CN116674524A - Low-temperature power-limited hybrid power system speed regulation method, device, vehicle and storage medium - Google Patents
Low-temperature power-limited hybrid power system speed regulation method, device, vehicle and storage medium Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/15—Control strategies specially adapted for achieving a particular effect
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/02—Clutches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0638—Engine speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/081—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
Abstract
The application discloses a speed regulating method and device for a low-temperature power-limited hybrid power system, a vehicle and a storage medium, wherein the speed regulating method for the hybrid power system comprises the following steps: after receiving an activation signal of speed regulation of the low-temperature power limited hybrid power system, if the current state meets the activation condition, setting the speed regulation power limited state as an activation state; after entering an activated state, speed regulation control is carried out; after receiving the speed regulation completion signal, if the completion condition is met, exiting the speed regulation control of the low-temperature power limited hybrid power system; the speed regulation control comprises the steps of identifying the rotation speed difference between the driving disc and the driven disc of the clutch, determining the target torque of the engine according to the rotation speed difference if the rotation speed difference is within the rotation speed difference range, and carrying out speed regulation according to the target torque of the engine. The application can realize the dynamic speed regulation function of the hybrid power system, thereby improving the adaptability of the hybrid power automobile in a low-temperature environment.
Description
Technical Field
The application relates to the technical field of new energy automobiles, in particular to a speed regulating method and device for a hybrid power system with limited low-temperature power, a vehicle and a storage medium.
Background
With the continuous development of the technical level, the hybrid electric vehicle is more and more favored by consumers, and drivers have put higher demands on the environmental adaptability of the hybrid electric system. In cold areas, the power battery is limited in charging and discharging power due to the fact that the temperature of an electric core is too low, and potential running hazards or power degradation are prone to being generated in the running process of a hybrid electric vehicle. In the serial-parallel mode switching process, the conventional generator speed regulation control method can cause overcharge or overdischarge phenomena in a short time and even shorten the service life of a power battery, further causes the failure of a speed regulation function, and causes the failure of a parallel function due to the fact that the engine exceeds the limit running rotating speed, thereby influencing the driving experience.
Disclosure of Invention
The application provides a speed regulating method, a speed regulating device, a vehicle and a storage medium of a low-temperature power-limited hybrid power system, wherein a dynamic speed regulating function of the hybrid power system can be realized based on a proportional-integral-integrated-derivative control (PID) controller and a limitation condition of the hybrid power system, so that the adaptability of the hybrid power vehicle in a low-temperature environment is improved.
In a first aspect, the present application provides a method for regulating speed of a low-temperature power-limited hybrid system, the hybrid system including a clutch, an engine, a generator, a front drive motor, and a crankshaft, the method comprising:
after receiving an activation signal of speed regulation of the low-temperature power limited hybrid power system, if the current state meets the activation condition, setting the speed regulation power limited state as an activation state;
after entering an activated state, speed regulation control is carried out;
after receiving the speed regulation completion signal, if the completion condition is met, exiting the speed regulation control of the low-temperature power limited hybrid power system;
the speed regulation control comprises the steps of identifying the rotation speed difference of a driving disc and a driven disc of the clutch, determining the target torque of the engine according to the rotation speed difference if the rotation speed difference is within the rotation speed difference range, and carrying out speed regulation according to the target torque of the engine.
Optionally, the activation signal includes a set operation mode and an actual operation mode of the hybrid power system, an average cell temperature, a peak charge power and a peak discharge power within 10 seconds, a battery remaining capacity, a maximum generator/discharge torque of the generator, an actual rotation speed of the generator, an actual torque of the generator, a rotation speed of a front drive motor, an actual rotation speed of the engine, an engine water temperature, an engine friction torque, and an engine maximum torque.
The activation condition is that the following conditions are satisfied at the same time:
the target system working mode sent by the HCU mode management module is parallel connection, the actual system working mode is serial connection, the average cell temperature is less than or equal to 0 ℃, and the peak charging/discharging power is less than or equal to 16kw after 10 seconds.
By the technical means, the dynamic speed regulation function of the low-temperature power limited hybrid power system is realized by determining the rotation speed difference range of the driving disc and the driven disc of the clutch, the torque limit of the crank shaft part and the target driving power of the whole vehicle to analyze the target torque of the crank shaft and the target torque of the generator and the target torque of the engine respectively, so that the adaptability of the hybrid power vehicle in a low-temperature environment is improved.
Optionally, the method for identifying the rotation speed difference range includes:
acquiring an engine target rotating speed, wherein the engine target rotating speed is calculated according to the actual rotating speed of the front driving motor and a hybrid power system speed ratio, and the hybrid power system speed ratio comprises the engine transmission speed ratio and the front driving motor transmission speed ratio;
acquiring the actual rotation speed of an engine;
and calculating the rotation speed difference of the driving disc and the driven disc of the clutch through the target rotation speed of the engine and the actual rotation speed of the engine.
The range of the rotational speed difference between the driving disc and the driven disc of the clutch is set, and the range is preferably [ -2000,2000].
Through the technical means, the rotation speed difference of the driving disc and the driven disc of the clutch can be determined, and the value range of the rotation speed difference range is set; and a basis is provided for subsequent analysis of the target torque of the crankshaft.
Optionally, in order to identify the speed regulation state of the hybrid power system, the method for identifying the speed difference range further includes: and setting a time threshold value of speed regulation control according to the value range.
Optionally, the method for resolving the target torque of the crankshaft comprises the following steps:
acquiring the rotation speed difference of a driving disc and a driven disc of the clutch;
acquiring proportional-integral-derivative control (PID) control parameters (namely PID control parameters);
and calculating the target torque of the crankshaft according to the rotation speed difference of the driving disc and the driven disc of the clutch and the PID control parameter.
By the technical means, the target torque of the crankshaft can be analyzed, and a basis is provided for subsequent analysis of the target torque of the crankshaft.
In order to avoid excessive regulation of PID control, which leads to overcharge or overdischarge of a power battery in a speed regulation process, the HCU can analyze a crankshaft torque limit value based on charge/discharge of the power battery, charge/drive of a generator and maximum capacity of an engine; optionally, the method for resolving the target torque of the crankshaft further comprises: and carrying out maximum torque and minimum torque limitation on the crankshaft target torque, and if the crankshaft target torque is between the crankshaft maximum torque limitation and the crankshaft minimum torque limitation, calculating based on the crankshaft target torque and the generator target torque to obtain the engine target torque.
Optionally, the method for resolving the target torque of the generator includes:
acquiring generator parameters, wherein the generator parameters comprise charging power and actual rotating speed;
obtaining initial generator target torque according to the generator parameters and ignition control curves required by the generator under various working conditions;
and carrying out maximum torque limitation or minimum torque limitation on the initial generator target torque to obtain the generator target torque.
Optionally, the speed regulation completion signal includes a speed regulation duration and a speed difference between a driving disc and a driven disc of the clutch after speed regulation, and if the speed difference between the driving disc and the driven disc of the clutch after speed regulation is smaller than a preset threshold and the speed regulation duration is smaller than a preset duration, the completion condition is determined to be satisfied, and the preset duration and the speed difference range have a corresponding relationship.
In a second aspect, the present application provides a low-temperature power limited hybrid system speed governor device, the hybrid system including a clutch, an engine, a generator, a front drive motor, and a crankshaft, the speed governor device comprising:
the activation module is used for receiving an activation signal of the low-temperature power limited hybrid power system for speed regulation, and setting the speed regulation power limited state as an activation state if the current state meets the activation condition;
the speed regulation module is used for carrying out speed regulation control after entering an activated state; and
and the exit module is used for exiting the speed regulation control of the low-temperature power limited hybrid power system if the completion condition is met after the speed regulation completion signal is received.
The speed regulation module comprises a speed difference unit for identifying the speed difference between the driving disc and the driven disc of the clutch, an engine target torque determining unit for determining the engine target torque according to the speed difference if the speed difference is within the speed difference range, and a speed regulation unit for regulating the speed according to the engine target torque.
After receiving an activation signal of speed regulation of the low-temperature power limited hybrid power system, if the current state meets the activation condition, setting the speed regulation power limited state as an activation state;
after entering an activated state, speed regulation control is carried out;
after receiving the speed regulation completion signal, if the completion condition is met, exiting the speed regulation control of the low-temperature power limited hybrid power system;
the speed regulation control comprises the steps of identifying the rotation speed difference of a driving disc and a driven disc of the clutch, determining the target torque of the engine according to the rotation speed difference if the rotation speed difference is within the rotation speed difference range, and carrying out speed regulation according to the target torque of the engine, so that the dynamic speed regulation function of the low-temperature power limited hybrid power system is realized, and the adaptability of the hybrid power automobile in a low-temperature environment is improved.
In a third aspect, the present application provides a vehicle including the above low temperature power limited hybrid powertrain governor.
In a fourth aspect, the present application provides a computer readable storage medium having stored thereon a computer program for execution by a processor for implementing the above-described low temperature power limited hybrid powertrain speed regulation method.
The application has the following advantages:
according to the application, whether the low-temperature power limiting condition is met currently or not can be judged according to the running state of the whole vehicle and the feedback information of parts, the rotating speed difference range of the clutch driving disc and the clutch driven disc is determined, the speed regulating time threshold is identified, the crankshaft target torque is respectively analyzed based on the PID controller, the charging and discharging power characteristics of the system, the torque limitation of the crankshaft part and the target driving power of the whole vehicle, the crankshaft target torque, the generator target torque and the engine target torque are respectively analyzed, and the dynamic speed regulating function of the low-temperature power limiting hybrid power system is realized, so that the adaptability of the hybrid power vehicle in a low-temperature environment is improved.
Drawings
FIG. 1 is a flow chart of a low temperature power limited hybrid powertrain speed regulation method according to the present application;
FIG. 2 is a flow chart of a method of identifying a range of rotational speed differences according to the present application;
FIG. 3 is a flow chart of a method of resolving a target torque of a crankshaft according to the present application;
FIG. 4 is a flow chart of a method of resolving generator target torque according to the present application;
FIG. 5 is a flow chart of a method of determining a target torque for an engine according to the present disclosure;
fig. 6 is a schematic block diagram of a low temperature power limited hybrid powertrain governor device of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The method, the device, the vehicle and the storage medium for regulating the speed of the low-temperature power-limited hybrid power system are described below with reference to the accompanying drawings, and in the background art, the fact that in cold areas, the charging and discharging power of a power battery is limited due to the fact that the temperature of an electric core is too low is mentioned, and the potential running hazards or power degradation in the running process of a hybrid power vehicle are extremely easy to occur. In the serial-parallel mode switching process, the conventional generator speed regulation control method can cause overcharge or overdischarge phenomena in a short time and even shorten the service life of a power battery, further causes the failure of a speed regulation function, and causes the failure of a parallel function due to the fact that the engine exceeds the limit running rotating speed, thereby influencing the driving experience.
For the above reasons, the present application provides a low-temperature power-limited hybrid power system speed regulation method, and as shown in fig. 1, a flow chart of the low-temperature power-limited hybrid power system speed regulation method is shown.
In step S100, after receiving an activation signal of speed regulation of the low-temperature power limited hybrid power system, if the current state meets an activation condition, setting the speed regulation power limited state as an activation state;
exemplary activation signals include a set and actual operating mode of the hybrid powertrain, an average cell temperature, peak charge power and peak discharge power within 10 seconds, a battery remaining charge, a generator maximum generated/discharge torque, a generator actual rotational speed, a generator actual torque, a front drive motor rotational speed, an engine actual rotational speed, an engine water temperature, an engine friction torque, and an engine maximum torque; if the set working modes are parallel, the actual system working modes are serial, the average cell temperature is smaller than the preset temperature, the peak charging power or the peak discharging power is smaller than the preset power, and the current state is determined to accord with the activation condition.
If the target system working mode sent by the mode management module of the whole vehicle controller ((Hybrid Control Unit, HCU)) of the hybrid electric vehicle is parallel, the actual system working mode is series connection, the average cell temperature is less than or equal to 0 ℃, the 10s peak charging/discharging power is less than or equal to 16kw, and meanwhile, when the average cell temperature is satisfied, the HCU sets the speed regulation power limited state as an activated state.
In step S200, after entering an activated state, speed regulation control is performed; the speed regulation control comprises the steps of identifying the rotating speed difference range of a driving disc and a driven disc of the clutch, analyzing the target torque of the crankshaft, analyzing the target torque of the generator and determining the target torque of the engine. And if the rotation speed difference is within the rotation speed difference range, determining an engine target torque according to the rotation speed difference, and carrying out speed adjustment according to the engine target torque.
In step S300, after receiving the speed regulation completion signal, if the completion condition is satisfied, exiting the speed regulation control of the low-temperature power limited hybrid power system;
illustratively, when the clutch driving and driven disc rotational speed difference < 50rpm speed adjustment time < the speed adjustment function time threshold determined in step S413, the HCU sets the hybrid system speed adjustment state to speed adjustment success and exits the speed adjustment control. Otherwise, if the speed regulation fails, the HCU should jump to step S100 and perform jump counting, and if the number of speed regulation fails is not less than 3, the HCU will prohibit the hybrid power system from entering the parallel mode and trigger the fault protection flag bit.
In some embodiments, as shown in fig. 2, a flow chart of a method for identifying a range of rotational speed differences according to the present application includes;
in step S410, an engine target rotation speed is acquired;
exemplary, specific acquisition methods are as follows:
wherein n is EngReq For the target engine speed, n FmcuAct R is the actual rotation speed of the front driving motor Fmcu For the front driving motor to transmit the speed ratio r Eng The speed ratio is transmitted for the engine.
In step S411, the actual rotational speed of the drive motor is acquired, which is acquired by the sensor.
In step S412, a clutch driving disc and driven disc rotational speed difference is calculated from the engine target rotational speed and the driving motor actual rotational speed;
illustratively, the calculation process is as follows:
n CluDiff ＝n EngReq -n EngAct
wherein n is CluDiff N is the rotation speed difference between the driving disc and the driven disc of the clutch EngAct Is the actual engine speed.
In step S413, a range of the rotational speed difference between the driving disc and the driven disc of the clutch is set.
The HCU sets the range of rotational speed differences between the driving and driven discs of the clutch to be-2000, for example. Wherein, the rotation speed difference range of the driving disc and the driven disc of the clutch can be subdivided into [ -2000, -1000], [ -1000,0], [0,1000] and [1000,2000].
Further, when the clutch driving and driven disc rotational speed difference > + -2000 rpm, the HCU will prohibit the hybrid system from entering parallel mode and trigger the fail-safe flag.
In some embodiments, to identify a hybrid powertrain governor condition, the method of identifying a range of rotational speed differences further includes: and setting a time threshold value of speed regulation control according to the value range.
For example, as shown in table 1, the HCU may establish a correspondence between a clutch driving and driven disc rotational speed difference range and a speed regulation function time threshold based on bench test and real vehicle calibration.
TABLE 1 relationship between the speed differential range and the speed time threshold
| Rotational speed difference range (rpm) | [-2000，-1000] | [-1000,0] | [0,1000] | [1000,2000] |
| Time threshold(s) | 4 | 3 | 4 | 5 |
In some embodiments, as shown in fig. 3, a flowchart of a method for resolving a target torque of a crankshaft according to the present application includes:
in step S420, a rotational speed difference between a driving disc and a driven disc of the clutch is obtained;
illustratively, an input variable e (k) is defined: the HCU sets the rotation speed difference of the driving disc and the driven disc of the clutch at the moment k as e (k). Wherein: the rotation speed difference e (k) between the driving disc and the driven disc of the clutch is in the range of [ -2000,2000] rpm.
The basic principle is as follows:
e(k)＝n EngHeq (k)-n EngAct (k)
wherein n is EngReq (k) For the target engine speed at time k, n EngAct (k) And e (k) is the difference between the rotation speeds of the driving disc and the driven disc of the clutch at the moment k.
Defining an output variable Tq CrkSftReq (k) The method comprises the following steps HCU sets the target torque of the crankshaft at k time to Tq CrkSftReq (k)。
In step S421, PID control parameters are acquired;
the HCU can obtain the PID control coefficient K according to the two-dimensional table of the engine water temperature and the difference between the rotation speeds of the driving disc and the driven disc p 、K i 、K d The method is characterized by avoiding overhigh water temperature of the engine in a low-temperature power limited speed regulation stage, wherein the two-dimensional table is determined through bench test and real vehicle calibration and is related to the relationship among the water temperature of the engine, the rotation speed difference of a driving disc and a driven disc of a clutch and PID control parameters.
In step S422, a crankshaft target torque is calculated from the clutch driving and driven disc rotational speed difference and PID control parameters.
Illustratively, the actual crankshaft torque at crankshaft k is calculated for the low temperature power limited governor phase based on PID control parameters.
The basic principle is as follows:
the target torque of the crankshaft at the moment k is calculated according to the following formula:
Tq CrkSftReq (k)＝K p ·[e(k)-e(k-1)]+k i ·e(k)+k d ·[e(k)-2e(k-1)+e(k-2)]，
wherein K is p Proportional control coefficient, k of PID controller i Integrating the control coefficient, k, for the PID controller d And e (k) is the rotation speed difference of the driving disc and the driven disc of the clutch at the moment k, e (k-1) is the rotation speed difference of the driving disc and the driven disc of the clutch at the moment k-1, and e (k-2) is the rotation speed difference of the driving disc and the driven disc of the clutch at the moment k-2.
In some embodiments, to avoid an overshoot of the PID control, resulting in overcharging or overdischarging of the power battery during the speed regulation process, the HCU may resolve the crankshaft torque limit based on the power battery charge/discharge, generator charge/drive, and engine maximum capability; the method for resolving the target torque of the crankshaft further comprises the following steps: maximum and minimum torque limits are placed on the crankshaft target torque.
Exemplary, specific methods for maximum and minimum torque limiting the crankshaft target torque are as follows:
according to the first method, when the difference between the rotating speeds of the driving disc and the driven disc of the clutch is more than 0rpm, the HCU can analyze the current maximum torque limit of the crankshaft according to the 10s peak discharging power, the actual rotating speed of the generator, the maximum discharging torque of the generator and the maximum torque of the engine.
The basic principle is as follows:
Tq CrksftMax ＝Tq GcuMax +Tq EngMax
wherein Tq GcuMax For maximum torque limit of generator, P PeakDchrg10s Peak discharge power for battery 10s, n GcuAct For the actual rotational speed of the generator, tq GcuEleMax For maximum discharge torque of generator, tq CrksftMax Tq for maximum torque limit of crankshaft EngMax Is the maximum torque of the engine.
And when the rotation speed difference of the driving disc and the driven disc of the clutch is less than 0rpm, the HCU can analyze the minimum torque limit of the current crankshaft according to the 10s peak charging power, the actual rotation speed of the generator, the maximum power generation torque of the generator and the friction torque of the engine.
The basic principle is as follows:
Tq CrksftMin ＝Tq GcuMin +Tq EngFric
wherein Tq GcuMin For minimum torque limit of generator, P PeakChrg10s Peak charge power, tq, for battery 10s GcuGenMax Maximum charging torque for generator, tq CrksftMin Tq is the minimum torque limit for the crankshaft EngFric Engine friction torque.
In some embodiments, as shown in fig. 4, a flow chart of a method for resolving a target torque of a generator according to the present application includes:
in step S431, the generator charging power is acquired;
the method for obtaining the charging power of the generator is that the HCU obtains the charging power of the generator based on the target driving power of the whole vehicle and through a one-dimensional table of the difference value between the target SOC and the actual SOC of the battery; a one-dimensional table of the difference between the target SOC and the actual SOC of the battery and the generator charge power offset value may be determined by a bench test.
In step S432, an initial generator target torque is obtained according to the actual rotation speed of the generator and the generator efficiency Map;
in step S433, the initial generator target torque is subjected to maximum torque limitation or minimum torque limitation, thereby obtaining the generator target torque.
Further, the maximum/small torque limit of the generator is analyzed by the first method and the second method, and the target torque of the generator is obtained.
In some embodiments, fig. 5 is a flowchart illustrating a method for determining an engine target torque according to the present application, where the method for determining an engine target torque includes:
in step S441, after the engine torque request is activated, the following step S442 is performed;
an exemplary method after activating the engine torque request is for the HCU to activate the engine torque request flag.
In step S442, the crankshaft target torque and the engine target torque are acquired;
in step S443, an engine target torque is calculated from the crankshaft target torque and the engine target torque.
For example, the engine target torque is calculated by:
Tq EngReq ＝tq crkSftReq -Tq GcuAct ×r Gcu
wherein Tq EngReq For engine target torque, tq GcuAct R is the actual torque of the generator Gcu Is the speed ratio between the generator and the engine.
According to the speed regulating method of the low-temperature power limited hybrid power system disclosed by the embodiment, whether the low-temperature power limited condition is met currently is judged according to the running state of the whole vehicle and feedback information of parts, the rotating speed difference range of a clutch driving disc and a clutch driven disc is determined, a speed regulating time threshold is identified, and based on a PID controller, the charging and discharging power characteristics of the system, the torque limitation of a crankshaft part and the target driving power of the whole vehicle, the target torque of the crankshaft is analyzed, the target torque of the crankshaft, the target torque of a generator and the target torque of an engine are respectively analyzed, so that the dynamic speed regulating function of the low-temperature power limited hybrid power system is realized, and the adaptability of the hybrid power vehicle in a low-temperature environment is improved.
In another embodiment of the present application, a schematic block diagram of a low-temperature power-limited hybrid power system speed governor according to the present application is shown in fig. 6; there is also provided a low temperature power limited hybrid powertrain governor device, the hybrid powertrain including a clutch, an engine, a generator, a front drive motor, and a crankshaft, the governor device comprising:
the activation module 200 is configured to set the speed-regulating power-limited state to an activated state if the current state meets the activation condition after receiving the speed-regulating activation signal of the low-temperature power-limited hybrid power system;
the speed regulation module 300 is used for carrying out speed regulation control after entering an activated state; and
and the exit module 100 is configured to exit the speed regulation control of the low-temperature power-limited hybrid power system if the completion condition is satisfied after receiving the speed regulation completion signal.
The speed regulation module 300 includes a speed difference unit 301 for identifying a speed difference between a driving disc and a driven disc of a clutch, an engine target torque determination unit 302 for determining an engine target torque according to the speed difference if the speed difference is within a speed difference range, and a speed regulation unit 303 for performing speed regulation according to the engine target torque.
After the low-temperature power-limited hybrid power system speed regulating device receives an activation signal of speed regulation of the low-temperature power-limited hybrid power system, if the current state meets the activation condition, setting the speed regulation power-limited state as an activation state;
after entering an activated state, speed regulation control is carried out;
after receiving the speed regulation completion signal, if the completion condition is met, exiting the speed regulation control of the low-temperature power limited hybrid power system;
the speed regulation control comprises the steps of identifying the rotation speed difference of a driving disc and a driven disc of the clutch, determining the target torque of the engine according to the rotation speed difference if the rotation speed difference is within the rotation speed difference range, and carrying out speed regulation according to the target torque of the engine, so that the dynamic speed regulation function of the low-temperature power limited hybrid power system is realized, and the adaptability of the hybrid power automobile in a low-temperature environment is improved.
The embodiment of the application also provides a vehicle, which comprises: the speed regulating device of the hybrid power system with limited low-temperature power is characterized by comprising a speed regulating device of the hybrid power system with limited low-temperature power. After the device receives an activation signal of speed regulation of the low-temperature power limited hybrid power system, if the current state meets the activation condition, setting the speed regulation power limited state as an activation state; after entering an activated state, speed regulation control is carried out; after receiving the speed regulation completion signal, if the completion condition is met, exiting the speed regulation control of the low-temperature power limited hybrid power system; the speed regulation control comprises the steps of identifying the rotating speed difference range of the driving disc and the driven disc of the clutch, analyzing the target torque of the crankshaft, analyzing the target torque of the generator and determining the target torque of the engine.
It should be noted that, in the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-readable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing the above low-temperature power-limited hybrid system speed regulation method.
The module/unit of the low-temperature power-limited hybrid system governor/terminal device integration may be stored in a computer-readable storage medium if implemented in the form of a software functional unit and sold or used as a stand-alone product. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above.
Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus, device and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the partitioning of elements, is merely a logical function partitioning approach, and there may be additional ways in which the elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present application. The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; while the application has been described in detail with reference to the foregoing embodiments, it will be appreciated by those skilled in the art that variations may be made in the techniques described in the foregoing embodiments, or equivalents may be substituted for elements thereof; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method for regulating speed of a hybrid power system with limited low temperature power, wherein the hybrid power system comprises a clutch, a crankshaft obtained by combining an engine and a generator, and a front driving motor, and the method is characterized by comprising the following steps:
after receiving an activation signal of speed regulation of the low-temperature power limited hybrid power system, if the current state meets the activation condition, setting the speed regulation power limited state as an activation state;
after entering an activated state, speed regulation control is carried out;
after receiving the speed regulation completion signal, if the completion condition is met, exiting the speed regulation control of the low-temperature power limited hybrid power system;
the speed regulation control comprises the steps of identifying the rotation speed difference of a driving disc and a driven disc of the clutch, determining the target torque of the engine according to the rotation speed difference if the rotation speed difference is within the rotation speed difference range, and carrying out speed regulation according to the target torque of the engine.
2. The low temperature power limited hybrid powertrain system speed regulation method of claim 1, wherein the activation signal includes a set operating mode and an actual operating mode of the hybrid powertrain system, an average cell temperature, peak charge power and peak discharge power within 10 seconds, a battery remaining amount, a generator maximum power generation/discharge torque, a generator actual rotational speed, a generator actual torque, a front drive motor rotational speed, an engine actual rotational speed, an engine water temperature, an engine friction torque, and an engine maximum torque; if the set working modes are parallel, the actual system working modes are serial, the average cell temperature is smaller than the preset temperature, the peak charging power or the peak discharging power is smaller than the preset power, and the current state is determined to accord with the activation condition.
3. The low temperature, power limited hybrid powertrain system speed adjustment method of claim 2, wherein identifying a clutch driving and driven disc speed differential comprises:
acquiring an engine target rotating speed, wherein the engine target rotating speed is calculated according to the actual rotating speed of the front driving motor and a hybrid power system speed ratio, and the hybrid power system speed ratio comprises the engine transmission speed ratio and the front driving motor transmission speed ratio;
acquiring the actual rotation speed of an engine;
and calculating the rotation speed difference of the driving disc and the driven disc of the clutch through the target rotation speed of the engine and the actual rotation speed of the engine.
4. A method according to claim 2 or 3, wherein said determining the engine target torque from the rotational speed difference comprises:
obtaining PID control parameters;
calculating the rotation speed difference according to the PID control parameter to obtain a crankshaft target torque;
and if the crankshaft target torque is between the crankshaft maximum torque limit and the crankshaft minimum torque limit, calculating based on the crankshaft target torque and the generator target torque to obtain the engine target torque.
5. The method according to claim 4, wherein the calculation formula for calculating the rotation speed difference according to the PID control parameter to obtain the crankshaft target torque is:
Tq CrkSftReq (k)＝K p ·[e(k)-e(k-1)]+k i ·e(k)+k d ·[e(k)-2e(k-1)+e(k-2)]
wherein K is p Proportional control coefficient, k of PID controller i Integrating the control coefficient, k, for the PID controller d The differential control coefficient of the PID controller is that e (k) is the rotation speed difference of the driving disc and the driven disc of the clutch at the moment k, e (k-1) is the rotation speed difference of the driving disc and the driven disc of the clutch at the moment k-1, and e (k-2) is the rotation speed difference of the driving disc and the driven disc of the clutch at the moment k-2;
the calculation formula of the maximum torque of the generator is as follows:
wherein T is qGcuMax For maximum torque limit of generator, P PeakDchrg10s For 10 seconds peak discharge power, n GcuAct For the actual rotational speed of the generator, tq GcuEleMax For maximum discharge torque of generator, tq EngMax Maximum torque for the engine;
the calculation formula of the minimum torque of the generator is as follows:
wherein Tq GcuMin For minimum torque limit of generator, P PeakChrg10s For a peak charge power of 10 seconds, tq GcuGenMax Maximum charging torque for generator, tq EngFric Engine friction torque.
6. The method for regulating speed of a low-temperature power-limited hybrid system according to claim 4, wherein the method for obtaining the target torque of the generator comprises the following steps:
acquiring generator parameters, wherein the generator parameters comprise charging power and actual rotating speed;
obtaining initial generator target torque according to the generator parameters and ignition control curves required by the generator under various working conditions;
and carrying out maximum torque limitation or minimum torque limitation on the initial generator target torque to obtain the generator target torque.
7. The method for regulating speed of a low-temperature power-limited hybrid power system according to claim 1, wherein the speed regulating completion signal includes a speed regulating duration and a speed difference between a driving disc and a driven disc of the clutch after speed regulation, and if the speed difference between the driving disc and the driven disc of the clutch after speed regulation is smaller than a preset threshold value and the speed regulating duration is smaller than a preset duration, it is determined that a completion condition is satisfied, and the preset duration has a corresponding relationship with the speed difference range.
8. A low temperature limited power hybrid system governor device, the hybrid system including a clutch, an engine, a generator, a front drive motor, and a crankshaft, the governor device comprising:
the activation module is used for receiving an activation signal of the low-temperature power limited hybrid power system for speed regulation, and setting the speed regulation power limited state as an activation state if the current state meets the activation condition;
the speed regulation module is used for carrying out speed regulation control after entering an activated state; and
and the exit module is used for exiting the speed regulation control of the low-temperature power limited hybrid power system if the completion condition is met after the speed regulation completion signal is received.
The speed regulation module comprises a speed difference unit for identifying the speed difference between the driving disc and the driven disc of the clutch, an engine target torque determining unit for determining the engine target torque according to the speed difference if the speed difference is within the speed difference range, and a speed regulation unit for regulating the speed according to the engine target torque.
9. A vehicle, characterized by comprising: the low temperature power limited hybrid powertrain governor device of claim 8.
10. A computer readable storage medium having stored thereon a computer program, the program being executable by a processor for implementing the low temperature power limited hybrid system speed regulation method of any one of claims 1-7.
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