CN116552491A

CN116552491A - Sliding energy feedback method and system of hybrid electric vehicle and vehicle

Info

Publication number: CN116552491A
Application number: CN202310638479.0A
Authority: CN
Inventors: 张明; 贾成禹; 李尚志
Original assignee: Sany Electric Vehicle Technology Co Ltd
Current assignee: Sany Electric Vehicle Technology Co Ltd
Priority date: 2023-05-31
Filing date: 2023-05-31
Publication date: 2023-08-08

Abstract

The invention provides a sliding energy feedback method and system of a hybrid electric vehicle and the vehicle, and relates to the technical field of hybrid electric vehicles, wherein the method comprises the following steps: determining a coasting feedback torque based on the target state information of the vehicle and the current state information of the vehicle; the target state information comprises a target SOC and a target vehicle speed, and the current state information comprises a current SOC, a current motor rotating speed and a current vehicle speed; and controlling the motor to rotate based on the sliding feedback torque. According to the invention, different sliding feedback torques are set for different vehicle conditions, so that the energy recovery efficiency can be improved.

Description

Sliding energy feedback method and system of hybrid electric vehicle and vehicle

Technical Field

The present invention relates to the field of hybrid vehicles, and in particular, to a method and a system for feeding back sliding energy of a hybrid vehicle, and a vehicle.

Background

In recent years, with the enhancement of environmental awareness of the human society, people are increasingly aware of the harm of high emission of conventional internal combustion vehicles to the human environment. The hybrid power system composed of the energy storage equipment and the internal combustion power not only can save fuel and reduce pollutant emission, but also can reduce operation cost, so that the hybrid power system is a very promising comprehensive energy utilization system and is also a research hot spot in the traffic field in recent years. The novel system not only maintains the advantage of high applicability of the internal combustion power line, but also allows short-term full electric traction during operation, low-emission and low-noise operation of the automobile is realized, and the environmental performance of the automobile is greatly improved. However, how to fully improve the driving energy efficiency of the vehicle by using the hybrid power system, so as to further prolong the driving mileage of the vehicle, is a critical problem to be solved by using the hybrid power system.

Disclosure of Invention

The invention provides a sliding energy feedback method and system of a hybrid power vehicle and the vehicle, and the energy recovery efficiency is improved under the condition of not affecting driving experience by sliding energy feedback.

The invention provides a sliding energy feedback method of a hybrid vehicle, comprising the following steps:

determining a coasting feedback torque based on the target state information of the vehicle and the current state information of the vehicle; the target state information comprises a target SOC and a target vehicle speed, and the current state information comprises a current SOC, a current motor rotating speed and a current vehicle speed;

and controlling the motor to rotate based on the sliding feedback torque.

Optionally, the determining the coasting feedback torque based on the target state information of the vehicle and the current state information of the vehicle includes:

determining a charging torque according to the target SOC, the current SOC and the current motor speed;

determining a charge limiting torque;

determining a charging torque difference value according to the charging torque and the charging limiting torque;

acquiring an influence coefficient of the PI controller;

correcting the charging torque difference value based on the influence coefficient of the PI controller to obtain a charging torque correction value;

and determining the sliding feedback torque according to the charging torque and the charging torque correction value.

Optionally, the determining the charging torque according to the target SOC, the current SOC, and the current motor speed includes:

determining a difference value SOC according to the target SOC and the current SOC;

determining a first charging power according to the difference value SOC and the current motor rotating speed;

acquiring an influence coefficient of a whole vehicle power transmission chain and an influence coefficient of driving force on a vehicle speed, and respectively marking the influence coefficient as a first coefficient and a second coefficient;

and determining the charging torque according to the first charging power, the first coefficient and the second coefficient.

Optionally, the charging torque correction value includes a first torque correction value and a second torque correction value; determining the coasting feedback torque according to the charging torque and the charging torque correction value, including:

and determining the sliding feedback torque according to the sum of the charging torque, the first torque correction value and the second torque correction value.

Optionally, the determining the charging torque according to the first charging power, the first coefficient and the second coefficient includes:

determining a second charging power according to the product of the first charging power, the first coefficient and the second coefficient;

and determining the charging torque according to the second charging power and the current motor rotating speed.

Optionally, the second coefficient is determined according to a vehicle speed rising rate before non-slip and an average change rate of an accelerator pedal before non-slip.

Optionally, the determining the charging limit torque includes:

determining the maximum charging power of the motor and the maximum charging power of the battery;

taking the power with smaller absolute value of the maximum charging power of the motor and the maximum charging power of the battery as charging limiting power;

and determining the charging limiting torque according to the charging limiting power.

The invention also provides a sliding energy feedback system of the hybrid vehicle, comprising:

the sliding feedback torque determining module is used for determining sliding feedback torque based on the target state information of the vehicle and the current state information of the vehicle; the target state information comprises a target SOC and a target vehicle speed, and the current state information comprises a current SOC, a current motor rotating speed and a current vehicle speed;

and the control module is used for controlling the motor to rotate based on the sliding feedback torque.

The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the sliding energy feedback method of the hybrid electric vehicle when executing the program.

The present invention also provides a vehicle including: a coasting energy feedback system or electronic device for a hybrid vehicle.

The invention provides a sliding energy feedback method, a sliding energy feedback system and a sliding energy feedback vehicle of a hybrid vehicle, wherein sliding feedback torque is determined based on target state information of the vehicle and current state information of the vehicle, the target state information comprises a target SOC and a target vehicle speed, and the current state information comprises a current SOC, a current motor rotating speed and a current vehicle speed; and controlling the motor to rotate based on the sliding feedback torque. The invention determines different sliding feedback torques according to different vehicle target state information and current state information, the sliding feedback torques do not affect driving, and compared with the method for setting single torque, the method for determining different sliding feedback torques according to different vehicle conditions can improve energy recovery efficiency.

Drawings

In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a powertrain of a prior art hybrid vehicle;

FIG. 2 is a flow chart of a method for coasting energy feedback for a hybrid vehicle according to the present invention;

FIG. 3 is a block diagram of a coasting energy feedback system for a hybrid vehicle according to the present invention;

fig. 4 is a schematic structural diagram of an electronic device provided by the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Fig. 1 is a schematic diagram of a power system of a hybrid vehicle in the prior art, as shown in fig. 1, the power system of the hybrid vehicle includes an engine 1, a C1 clutch 2, an hcu controller 3, an isg motor 4, a battery assembly 5, a C2 clutch 6, a clutch pedal 7, a 12-gear MT gearbox 8, a rear axle 9 and wheels 10, and the present invention is implemented based on the existing hardware structure, and the specific structure thereof is not repeated herein.

The following describes a method, a system and a vehicle for feeding back sliding energy of a hybrid vehicle according to the present invention with reference to fig. 2 to 4, and fig. 2 is a flowchart of the method for feeding back sliding energy of a hybrid vehicle according to the present invention, and as shown in fig. 2, a method for feeding back sliding energy of a hybrid vehicle includes:

step 201: determining a coasting feedback torque based on the target state information of the vehicle and the current state information of the vehicle; the target state information includes a target SOC and a target vehicle speed, and the current state information includes a current SOC, a current motor speed, and a current vehicle speed.

The coasting refers to a state of the vehicle when the driver does not step on the accelerator or the brake.

In a specific embodiment, determining the coasting feedback torque based on the target state information of the vehicle and the current state information of the vehicle includes:

determining a charge limiting torque;

acquiring an influence coefficient of the PI controller;

Based on the sliding feedback torque determined by the method, the influence factors such as the target SOC, the current SOC and the current motor rotating speed are comprehensively considered, so that the sliding feedback torque obtained for different vehicle conditions is different, and compared with the method for setting a single feedback torque value, the method can improve the energy recovery efficiency.

In a specific embodiment, determining the charging torque based on the target SOC, the current SOC, and the current motor speed includes:

acquiring an influence coefficient of a whole vehicle power transmission chain and an influence coefficient of driving force on a vehicle speed, wherein the influence coefficient of the whole vehicle power transmission chain is recorded as a first coefficient; the influence coefficient of the driving force on the vehicle speed is recorded as a second coefficient;

In addition, a PI controller in a vehicle is a linear controller that forms a control deviation from a given value and an actual output value, and forms a control amount by linearly combining a proportion and an integral of the deviation, thereby controlling a controlled object. Based on the above, the invention adopts the P coefficient and the I coefficient in the PI controller for control, wherein the P coefficient has a proportion adjusting function: i.e. the deviation of the proportional reaction system, the proportional adjustment produces an adjustment effect to reduce the deviation as soon as the deviation occurs. The proportion has a large effect, can accelerate adjustment and reduce errors, but the stability of the system is reduced and even the system is unstable due to the excessive proportion. The I coefficient produces an integral adjustment: even if the system eliminates steady state errors, the error-free degree is improved. Because of the error, the integral adjustment is performed until no difference exists, the integral adjustment is stopped, and the integral adjustment outputs a constant value. The magnitude of the integration depends on the integration time constant Ti, the smaller Ti, the stronger the integration. On the contrary, if Ti is large, the integral effect is weak, and the addition of integral adjustment can reduce the stability of the system and slow down the dynamic response. Thus, in a specific embodiment, the influence coefficients of the PI controller of the present invention include a third coefficient (P coefficient) for generating a proportional adjustment effect and a fourth coefficient (I coefficient) that can be determined by the relationship between the target vehicle speed and the current vehicle speed; the fourth coefficient is used to produce an integral adjustment, and the fourth coefficient may be determined from a relationship between the target vehicle speed and the current vehicle speed.

In a specific embodiment, the charging torque correction value includes a first torque correction value and a second torque correction value; determining the coasting feedback torque according to the charging torque and the charging torque correction value, including:

In a specific embodiment, determining the charging torque from the first charging power, the first coefficient, and the second coefficient includes:

determining a second charging power according to the product of the first charging power, the first coefficient and the second coefficient; and determining the charging torque according to the second charging power and the current motor rotating speed.

In a specific embodiment, the charging torque = second charging power x 9550/current motor speed.

In a specific embodiment, the first coefficient may represent an influence factor of the power transmission chain of the whole vehicle, and the value range is any value from 0 to 1, and may be determined according to a corresponding relationship between the current vehicle speed and the current motor rotation speed.

In a specific embodiment, the second coefficient may represent an influence factor of the driving force on the vehicle speed, and the value range is any value from 0 to 1, and may be determined according to a corresponding relationship between a vehicle speed rising rate before non-sliding and an average change rate of the accelerator pedal before non-sliding.

In a specific embodiment, the first charging power is determined according to a correspondence between the difference SOC and the current motor rotation speed.

In a specific embodiment, the charge limiting torque is determined based on a motor maximum charge power and a battery maximum charge power. The values of the maximum charging power of the motor and the maximum charging power of the battery are determined according to p=ui, then the absolute values of the maximum charging power of the motor and the maximum charging power of the battery are compared, the smaller power is used as charging limiting power P, and according to the charging limiting power P, charging limiting torque T is calculated by using p=t×n/9550, wherein n is the current motor rotation speed.

In a specific embodiment, determining the charging torque difference from the charging torque and the charging limit torque includes: the charging torque is subtracted from the charging limit torque to obtain a charging torque difference.

In a specific embodiment, the charging torque difference is multiplied by a third coefficient to obtain a first torque correction value, and the charging torque difference is multiplied by a fourth coefficient to obtain a second torque correction value.

In a specific embodiment, before controlling the motor to rotate based on the sliding feedback torque, a filtering process may be further performed on the sliding feedback torque. The current engine speed and torque need to be considered in the filtering process, and the motor speed and torque need to be considered; wherein, determining a corresponding first filter coefficient according to the values of the engine speed and the torque; determining a corresponding second filter coefficient according to the values of the motor rotating speed and the torque; multiplying the first filter coefficient by the second filter coefficient to obtain a third filter coefficient; specifically, the sliding feedback torque is subjected to a filtering process, and first-order low-pass filtering is performed based on a third filtering coefficient.

It should be noted that, for the first charging power, the first coefficient, the second coefficient, the third coefficient, the fourth coefficient, the first filter coefficient, and the second filter coefficient, historical data of influence parameters of these parameters (the first charging power, the first coefficient, the second coefficient, the third coefficient, the fourth coefficient, the first filter coefficient, and the second filter coefficient) may be acquired in advance (for example, the influence parameters of the first charging power are the difference value SOC and the current motor rotation speed); and acquiring the values of the parameters under the historical data, then preparing a table according to the corresponding relation between the historical data of the influencing parameters and the values of the parameters, and storing the corresponding relation of the data in the table in a controller of the vehicle.

Step 202: and controlling the motor to rotate based on the sliding feedback torque.

The invention provides a sliding energy feedback method, a sliding energy feedback system and a sliding energy feedback vehicle of a hybrid vehicle, wherein sliding feedback torque is determined based on target state information of the vehicle and current state information of the vehicle, the target state information comprises a target SOC and a target vehicle speed, and the current state information comprises a current SOC, a current motor rotating speed and a current vehicle speed; and controlling the motor to rotate based on the sliding feedback torque. According to the invention, different sliding feedback torques are determined according to the difference between the target state information and the current state information of the vehicle, so that the driving experience is not affected and the energy recovery efficiency is improved.

The invention also discloses the following technical effects:

1. the invention can cover various roads, and the sliding energy feedback of different loads and vehicle speeds.

2. The invention combines the current SOC and the target SOC to carry out the sliding energy feedback calculation, effectively considers the whole vehicle energy feedback capacity and effectively ensures the reliability of the whole vehicle system.

3. The calculation process of the invention can ensure the comfort and stability of the whole vehicle under the dynamic sliding energy feedback.

The following describes a sliding energy feedback system of a hybrid vehicle provided by the present invention, and the sliding energy feedback system of the hybrid vehicle described below and the sliding energy feedback method of the hybrid vehicle described above may be referred to correspondingly.

FIG. 3 is a block diagram of a coasting energy feedback system for a hybrid vehicle according to the present invention; as shown in fig. 3, a coasting energy feedback system of a hybrid vehicle includes:

a coasting feedback torque determination module 301 for determining a coasting feedback torque based on the target state information of the vehicle and the current state information of the vehicle; the target state information includes a target SOC and a target vehicle speed, and the current state information includes a current SOC, a current motor speed, and a current vehicle speed.

The control module 302 is configured to control the motor to rotate based on the coasting feedback torque.

In a specific embodiment, the coasting feedback torque determination module 301 includes:

a charging torque determining unit for determining a charging torque according to the target SOC, the current SOC, and the current motor rotation speed;

a charging limit torque determination unit configured to determine a charging limit torque;

a charging torque difference value determining unit configured to determine a charging torque difference value according to the charging torque and the charging limiting torque;

the coefficient acquisition unit is used for acquiring the influence coefficient of the PI controller;

the correction unit is used for correcting the charging torque difference value based on the influence coefficient of the PI controller to obtain a charging torque correction value;

and the sliding feedback torque determining unit is used for determining the sliding feedback torque according to the charging torque and the charging torque correction value.

In a specific embodiment, the charging torque determination unit includes:

a difference SOC determination subunit, configured to determine a difference SOC according to the target SOC and the current SOC;

a first charging power determining subunit, configured to determine a first charging power according to the difference SOC and the current motor rotation speed;

the coefficient determining subunit is used for acquiring an influence coefficient of a whole vehicle power transmission chain and an influence coefficient of driving force on vehicle speed, and the influence coefficient is respectively recorded as a first coefficient and a second coefficient;

and the charging torque determining subunit is used for determining the charging torque according to the first charging power, the first coefficient and the second coefficient.

In a specific embodiment, the charging torque correction value includes a first torque correction value and a second torque correction value; the coasting feedback torque determination unit includes:

and the summation subunit is used for determining the sliding feedback torque according to the sum of the charging torque, the first torque correction value and the second torque correction value.

In a specific embodiment, the charging torque determination unit includes:

a product subunit, configured to determine a second charging power according to a product of the first charging power, the first coefficient, and the second coefficient;

and the charging torque determining subunit is used for determining the charging torque according to the second charging power and the current motor rotating speed.

In a specific embodiment, the charging limit torque determination unit includes:

a power determination subunit, configured to determine a maximum charging power of the motor and a maximum charging power of the battery;

a comparing subunit, configured to take, as charging limiting power, a power with a smaller absolute value of the maximum charging power of the motor and the maximum charging power of the battery;

and the charging limit torque determining subunit is used for determining the charging limit torque according to the charging limit power.

In a specific embodiment, the second coefficient is determined based on a rate of rise in vehicle speed before no coasting and an average rate of change of the accelerator pedal before no coasting.

Fig. 4 illustrates a physical schematic diagram of an electronic device, as shown in fig. 4, which may include: processor 410, communication interface (Communications Interface) 420, memory 430 and communication bus 440, wherein processor 410, communication interface 420 and memory 430 communicate with each other via communication bus 440. Processor 410 may invoke logic instructions in memory 430 to perform a method of coasting energy feedback for a hybrid vehicle, the method comprising:

determining a coasting feedback torque based on the target state information of the vehicle and the current state information of the vehicle; the target state information includes a target SOC and a target vehicle speed, and the current state information includes a current SOC, a current motor speed, and a current vehicle speed.

And controlling the motor to rotate based on the sliding feedback torque.

Further, the logic instructions in the memory 430 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

In addition, the present invention also provides a vehicle including: the sliding energy feedback system of the hybrid electric vehicle or the electronic equipment.

In another aspect, the present invention also provides a computer program product comprising a computer program storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, is capable of performing a coasting energy feedback method of a hybrid vehicle, the method comprising:

And controlling the motor to rotate based on the sliding feedback torque.

In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform a method of coasting energy feedback for a hybrid vehicle, the method comprising:

And controlling the motor to rotate based on the sliding feedback torque.

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A coasting energy feedback method of a hybrid vehicle, comprising:

and controlling the motor to rotate based on the sliding feedback torque.

2. The method of claim 1, wherein determining the coasting feedback torque based on the target state information of the vehicle and the current state information of the vehicle comprises:

determining a charge limiting torque;

acquiring an influence coefficient of the PI controller;

3. The coasting energy feedback method of the hybrid vehicle according to claim 2, characterized in that the determining the charging torque according to the target SOC, the current SOC, and the current motor rotation speed includes:

4. The coasting energy feedback method of a hybrid vehicle of claim 2, wherein the charge torque correction value includes a first torque correction value and a second torque correction value; determining the coasting feedback torque according to the charging torque and the charging torque correction value, including:

5. The method of claim 3, wherein determining the charging torque based on the first charging power, the first coefficient, and the second coefficient comprises:

6. A coasting energy feedback method of a hybrid vehicle according to claim 3, wherein the second coefficient is determined based on a rate of rise in vehicle speed before non-coasting and an average rate of change in accelerator pedal before non-coasting.

7. The coasting energy feedback method of a hybrid vehicle of any of claims 2-6, wherein the determining the charge limiting torque comprises:

8. A coasting energy feedback system of a hybrid vehicle, comprising:

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor performs an energy feedback method.

10. A vehicle, characterized by comprising: a coasting energy feedback system of a hybrid vehicle as claimed in claim 8 or an electronic device as claimed in claim 9.