low-temperature working condition, and under the non-low-temperature working condition, the output torque of the driving motor can meet the feedforward torque of the clutch.
In an embodiment, the method includes the steps of judging the relation between the rotating speed of the engine and a preset rotating speed while controlling the starter to start, and if the rotating speed of the engine is smaller than a first preset rotating speed threshold value, for example, smaller than 200rpm, controlling the starter to start when a starting request of the engine is received, so that the starter and a driving motor jointly output torque, the output torque can reach the feedforward torque of a clutch, a larger force is provided to drag the crankshaft of the engine to rotate, and the success rate of starting the engine is improved.
When the rotating speed of the engine exceeds a first preset rotating speed, the clutch works for a period of time between the first preset rotating speed and a second preset rotating speed, such as between 200rpm and 350rpm, the accuracy of the torque of the clutch cannot be influenced by low temperature, therefore, the output torque of the driving motor can reach the torque of the clutch, at the moment, the starting torque of the starter is controlled to drop at a constant speed, and the starter is controlled to be closed and quit the control until the rotating speed of the engine reaches the second preset rotating speed, such as 350rpm, and the starting torque of the starter is reduced to the preset torque, such as 0.
After the starter is closed and quits control, the rotating speed of the engine continuously rises, when the rotating speed of the engine exceeds a second preset rotating speed, for example, the rotating speed exceeds 350rpm, the vehicle HCU sends an ignition instruction to the engine to control the engine to ignite, the target rotating speed of the engine at the current stage is obtained in the process of igniting the engine, and the rotating speed of the engine can be conveniently adjusted in real time according to the target rotating speeds at different stages by obtaining the target rotating speed of the engine at the current stage.
And step S4: and adjusting the rotating speed of the engine according to the target rotating speed and the feedforward torque until the rotating speed of the engine exceeds a third preset rotating speed, and if the engine is determined to be successfully started, controlling the engine to operate at the target rotating speed according to the rotating speed of the engine and the gear of the gearbox, wherein the second preset rotating speed is greater than the first preset rotating speed, and the third preset rotating speed is greater than the second preset rotating speed.
When the rotating speed of the engine exceeds a second preset rotating speed and an ignition instruction is received, the target rotating speed of the engine is obtained, and the rotating speed of the engine is adjusted according to the target rotating speed, the rotating speed of the engine and the feedforward torque of the clutch.
In the embodiment, after the starter is closed and quitted, the rotating speed of the engine continues to rise, the feedforward torque of the clutch is improved according to the previous pressure building process, the difference value of the target rotating speed of the engine and the rotating speed of the engine is calculated after the feedforward torque of the clutch is determined, and the rotating speed of the engine is subjected to closed-loop PID control according to the difference value so that the rotating speed of the engine is closer to the target rotating speed.
When the rotating speed of the engine exceeds a third preset rotating speed, such as 900rpm, judging whether the engine is started successfully, and if the engine is not started successfully, re-executing the control process to correct the target rotating speed of the engine and the feed-forward torque of the clutch; if the engine is started successfully, acquiring the rotating speed of the engine and the gear of the gearbox, judging whether the rotating speed of the engine and the rotating speed of the shaft of the current gearbox are synchronous, and controlling the engine to take the current rotating speed as a target rotating speed and control the engine to operate at the target rotating speed when the rotating speed of the engine and the rotating speed of the shaft of the current gearbox are synchronous; when the two are out of synchronization, the target clutch is determined according to the gear of the gearbox, the engine is controlled to run at the target rotating speed, and then the vehicle HCU sends a normal control command to the engine so as to execute the clutch request of the next step according to the driving mode of the vehicle, such as range extending or direct driving.
It can be understood that the engine is considered to be in different stages due to different rotating speeds of the engine, and different control strategies are adopted in different stages, so that the starting success rate and the vehicle starting smoothness can be ensured.
According to the control method for the cold start of the engine, when the engine is in a low-temperature cold start working condition, if an engine start instruction is received, the feedforward torque of the clutch is determined according to the water temperature of the engine, the oil temperature of the gearbox, the crankshaft position of the engine and the slip difference of the front end and the rear end of the clutch, so that under the starting working condition at different moments, the more appropriate feedforward torque of the clutch is determined according to the parameters, after the feedforward torque of the clutch is determined, the engine rotating speed in the starting process of the engine is detected, when the engine is in the initial starting stage and the rotating speed is low, the clutch is greatly influenced by low temperature, the torque deviation of the clutch is overlarge, at the moment, the starter is controlled to be started, the starter and is combined with the driving motor to provide required torque for normal work of the engine, the torque deviation is reduced, and the smoothness in the starting process is guaranteed while the success rate of the low-temperature start of the engine is improved.
In some embodiments, when the feedforward torque of the clutch is determined according to the water temperature of the engine before the engine is started, the oil temperature of the gearbox, the crankshaft position of the engine, the slip magnitude of the front end and the rear end of the clutch and the opening degree of the accelerator pedal, the water temperature of the engine, the oil temperature of the gearbox, the crankshaft position of the engine, the slip magnitude of the front end and the rear end of the clutch and the opening degree of the accelerator pedal are input into a preset self-learning model to determine the feedforward torque.
In the embodiment, a preset self-learning model adopts the idea of self-learning combined starting, and through a big data deep learning method or a table look-up method, the feedforward torque required by the clutch is determined according to parameters such as a group of current engine water temperature, the oil temperature of a gearbox, the crankshaft position of an engine, the slip magnitudes of the front end and the rear end of the clutch, the opening degree of an accelerator pedal and the like when the rotating speed of the engine is at a preset rotating speed such as Orpm.
In some embodiments, when the rotating speed of the engine is adjusted according to the target rotating speed and the feedforward torque, calculating a difference value between the target rotating speed and the rotating speed of the engine; determining a gain parameter according to the rotating speed of the engine and the oil temperature of the gearbox; carrying out PID closed-loop control on the requested torque of the clutch according to the difference value and the gain parameter; and adjusting the rotating speed of the engine according to the request torque and the feedforward torque.
In an embodiment, when the rotation speed of the engine exceeds a second preset rotation speed, for example, greater than 350rpm, a target rotation speed of the engine and a feed-forward torque of the clutch are obtained, and the rotation speed of the engine is adjusted according to the target rotation speed and the feed-forward torque of the clutch.
For example, after the target rotating speed of the engine is determined, the difference between the target rotating speed and the engine rotating speed is calculated, for example, the difference between the target rotating speed and the engine rotating speed is used as err, gain parameters such as gain parameters of P and I are determined according to the oil temperature of the gearbox and the rotating speed of the engine, the rotating speed difference is corrected through the gain parameters to obtain the requested torque of the clutch, the feedforward torque is used as the basic torque of the engine, the requested torque of the clutch is corrected through PID closed-loop control, and the rotating speed of the engine is adjusted according to the feedforward torque and the PID closed-loop control to enable the rotating speed of the engine to be close to the target rotating speed continuously.
It will be appreciated that the filter calculations may be used to determine the target engine speed, with the clutch selection gain parameters varying at different stages.
In other embodiments, different control strategies are selected according to the structure and mode of the whole vehicle for the torque of a driving motor such as a GM motor in the starting process, for example, if the GM motor is used as the driving motor and an engine needs to be started, the calculated torque of the GM motor cannot influence the drivability of the whole vehicle; if the GM motor is not used as the driving motor, the calculated torque of the GM motor can be calculated according to the feedforward torque and the negative deviation of the clutch calculated at different stages of the engine speed, and the value of the deviation is the negative deviation and is smaller than the calculated value of the feedforward torque of the clutch.
In some embodiments, controlling the starter to reduce torque when the rotational speed of the engine is between a first preset rotational speed and a second preset rotational speed, and controlling the starter to close when the torque of the starter is a preset torque, comprises: and controlling the starter to reduce torque according to a preset torque change rate, and controlling the starter to be closed until the torque of the starter is zero.
In an embodiment, when the rotation speed of the engine is between a first preset rotation speed and a second preset rotation speed, for example, between 200rpm and 350rpm, the starter is controlled to control the starting torque to decrease at a constant speed according to a preset torque change rate, and until the starting torque of the starter decreases to zero, the starter is controlled to exit the control. If the rotating speed of the engine is increased too fast in the starting process, the preset torque change rate is set to be reduced, and the feedforward torque started by the clutch is reduced, so that the starting time in the starting process of the engine is prolonged, and the engine is enabled to be started more smoothly.
In some embodiments, when the rotation speed of the engine exceeds a third preset rotation speed, if the engine fails to start, the target rotation speed and the feedforward torque are corrected to adjust the rotation speed of the engine according to the corrected target rotation speed and the corrected feedforward torque, and when the rotation speed of the engine again exceeds the third preset rotation speed, the engine is restarted and the number of times of starting of the engine is counted.
In the embodiment, when the rotating speed of the engine exceeds a third preset rotating speed, whether the engine is started successfully is judged, if the engine is determined to be started unsuccessfully, the target rotating speed of the engine and the feedforward torque of the clutch are corrected, the rotating speed of the engine is adjusted according to the corrected target rotating speed of the engine and the feedforward torque of the clutch until the rotating speed of the engine exceeds the third preset rotating speed again, the engine is started again, whether the engine is restarted successfully is judged, the starting times of the engine are counted, when the rotating speed of the engine exceeds the third preset rotating speed, the target rotating speed of the engine and the feedforward torque of the clutch are adjusted by judging whether the engine is started successfully, and the success rate of starting of the engine is improved conveniently.
In some embodiments, when the number of times of engine starting reaches a preset number, a warning message of engine starting failure is sent out.
In an embodiment, when the number of times of starting the engine reaches a preset number of times, for example, the engine fails to start for 5 times continuously, at this time, it is determined that the engine fails to start, a warning message of the engine failed to start is sent, the engine is controlled not to automatically start any more, and a user can be warned that the engine fails to start by sending the warning message of the engine failed to start, so that other starting modes can be adopted.
A control method of the engine cold start of the embodiment of the invention is exemplified with reference to fig. 2.
Fig. 2 is a flowchart of a control method for cold start of an engine according to another embodiment of the present invention.
And S11, acquiring the water temperature before the engine is started, the oil temperature of the gearbox, the crankshaft position of the engine, the slip of the front end and the rear end of the clutch and the opening degree of an accelerator pedal.
And S12, determining the feedforward torque of the clutch according to the water temperature before the engine is started, the oil temperature of the gearbox, the crankshaft position of the engine, the slip difference of the front end and the rear end of the clutch and the opening degree of an accelerator pedal.
And S13, judging whether the rotating speed of the engine is greater than a first preset rotating speed, if so, executing S14, and if not, executing S15.
And step S14, controlling the starter to start.
And S15, judging whether the rotating speed of the engine is greater than a first preset rotating speed and less than a second preset rotating speed, if so, executing S16, and if not, executing S17.
And S16, controlling the starting torque of the starter to decrease at a preset torque change rate until the torque decreases to 0, and controlling the starter to be closed.
And S17, judging whether the rotating speed of the engine is greater than the second preset rotating speed and less than a third preset rotating speed, if so, executing S18, and if not, executing S19.
And S18, acquiring the target rotating speed of the engine at the current stage when the ignition instruction is received.
And S19, judging whether the rotating speed of the engine is greater than a third preset rotating speed or not, if so, executing S20, otherwise, executing S21.
And S21, judging whether the rotating speed of the engine and the rotating speed of the shaft of the current gearbox are synchronous, if so, executing S22, and if not, executing S23.
And S22, controlling the engine to take the current rotating speed as the target rotating speed, and controlling the engine to operate at the target rotating speed.
And S23, determining a target clutch according to the gear of the gearbox, and controlling the engine to run at a target rotating speed.
According to the control method for the cold start of the engine, when the engine is in a low-temperature cold start working condition, if an engine start instruction is received, the feedforward torque of the clutch is determined according to the water temperature of the engine, the oil temperature of the gearbox, the crankshaft position of the engine and the slip difference of the front end and the rear end of the clutch, so that under the starting working condition at different moments, the more appropriate feedforward torque of the clutch is determined according to the parameters, after the feedforward torque of the clutch is determined, the engine rotating speed in the starting process of the engine is detected, when the engine is in the initial starting stage and the rotating speed is low, the clutch is greatly influenced by low temperature, the torque deviation of the clutch is overlarge, at the moment, the starter is controlled to be started, the starter and is combined with the driving motor to provide required torque for normal work of the engine, the torque deviation is reduced, and the smoothness in the starting process is guaranteed while the success rate of the low-temperature start of the engine is improved.
The control device 2 for cold start of an engine according to an embodiment of the present invention is described below, and as shown in fig. 3, is a block diagram of the control device 2 for cold start of an engine according to an embodiment of the present invention, and the device 2 includes: an acquisition module 21, a determination module 22, a first control module 23, a second control module 24, wherein,
the acquiring module 21 is configured to, when the engine is in a low-temperature cold start working condition, acquire a water temperature before the engine is started, an oil temperature of a transmission, a crankshaft position of the engine, a slip value at front and rear ends of a clutch, and an opening degree of an accelerator pedal if an instruction for starting the engine is received; the determining module 22 is used for determining the feedforward torque of the clutch according to the water temperature before the engine is started, the oil temperature of the gearbox, the crankshaft position of the engine, the slip difference of the front end and the rear end of the clutch and the opening degree of an accelerator pedal; the first control module 23 is configured to control the starter to start when the rotation speed of the engine is less than a first preset rotation speed, control the starter to reduce torque when the rotation speed of the engine is between the first preset rotation speed and a second preset rotation speed, and control the starter to turn off when the rotation speed of the engine reaches the second preset rotation speed and the starting torque of the starter is a preset torque, until the rotation speed of the engine exceeds the second preset rotation speed and an ignition instruction is received, obtain a target rotation speed of the engine at a current stage; and the second control module 24 is configured to adjust the rotation speed of the engine according to the target rotation speed and the feedforward torque until the rotation speed of the engine exceeds a third preset rotation speed, and if it is determined that the engine is successfully started, control the engine to operate at the target rotation speed according to the rotation speed of the engine and the gear position of the transmission, where the second preset rotation speed is greater than the first preset rotation speed, and the third preset rotation speed is greater than the second preset rotation speed.
According to the control device 2 for the cold start of the engine, when the engine is in a low-temperature cold start working condition, if an engine start instruction is received, the feedforward torque of the clutch is determined according to the water temperature of the engine, the oil temperature of the gearbox, the crankshaft position of the engine and the slip difference of the front end and the rear end of the clutch, so that under the starting working condition at different moments, the more appropriate feedforward torque of the clutch is determined according to the parameters, after the feedforward torque of the clutch is determined, the engine rotating speed in the starting process of the engine is detected, when the engine is in the initial starting stage and the rotating speed is low, the clutch is greatly influenced by low temperature, the torque deviation of the clutch is overlarge, at the moment, the starter is controlled to be started, the starter and is combined with the driving motor to provide required torque for normal work of the engine, the torque deviation is reduced, and the smoothness in the starting process is guaranteed while the success rate of low-temperature starting of the engine is improved.
In some embodiments, the determining module 22 is specifically configured to: and inputting the water temperature of the engine, the oil temperature of the gearbox, the crankshaft position of the engine, the slip values of the front end and the rear end of the clutch and the opening degree of the accelerator pedal into a preset self-learning model to determine the feedforward torque.
In some embodiments, the first control module 23 is specifically configured to: calculating a difference between the target rotational speed and a rotational speed of the engine; determining a gain parameter according to the rotating speed of the engine and the oil temperature of the gearbox; carrying out PID closed-loop control on the requested torque of the clutch according to the difference value and the gain parameter; and adjusting the rotating speed of the engine according to the requested torque and the feedforward torque.
In some embodiments, the first control module 23 is specifically configured to: and controlling the starter to reduce the torque according to a preset torque change rate, and controlling the starter to be closed until the torque of the starter is zero.
In some embodiments, the second control module 24 is specifically configured to: and if the engine fails to start, correcting the target rotating speed and the feedforward torque so as to adjust the rotating speed of the engine according to the corrected target rotating speed and the corrected feedforward torque, restarting the engine when the rotating speed of the engine exceeds the third preset rotating speed again, and counting the number of times of starting the engine.
In some embodiments, the second control module 24 is specifically configured to: and when the starting times of the engine reach the preset times, sending out reminding information of the failed starting of the engine.
According to the control device 2 for the cold start of the engine, when the engine is in a low-temperature cold start working condition, if an engine start instruction is received, the feedforward torque of the clutch is determined according to the water temperature of the engine, the oil temperature of the gearbox, the crankshaft position of the engine and the slip difference of the front end and the rear end of the clutch, under the starting working condition at different moments, the more appropriate feedforward torque of the clutch is determined according to the parameters, after the feedforward torque of the clutch is determined, the engine speed in the starting process of the engine is detected, when the engine is in the initial starting stage and the engine speed is low, the clutch is greatly influenced by low temperature, the torque deviation of the clutch is overlarge, at the moment, the starter is controlled to be started, the starter is combined with the driving motor, the required torque is provided for the normal work of the engine, the torque deviation is reduced, and the smoothness in the starting process is guaranteed while the success rate of the low-temperature start of the engine is improved.
The vehicle 3 of the embodiment of the invention is described below with reference to fig. 4.
As shown in fig. 4, a vehicle 3 of the embodiment of the invention includes the control device 2 of the engine cold start of the above-described embodiment.
According to the vehicle 3 provided by the embodiment of the invention, when the engine is in a low-temperature cold start working condition, if an engine start instruction is received, the feedforward torque of the clutch is determined according to the water temperature of the engine, the oil temperature of the gearbox, the crankshaft position of the engine and the slip difference between the front end and the rear end of the clutch, so that under the starting working condition at different moments, the more appropriate feedforward torque of the clutch is determined according to the parameters, after the feedforward torque of the clutch is determined, the engine rotating speed in the starting process of the engine is detected, when the engine is in the initial starting stage and the rotating speed is lower, the clutch is greatly influenced by low temperature, the torque deviation of the clutch is overlarge, at the moment, the starter is controlled to be started, the starter is combined with the driving motor, the required torque is provided for the normal work of the engine, the torque deviation is reduced, and the smoothness in the starting process is ensured while the success rate of the low-temperature starting of the engine is improved.
The storage medium of the embodiment of the present invention is described below.
The storage medium of the embodiment of the invention stores a control program for cold start of the engine, and the control program for cold start of the engine realizes the control method for cold start of the engine of the embodiment when executed by the processor.
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 present 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 control method of an engine cold start, characterized by comprising:
when the engine is in a low-temperature cold start working condition, if an engine start instruction is received, acquiring the water temperature before the engine is started, the oil temperature of a gearbox, the crankshaft position of the engine, the slip difference of the front end and the rear end of a clutch and the opening degree of an accelerator pedal;
determining the feedforward torque of the clutch according to the water temperature before the engine is started, the oil temperature of the gearbox, the position of a crankshaft of the engine, the slip of the front end and the rear end of the clutch and the opening of an accelerator pedal;
when the rotating speed of the engine is less than a first preset rotating speed, controlling a starter to start, when the rotating speed of the engine is between the first preset rotating speed and a second preset rotating speed, controlling the starter to reduce torque, and when the rotating speed of the engine reaches the second preset rotating speed and the starting torque of the starter is preset torque, controlling the starter to close until the rotating speed of the engine exceeds the second preset rotating speed and an ignition instruction is received, and acquiring the target rotating speed of the engine at the current stage;
and adjusting the rotating speed of the engine according to the target rotating speed and the feedforward torque until the rotating speed of the engine exceeds a third preset rotating speed, and if the engine is successfully started, controlling the engine to operate at the target rotating speed according to the rotating speed of the engine and the gear of the gearbox, wherein the second preset rotating speed is greater than the first preset rotating speed, and the third preset rotating speed is greater than the second preset rotating speed.
2. The method for controlling the cold start of the engine according to claim 1, wherein the determining of the feed-forward torque of the clutch according to the water temperature of the engine before the engine is started, the oil temperature of the gearbox, the crankshaft position of the engine, the slip magnitude of the front end and the rear end of the clutch and the opening degree of the accelerator pedal comprises:
and inputting the water temperature of the engine, the oil temperature of the gearbox, the crankshaft position of the engine, the slip difference of the front end and the rear end of the clutch and the opening degree of the accelerator pedal into a preset self-learning model to determine the feedforward torque.
3. The method of controlling engine cold start according to claim 1, wherein adjusting the rotational speed of the engine according to the target rotational speed and the feed-forward torque includes:
calculating a difference between the target rotational speed and a rotational speed of the engine;
determining a gain parameter according to the rotating speed of the engine and the oil temperature of the gearbox;
carrying out PID closed-loop control on the requested torque of the clutch according to the difference value and the gain parameter;
and adjusting the rotating speed of the engine according to the request torque and the feedforward torque.
4. The method for controlling cold start of an engine according to claim 1, wherein controlling the starter to de-torque when the rotational speed of the engine is between the first preset rotational speed and a second preset rotational speed, and controlling the starter to turn off when the torque of the starter is a preset torque, comprises:
and controlling the starter to reduce the torque according to a preset torque change rate, and controlling the starter to be closed until the torque of the starter is zero.
5. The control method of the engine cold start according to claim 3, characterized by further comprising, when the rotation speed of the engine exceeds a third preset rotation speed:
and if the engine fails to start, correcting the target rotating speed and the feedforward torque so as to adjust the rotating speed of the engine according to the corrected target rotating speed and the corrected feedforward torque, restarting the engine when the rotating speed of the engine exceeds the third preset rotating speed again, and counting the number of times of starting the engine.
6. The control method of the engine cold start according to claim 5, characterized by further comprising: and sending out the reminding information of the failed starting of the engine when the starting times of the engine reach the preset times.
7. A control device for cold start of an engine, characterized by comprising:
the acquisition module is used for acquiring the water temperature before the engine is started, the oil temperature of a gearbox, the crankshaft position of the engine, the slip of the front end and the rear end of a clutch and the opening of an accelerator pedal if an engine starting instruction is received when the engine is in a low-temperature cold starting working condition;
the determining module is used for determining the feedforward torque of the clutch according to the water temperature before the engine is started, the oil temperature of the gearbox, the crankshaft position of the engine, the slip difference of the front end and the rear end of the clutch and the opening degree of an accelerator pedal;
the first control module is used for controlling a starter to start when the rotating speed of the engine is less than a first preset rotating speed, controlling the starter to reduce torque when the rotating speed of the engine is between the first preset rotating speed and a second preset rotating speed, and controlling the starter to close when the rotating speed of the engine reaches the second preset rotating speed and the starting torque of the starter is a preset torque, so that the target rotating speed of the engine at the current stage is obtained when the rotating speed of the engine exceeds the second preset rotating speed and an ignition instruction is received;
and the second control module is used for adjusting the rotating speed of the engine according to the target rotating speed and the feedforward torque until the rotating speed of the engine exceeds a third preset rotating speed, and if the engine is successfully started, controlling the engine to operate at the target rotating speed according to the rotating speed of the engine and the gear position of a gearbox, wherein the second preset rotating speed is greater than the first preset rotating speed, and the third preset rotating speed is greater than the second preset rotating speed.
8. The control apparatus of a cold start of an engine according to claim 7, wherein said determination module is configured to:
and inputting the water temperature of the engine, the oil temperature of the gearbox, the crankshaft position of the engine, the slip difference of the front end and the rear end of the clutch and the opening degree of the accelerator pedal into a preset self-learning model to determine the feedforward torque.
9. A vehicle characterized by comprising the control apparatus for cold start of an engine according to claim 7 or 8.
10. A storage medium having stored thereon a control program for cold start of an engine, which when executed by a processor implements a control method for cold start of an engine according to any one of claims 1 to 6.
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| DE202014002546U1 (en) * | 2014-03-22 | 2015-06-26 | GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) | Computer program for controlling a motor torque during the start of a motor vehicle |
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| CN115111102A (en) * | 2022-01-25 | 2022-09-27 | 长城汽车股份有限公司 | Control method and device for cold start of vehicle, electronic equipment and vehicle |
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| JP2000154753A (en) * | 1998-11-19 | 2000-06-06 | Nissan Motor Co Ltd | Starting control device of engine |
| DE202014002546U1 (en) * | 2014-03-22 | 2015-06-26 | GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) | Computer program for controlling a motor torque during the start of a motor vehicle |
| CN113389891A (en) * | 2020-03-12 | 2021-09-14 | 广州汽车集团股份有限公司 | Low-temperature starting control method and device of clutch transmission and related equipment |
| CN115111102A (en) * | 2022-01-25 | 2022-09-27 | 长城汽车股份有限公司 | Control method and device for cold start of vehicle, electronic equipment and vehicle |
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