CN117657105A - Control method and device for preventing overspeed of motor of hybrid electric vehicle, hybrid electric vehicle and medium - Google Patents

Control method and device for preventing overspeed of motor of hybrid electric vehicle, hybrid electric vehicle and medium Download PDF

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Publication number
CN117657105A
CN117657105A CN202311724155.5A CN202311724155A CN117657105A CN 117657105 A CN117657105 A CN 117657105A CN 202311724155 A CN202311724155 A CN 202311724155A CN 117657105 A CN117657105 A CN 117657105A
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CN
China
Prior art keywords
motor
rotating speed
torque
required torque
vehicle
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Pending
Application number
CN202311724155.5A
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Chinese (zh)
Inventor
王琳涛
孙立鹏
王迎波
孙明峰
刘金鑫
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Weichai New Energy Power Technology Co ltd
Weichai Power Co Ltd
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Weichai New Energy Power Technology Co ltd
Weichai Power Co Ltd
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Application filed by Weichai New Energy Power Technology Co ltd, Weichai Power Co Ltd filed Critical Weichai New Energy Power Technology Co ltd
Priority to CN202311724155.5A priority Critical patent/CN117657105A/en
Publication of CN117657105A publication Critical patent/CN117657105A/en
Pending legal-status Critical Current

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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
    • B60W20/11—Controlling the power contribution of each of the prime movers to meet required power demand using model predictive control [MPC] strategies, i.e. control methods based on models predicting performance
    • 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
    • B60W20/12—Controlling the power contribution of each of the prime movers to meet required power demand using control strategies taking into account route information
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/08—Electric propulsion units
    • B60W2510/081—Speed
    • 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
    • B60W2510/083—Torque
    • 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
    • B60W2710/081—Speed
    • 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
    • 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
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a control method and device for preventing overspeed of a motor of a hybrid electric vehicle, the hybrid electric vehicle and a medium. The control method for preventing overspeed of the motor of the hybrid electric vehicle comprises the following steps: in the running process of the hybrid electric vehicle, acquiring a first rotating speed, a current motor torque and a whole vehicle required torque of a motor in a motor driving system of the hybrid electric vehicle, and determining that the motor is in a driving state or a feeding state currently according to the first rotating speed and the current motor torque; when the motor is in a feeding state at present, acquiring a second rotating speed of the motor, and when the second rotating speed is larger than a first rotating speed threshold value, the whole vehicle demand control mode is a torque mode, and the gear is in a gear shifting completion state, controlling the motor controller to enter an active speed limiting mode; and obtaining the rotating speed ring required torque of the motor controller in the active speed limiting mode according to the second rotating speed, and determining the current required torque of the motor according to the rotating speed ring required torque and the whole vehicle required torque. The invention effectively improves the driving safety and reliability of the whole hybrid electric vehicle.

Description

Control method and device for preventing overspeed of motor of hybrid electric vehicle, hybrid electric vehicle and medium
Technical Field
The invention relates to the technical field of mixed motor vehicle control, in particular to a control method and device for preventing overspeed of a motor of a mixed motor vehicle, a mixed motor vehicle and a medium.
Background
Under the current technical level and application conditions, the hybrid electric vehicle is the vehicle type with the most industrialization and market prospect in the electric vehicle. The hybrid power automobile adopts the internal combustion engine and the motor as hybrid power sources, has the advantages of good dynamic property, quick response and long working time of the fuel engine, and has the advantages of no pollution and low noise of the motor, thereby achieving the best matching of the engine and the motor.
At present, the hybrid electric vehicle is in a torque control mode in other states except for responding to the rotation speed control sent by the whole vehicle in the gear shifting process in the normal running process of the whole vehicle, and in order to protect motor parts and prevent an IGBT module from being broken down and damaged along with the rising of the rotation speed in the long downhill process of the vehicle, a motor controller is generally adopted to stop enabling, and an ASC protection mode is entered. Because the motor speed is similar to an open loop control in the process of rising the whole motor speed, the motor speed and the vehicle speed cannot be effectively and actively reduced by a control method, so that the motor speed and the vehicle speed work in a normal working range.
Disclosure of Invention
The invention provides a control method and device for preventing overspeed of a motor of a hybrid electric vehicle, the hybrid electric vehicle and a medium, and aims to solve the problems that the existing hybrid electric vehicle is small in braking torque in the process of reversing or descending a long slope in a low gear in a pure electric mode, and the overspeed fault of the motor is easily caused by small speed ratio of a gearbox, so that a motor controller is enabled to be disabled.
According to an aspect of the present invention, there is provided a control method for preventing overspeed of a motor of a hybrid vehicle, the control method comprising:
in the running process of the hybrid electric vehicle, acquiring a first rotating speed, a current motor torque and a whole vehicle required torque of a motor in a motor driving system of the hybrid electric vehicle, and determining that the motor is in a driving state or a feeding state currently according to the first rotating speed and the current motor torque;
when the motor is in a feeding state at present, acquiring a second rotating speed of the motor, and when the second rotating speed is larger than a first rotating speed threshold value, the whole vehicle demand control mode is a torque mode, and the gear is in a gear shifting completion state, controlling the motor controller to enter an active speed limiting mode;
and obtaining the rotating speed ring required torque of the motor controller in the active speed limiting mode according to the second rotating speed, and determining the current required torque of the motor according to the rotating speed ring required torque and the whole vehicle required torque so as to adjust the rotating speed of the motor through the current required torque.
Optionally, determining that the motor is currently in a driving state or a feeding state according to the first rotation speed and the current motor torque includes:
if the first rotational speed is greater than 0 and the current motor torque is greater than 0, determining that the motor is currently in a driving state;
and if the first rotation speed is greater than 0 and the current motor torque is less than or equal to 0, determining that the motor is in a feeding state currently.
Optionally, after determining that the motor is currently in the driving state or the feeding state according to the first rotation speed and the current motor torque, the method further includes:
when the motor is determined to be in a feeding state currently, controlling the rotation speed and power reduction coefficient of torque output of a motor controller to be 1;
and when the motor is determined to be in a driving state currently, determining a rotation speed power reduction coefficient of the torque output of the motor controller according to the first rotation speed.
Optionally, obtaining the rotational speed ring required torque of the motor controller in the active speed limiting mode according to the second rotational speed includes:
and the control rotating speed ring carries out PI adjustment according to the speed difference between the second rotating speed and the target limiting value rotating speed in the rotating speed ring, so as to obtain the rotating speed ring required torque of the motor controller in the active speed limiting mode.
Optionally, determining the current required torque of the motor according to the required torque of the rotating speed ring and the required torque of the whole vehicle includes:
and determining the output torque of the rotating speed ring according to the required torque of the rotating speed ring and the required torque of the whole vehicle, and controlling the output torque of the rotating speed ring to be limited by the external characteristic limit CUR of the rotating speed torque of the motor to obtain the current required torque of the motor.
Optionally, determining the rotation speed ring output torque according to the rotation speed ring required torque and the whole vehicle required torque includes:
if the second rotating speed is greater than 0, taking the smaller value of the rotating speed ring required torque and the whole vehicle required torque as the rotating speed ring output torque;
and if the second rotating speed is smaller than 0, taking the larger value of the rotating speed ring required torque and the whole vehicle required torque as the rotating speed ring output torque.
Optionally, the control method for preventing overspeed of the motor of the hybrid electric vehicle further comprises the following steps:
and when the acquired third rotating speed is smaller than or equal to the second rotating speed threshold value, or the whole vehicle demand control mode is a non-torque mode, or the gear is in a gear shifting process state, the motor controller is controlled to exit the active speed limiting mode.
According to another aspect of the present invention, there is provided a control device for preventing overspeed of a motor of a hybrid vehicle, the control device comprising:
the motor state judging module is used for acquiring a first rotating speed, a current motor torque and a whole vehicle required torque of a motor in a motor driving system of the hybrid motor vehicle in the running process of the hybrid motor vehicle, and determining that the motor is in a driving state or a feeding state currently according to the first rotating speed and the current motor torque;
the active speed limiting mode entering module is used for executing the steps that when the motor is in a feeding state at present, the second rotating speed of the motor is obtained, when the second rotating speed is larger than a first rotating speed threshold value, the whole vehicle demand control mode is a torque mode, the gear is in a gear shifting completion state, and the motor controller is controlled to enter the active speed limiting mode;
and the rotating speed control module is used for executing the process of acquiring the rotating speed ring required torque of the motor controller in the active speed limiting mode according to the second rotating speed, and determining the current required torque of the motor according to the rotating speed ring required torque and the whole vehicle required torque so as to adjust the rotating speed of the motor through the current required torque.
According to another aspect of the present invention, there is provided a hybrid vehicle including:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the control method for preventing overspeed of a motor of a hybrid vehicle according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute a control method for preventing overspeed of a motor of a hybrid vehicle according to any one of the embodiments of the present invention.
According to the technical scheme, in the running process of the hybrid electric vehicle, the first rotating speed, the current motor torque and the whole vehicle required torque of the motor in the motor driving system of the hybrid electric vehicle are obtained, and the current driving state or the feeding state of the motor is determined according to the first rotating speed and the current motor torque; when the motor is in a feeding state at present, acquiring a second rotating speed of the motor, and when the second rotating speed is larger than a first rotating speed threshold value, the whole vehicle demand control mode is a torque mode, and the gear is in a gear shifting completion state, controlling the motor controller to enter an active speed limiting mode; and obtaining the rotating speed ring required torque of the motor controller in the active speed limiting mode according to the second rotating speed, and determining the current required torque of the motor according to the rotating speed ring required torque and the whole vehicle required torque so as to adjust the rotating speed of the motor through the current required torque. The invention solves the problems that the existing hybrid vehicle has small braking torque in the backing or descending long slope process under the low gear of the pure electric mode, the speed ratio of the gearbox is small, overspeed faults of the motor are easy to be caused, and the motor controller is enabled to be disabled, and effectively avoids a series of problems that the motor is easy to generate over-temperature faults and the like caused by long-time running of the hybrid vehicle after the motor controller is enabled to enter the pure engine mode, and effectively improves the driving safety and reliability of the hybrid vehicle.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a control method for preventing overspeed of a motor of a hybrid vehicle according to a first embodiment of the present invention;
FIG. 2 is a flow chart of a control method for preventing overspeed of a motor of a hybrid vehicle according to a second embodiment of the present invention;
FIG. 3 is a schematic diagram of a judging logic of a four quadrant of rotational speed and torque according to a second embodiment of the present invention;
FIG. 4 is a logic block diagram of torque handling in an active speed limit mode provided in accordance with a second embodiment of the present invention;
fig. 5 is a schematic structural diagram of a control device for preventing overspeed of a motor of a hybrid vehicle according to a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of a hybrid vehicle implementing a control method for preventing overspeed of a motor of the hybrid vehicle according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only 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 present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a control method for preventing overspeed of a motor of a hybrid vehicle, which is applicable to a situation that the motor overspeed of the hybrid vehicle is controlled in a low gear, according to an embodiment of the present invention, the control method for preventing overspeed of the motor of the hybrid vehicle may be executed by a control device for preventing overspeed of the motor of the hybrid vehicle, and the control device for preventing overspeed of the motor of the hybrid vehicle may be implemented in a form of hardware and/or software, and the control device for preventing overspeed of the motor of the hybrid vehicle may be configured in the hybrid vehicle. As shown in fig. 1, the control method for preventing overspeed of the motor of the hybrid vehicle comprises the following steps:
s110, in the running process of the hybrid electric vehicle, acquiring a first rotating speed, a current motor torque and a whole vehicle required torque of a motor in a motor driving system of the hybrid electric vehicle, and determining that the motor is in a driving state or a feeding state currently according to the first rotating speed and the current motor torque.
The hybrid vehicle may be a hybrid vehicle having a P2 hybrid structure, and the embodiment does not impose any limitation on the type of the hybrid vehicle.
The first rotating speed can be obtained by acquiring a motor position signal from a rotary decoding chip through a motor controller MCU and further through internal calculation, and the first rotating speed is obtained through real-time detection in the running process of the hybrid electric vehicle.
The current motor torque is determined in real time in the running process of the hybrid electric vehicle, and the whole vehicle required torque can be received from a whole vehicle end HCU through message information.
In this embodiment, the motor is determined to be currently in a driving state or a feeding state by means of four quadrants of rotational speed and torque, specifically, if the first rotational speed is greater than 0 and the current motor torque is greater than 0, the motor is determined to be currently in the driving state, and if the first rotational speed is greater than 0 and the current motor torque is less than or equal to 0, the motor is determined to be currently in the feeding state.
On the basis, after the current driving state or the feeding state of the motor is determined according to the first rotating speed and the current motor torque, when the current feeding state of the motor is determined, the rotating speed power reduction coefficient of the torque output of the motor controller is controlled to be 1, and when the current driving state of the motor is determined, the rotating speed power reduction coefficient of the torque output of the motor controller is determined according to the first rotating speed.
Further, when the current driving state of the motor is determined, a rotational speed reduction power coefficient CUR is queried according to the magnitude of the first rotational speed, the rotational speed reduction power coefficient of the torque output of the motor controller is determined, if the first rotational speed is smaller than a set rotational speed threshold value, the rotational speed reduction power coefficient of the torque output of the motor controller is controlled to be 1, if the first rotational speed is larger than the set rotational speed threshold value and is continued for a period of time (the first rotational speed is kept larger than the set rotational speed threshold value and is continued for a period of time to prevent jump), the rotational speed reduction power coefficient CUR of the torque output of the motor controller is determined according to the magnitude of the first rotational speed, the rotational speed reduction power coefficient eta 1 is reduced from 1 to 0 along with the increase of the first rotational speed, then, the reduction power coefficients eta 2 and eta 3 … … corresponding to other faults of the MCU are comprehensively considered, eta 0 is taken as the final reduction power coefficient of the torque output of the controller, and eta 0 = min (eta 1, eta 2 and eta 3 … …).
It can be understood that the driving state and the feeding state of the P2 hybrid electric vehicle are distinguished firstly, and different measures of rotational speed power reduction coefficient strategies are adopted after the motor is overspeed, so that the method can be suitable for all running road conditions of the whole electric vehicle, and the driving safety and the driving reliability of the whole electric vehicle are effectively improved. If the P2 hybrid vehicle runs down a long slope at a low gear, the motor is in a feed state for braking energy recovery, the control rotating speed power reduction coefficient eta 1 is always output as 1, and even if the first rotating speed exceeds a set rotating speed threshold value, the motor can normally respond to the braking torque sent by the whole vehicle end, so that the purposes of reducing the vehicle speed and the motor rotating speed are achieved, and the braking effect of the whole vehicle cannot be influenced after the motor is overspeed.
And S120, when the motor is in a feeding state currently, acquiring a second rotating speed of the motor, and when the second rotating speed is larger than a first rotating speed threshold value, the whole vehicle demand control mode is a torque mode, and the gear is in a gear shifting completion state, controlling the motor controller to enter an active speed limiting mode.
The second rotating speed can be obtained by acquiring a motor position signal from a rotary decoding chip through a motor controller MCU and further through internal calculation, and is obtained by detecting the second rotating speed in real time when the motor is in a feeding state currently.
The first rotation speed threshold may be, but not limited to, selectively set according to the actual condition of the motor rotation speed of the hybrid vehicle, which is not limited in this embodiment.
Specifically, when the second rotating speed is greater than the first rotating speed threshold, the whole vehicle demand control mode is a torque mode, the gear is in a gear shifting completion state, and the three conditions are met at the same time, the motor controller is controlled to actively enter a closed-loop PI rotating speed loop active speed limiting mode.
The active speed limiting mode of the closed-loop PI rotating speed ring is a mode for actively limiting the speed of the motor according to the parameter setting of the closed-loop PI rotating speed ring.
S130, acquiring a rotating speed ring required torque of the motor controller in an active speed limiting mode according to the second rotating speed, and determining a current required torque of the motor according to the rotating speed ring required torque and the whole vehicle required torque so as to adjust the rotating speed of the motor through the current required torque.
Specifically, after the motor controller is controlled to enter an active speed limiting mode, the rotating speed ring is controlled to conduct PI adjustment according to the speed difference between the second rotating speed and the target limit rotating speed in the rotating speed ring, and the rotating speed ring required torque of the motor controller in the active speed limiting mode is obtained.
The set rotation speed threshold value is smaller than the second rotation speed threshold value, the second rotation speed threshold value is smaller than the target limit rotation speed in the rotation speed ring, the target limit rotation speed in the rotation speed ring is smaller than or equal to the first rotation speed threshold value, and the larger the first rotation speed threshold value is than the target limit rotation speed in the rotation speed ring, the better the speed limiting effect after entering the rotation speed ring is, and the smaller the overshoot of the rotation speed of the motor is.
On the basis, the rotating speed ring output torque is determined according to the rotating speed ring required torque and the whole vehicle required torque, and the rotating speed ring output torque is controlled to be limited by the rotating speed torque external characteristic limit CUR of the motor, so that the current required torque of the motor is obtained. The torque processing mode can ensure that the braking torque at the motor end after overspeed of the motor responds faster and more rapidly, avoid generating large rotating speed overshoot, and can realize stable switching of the torque of the motor controller MCU between a torque mode and a rotating speed mode in the whole active speed limiting process, so that the problem of shaking of the whole vehicle is avoided.
Determining the output torque of the rotating speed ring according to the required torque of the rotating speed ring and the required torque of the whole vehicle, wherein the method specifically comprises the following steps: if the second rotating speed is greater than 0, taking the smaller value of the rotating speed ring required torque and the whole vehicle required torque as the rotating speed ring output torque; and if the second rotating speed is smaller than 0, taking the larger value of the rotating speed ring required torque and the whole vehicle required torque as the rotating speed ring output torque.
On the basis of the embodiment, when the obtained third rotating speed is smaller than or equal to the second rotating speed threshold value, or the whole vehicle demand control mode is a non-torque mode, or the gear is in a gear shifting process state, if any one of the three conditions is met, the motor controller is controlled to exit the closed-loop PI rotating speed loop active speed limiting mode, and then the control mode, the rotating speed and the torque demand sent by the HCU of the whole vehicle end are responded normally.
According to the technical scheme, in the running process of the hybrid electric vehicle, the first rotating speed, the current motor torque and the whole vehicle required torque of the motor in the motor driving system of the hybrid electric vehicle are obtained, and the current driving state or the feeding state of the motor is determined according to the first rotating speed and the current motor torque; when the motor is in a feeding state at present, acquiring a second rotating speed of the motor, and when the second rotating speed is larger than a first rotating speed threshold value, the whole vehicle demand control mode is a torque mode, and the gear is in a gear shifting completion state, controlling the motor controller to enter an active speed limiting mode; and obtaining the rotating speed ring required torque of the motor controller in the active speed limiting mode according to the second rotating speed, and determining the current required torque of the motor according to the rotating speed ring required torque and the whole vehicle required torque so as to adjust the rotating speed of the motor through the current required torque. The invention solves the problems that the existing hybrid vehicle has small braking torque in the backing or descending long slope process under the low gear of the pure electric mode, the speed ratio of the gearbox is small, overspeed faults of the motor are easy to be caused, and the motor controller is enabled to be disabled, and effectively avoids a series of problems that the motor is easy to generate over-temperature faults and the like caused by long-time running of the hybrid vehicle after the motor controller is enabled to enter the pure engine mode, and effectively improves the driving safety and reliability of the hybrid vehicle.
Example two
Fig. 2 is a flowchart of a control method for preventing overspeed of a motor of a hybrid vehicle according to a second embodiment of the present invention, where an alternative implementation manner is provided based on the foregoing embodiment. As shown in fig. 2, the control method for preventing overspeed of the motor of the hybrid vehicle comprises the following steps:
s210, acquiring a first rotating speed, a current motor torque and a whole vehicle required torque of a motor in a motor driving system of the hybrid vehicle in the running process of the hybrid vehicle, and determining that the motor is in a driving state or a feeding state currently according to the first rotating speed and the current motor torque.
By way of example, the current rotation speed and torque four-quadrant judging motor shown in fig. 3 is in a driving state or a feeding state, and the current rotation speed of the motor is not less than 0 no matter the whole motor is in forward and backward directions due to the existence of a gearbox, so that the P2-structure hybrid motor always works in a first quadrant and a fourth quadrant in the rotation speed and torque four-quadrant judging logic diagram shown in fig. 3.
Continuing to refer to fig. 3, if the first rotational speed is greater than 0 and the current motor torque is greater than 0, that is, in the first quadrant of the rotational speed and torque four quadrants, determining that the motor is currently in a driving state; and if the first rotational speed is greater than 0 and the current motor torque is less than 0, namely in the fourth quadrant of the rotational speed torque four quadrants, determining that the motor is in a feeding state currently.
Here, it should be noted that, when the torque is equal to 0, that is, the critical point process on the coordinate axis of the torque is determined to be in the driving state or the feeding state according to the four quadrants of the rotational speed and the torque as shown in fig. 3, there is no unified standard definition for the critical point process, in this embodiment, the torque is equal to 0, that is, when the first rotational speed is greater than 0 and the current motor torque is less than or equal to 0, it is determined that the motor is currently in the feeding state.
S220, when the motor is in a feeding state currently, acquiring a second rotating speed of the motor, and when the second rotating speed is larger than a first rotating speed threshold value, the whole vehicle demand control mode is a torque mode, and the gear is in a gear shifting completion state, controlling the motor controller to enter an active speed limiting mode.
And S230, controlling the rotating speed ring to carry out PI adjustment according to the speed difference between the second rotating speed and the target limiting value rotating speed in the rotating speed ring, and obtaining the rotating speed ring required torque of the motor controller in the active speed limiting mode.
S240, determining the output torque of the rotating speed ring according to the required torque of the rotating speed ring and the required torque of the whole vehicle, and controlling the output torque of the rotating speed ring to be limited by the external characteristic limit CUR of the rotating speed torque of the motor to obtain the current required torque of the motor so as to adjust the rotating speed of the motor through the current required torque.
Specifically, referring to fig. 4, the current rotation speed of the motor is determined to be positive or negative, so as to determine the output torque of the rotation speed ring, and if the second rotation speed is greater than 0, the required torque Trq of the rotation speed ring is taken 1 And the whole vehicle required torque Trq 0 The smaller value of Trq is used as the output torque of the rotating speed ring out I.e. Trq out ＝min(Trq 0， Trq 1 ) The method comprises the steps of carrying out a first treatment on the surface of the If the second rotation speed is less than or equal to 0, the rotation speed ring required torque Trq is taken 1 And the whole vehicle required torque Trq 0 Medium and large value as rotational speed ring output torque Trq out I.e. Trq out ＝max(Trq 0， Trq 1 )。
In this embodiment, the second rotation speed is greater than the first rotation speed threshold, the vehicle demand control mode is a torque mode, and the gear is in a gear shifting completion state, then the motor controller MCU is controlled to actively enter a PI rotation speed loop active speed limiting mode, and the rotation speed loop demand torque Trq is obtained through PI adjustment calculation 1 And is matched with the required torque Trq of the whole vehicle 0 After comparison, stable output is achieved, even if the motor rotating speed exceeds a first rotating speed threshold value in the running process of the whole vehicle on a long slope, a driver still steps on an accelerator pedal to send positive torque, or does not step on a brake and does not send braking torque, or the opening degree of the driver stepping on the brake pedal is too small, and the braking torque sent by the whole vehicle controller is insufficient to offset the working condition of the whole vehicle load, the motor can still actively intervene to achieve a very good active speed limiting effect, the motor rotating speed of the whole vehicle is prevented from being further improved, and the motor controller is prevented from being stopped and the normal running of the vehicle is influenced due to the fact that motor parts are damaged or more serious faults are triggered.
S250, when the acquired third rotating speed is smaller than or equal to the second rotating speed threshold value, or the whole vehicle demand control mode is a non-torque mode, or the gear is in a gear shifting process state, the motor controller is controlled to exit the active speed limiting mode.
The third rotating speed can be obtained by acquiring a motor position signal from the rotary transformer decoding chip through the motor controller MCU and further obtained through internal calculation, and the third rotating speed is detected in real time when the motor controller is controlled to be in an active speed limiting mode.
Specifically, when the third rotation speed is less than or equal to the second rotation speed threshold, the third rotation speed needs to be ensured to be less than or equal to the second rotation speed threshold for a period of time, and it can be understood that the period of time for stabilizing can be selected and set according to the actual condition of the motor rotation speed of the hybrid electric vehicle, and the embodiment does not limit the motor rotation speed.
In the above conditions, the gear shifting completion state of the whole vehicle is considered as one of the judging conditions, mainly for the purpose that after the motor of the P2 hybrid vehicle with the gear box is overspeed in a low gear, a driver can take up-shift and down-shift operation, the purpose of reducing the rotating speed of the motor is achieved through the up-shift, and when the driver has the gear shifting operation, the driver actively exits from the closed-loop active speed limiting mode.
According to the technical scheme, the motor driving and feeding states are distinguished through the current motor rotating speed and motor torque of the motor, and after the motor is overspeed, different measures of rotational speed power reduction coefficient strategies are adopted respectively, so that the method is applicable to all running road conditions of the whole vehicle, and the driving safety and reliability of the whole vehicle are effectively improved; meanwhile, the motor controller MCU is controlled to actively enter the PI rotating speed ring active speed limiting mode, so that the rotating speed after overspeed of the motor can be effectively prevented from being further increased, and the damage to motor parts or the more serious triggering faults are avoided; in addition, the torque smoothing processing mode adopted in the rotating speed ring can enable braking torque to respond faster and more rapidly, avoid generating large rotating speed overshoot, enable torque switching of the motor controller MCU between a torque mode and a rotating speed mode to be more stable and smooth, and avoid the problem of shaking of the whole vehicle.
Example III
Fig. 5 is a schematic structural diagram of a control device for preventing overspeed of a motor of a hybrid vehicle according to a third embodiment of the present invention. As shown in fig. 5, the control device for preventing overspeed of a motor of a hybrid vehicle includes:
the motor state judging module 310 is configured to obtain a first rotation speed, a current motor torque and a required torque of the whole vehicle of a motor in a motor driving system of the hybrid vehicle during running of the hybrid vehicle, and determine that the motor is currently in a driving state or a feeding state according to the first rotation speed and the current motor torque;
the active speed limiting mode entering module 320 is configured to obtain a second rotation speed of the motor when the motor is currently in a feeding state, and control the motor controller to enter an active speed limiting mode when the second rotation speed is greater than a first rotation speed threshold, the vehicle demand control mode is a torque mode, and the gear is in a gear shifting completion state;
the rotation speed control module 330 is configured to obtain a rotation speed ring required torque of the motor controller in the active speed limiting mode according to the second rotation speed, and determine a current required torque of the motor according to the rotation speed ring required torque and the whole vehicle required torque, so as to adjust the rotation speed of the motor according to the current required torque.
Optionally, determining that the motor is currently in a driving state or a feeding state according to the first rotation speed and the current motor torque is specifically used for:
if the first rotational speed is greater than 0 and the current motor torque is greater than 0, determining that the motor is currently in a driving state;
and if the first rotation speed is greater than 0 and the current motor torque is less than or equal to 0, determining that the motor is in a feeding state currently.
Optionally, the control method for preventing overspeed of the motor of the hybrid electric vehicle further comprises the following steps:
the rotating speed power-down coefficient determining module is used for controlling the rotating speed power-down coefficient of the torque output of the motor controller to be 1 when the motor is determined to be in the feeding state currently;
and when the motor is determined to be in a driving state currently, determining a rotation speed power reduction coefficient of the torque output of the motor controller according to the first rotation speed.
Optionally, the rotating speed ring required torque of the motor controller in the active speed limiting mode is obtained according to the second rotating speed, and the method is specifically used for:
and the control rotating speed ring carries out PI adjustment according to the speed difference between the second rotating speed and the target limiting value rotating speed in the rotating speed ring, so as to obtain the rotating speed ring required torque of the motor controller in the active speed limiting mode.
Optionally, determining the current required torque of the motor according to the required torque of the rotating speed ring and the required torque of the whole vehicle, wherein the method is specifically used for:
and determining the output torque of the rotating speed ring according to the required torque of the rotating speed ring and the required torque of the whole vehicle, and controlling the output torque of the rotating speed ring to be limited by the external characteristic limit CUR of the rotating speed torque of the motor to obtain the current required torque of the motor.
Optionally, determining the rotation speed ring output torque according to the rotation speed ring required torque and the whole vehicle required torque, which is specifically used for:
if the second rotating speed is greater than 0, taking the smaller value of the rotating speed ring required torque and the whole vehicle required torque as the rotating speed ring output torque;
and if the second rotating speed is smaller than 0, taking the larger value of the rotating speed ring required torque and the whole vehicle required torque as the rotating speed ring output torque.
Optionally, the control device for preventing overspeed of the motor of the hybrid electric vehicle further comprises:
and the active speed limiting mode exit module is used for executing the control that the motor controller exits the active speed limiting mode when the acquired third rotating speed is smaller than or equal to the second rotating speed threshold value, or the whole vehicle demand control mode is a non-torque mode, or the gear is in a gear shifting process state.
The control device for preventing overspeed of the motor of the hybrid electric vehicle, which is provided by the embodiment of the invention, can execute the control method for preventing overspeed of the motor of the hybrid electric vehicle, and has the corresponding functional modules and beneficial effects of executing the control method for preventing overspeed of the motor of the hybrid electric vehicle.
Example IV
Fig. 6 shows a schematic structural diagram of a hybrid vehicle 410 that may be used to implement an embodiment of the present invention. The hybrid vehicle includes a digital computer intended to represent various forms, such as a laptop computer, a desktop computer, a workstation, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The hybrid vehicle may also include mobile devices representing various forms, such as personal digital assistants, cellular telephones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 6, the hybrid vehicle 410 includes at least one processor 411, and a memory, such as a read only memory (ROM 412), a random access memory (RAM 413), etc., communicatively connected to the at least one processor 411, wherein the memory stores a computer program executable by the at least one processor, and the processor 411 can perform various appropriate actions and processes according to the computer program stored in the read only memory (ROM 412) or the computer program loaded from the storage unit 418 into the random access memory (RAM 413). In the RAM 413, various programs and data required for the operation of the hybrid vehicle 410 may also be stored. The processor 411, the ROM 412, and the RAM 413 are connected to each other through a bus 414. An I/O (input/output) interface 415 is also connected to bus 414.
Various components in the hybrid vehicle 410 are connected to the I/O interface 415, including: an input unit 416 such as a keyboard, a mouse, etc.; an output unit 417 such as various types of displays, speakers, and the like; a storage unit 418, such as a magnetic disk, optical disk, or the like; and a communication unit 419 such as a network card, modem, wireless communication transceiver, etc. The communication unit 419 allows the hybrid vehicle 410 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The processor 411 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 411 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 411 performs the various methods and processes described above, such as a control method that prevents the hybrid vehicle motor from overspeed.
In some embodiments, the control method to prevent motor vehicle motor overspeed may be implemented as a computer program tangibly embodied on a computer readable storage medium, such as storage unit 418. In some embodiments, some or all of the computer program may be loaded and/or installed onto the hybrid vehicle 410 via the ROM 412 and/or the communication unit 419. When the computer program is loaded into RAM 413 and executed by processor 411, one or more steps of the control method described above for preventing overspeed of a motor of a hybrid vehicle may be performed. Alternatively, in other embodiments, the processor 411 may be configured to perform a control method that prevents the motor of the hybrid vehicle from overspeed in any other suitable way (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a hybrid vehicle having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or a trackball) through which a user can provide input to the hybrid vehicle. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (10)

1. A control method for preventing overspeed of a motor of a hybrid vehicle, comprising:
in the running process of the hybrid electric vehicle, acquiring a first rotating speed, a current motor torque and a whole vehicle required torque of a motor in a motor driving system of the hybrid electric vehicle, and determining that the motor is in a driving state or a feeding state currently according to the first rotating speed and the current motor torque;
when the motor is in a feeding state at present, acquiring a second rotating speed of the motor, and when the second rotating speed is larger than a first rotating speed threshold value, the whole vehicle demand control mode is a torque mode, and the gear is in a gear shifting completion state, controlling the motor controller to enter an active speed limiting mode;
and obtaining the rotating speed ring required torque of the motor controller in the active speed limiting mode according to the second rotating speed, and determining the current required torque of the motor according to the rotating speed ring required torque and the whole vehicle required torque so as to adjust the rotating speed of the motor through the current required torque.
2. The control method for preventing overspeed of a motor of a hybrid vehicle according to claim 1, wherein determining that a motor is currently in a driving state or a feeding state based on the first rotational speed and the current motor torque includes:
if the first rotational speed is greater than 0 and the current motor torque is greater than 0, determining that the motor is currently in a driving state;
and if the first rotation speed is greater than 0 and the current motor torque is less than or equal to 0, determining that the motor is in a feeding state currently.
3. The control method for preventing overspeed of a motor of a hybrid vehicle according to claim 1, further comprising, after determining that a motor is currently in a driving state or a feeding state based on the first rotational speed and the current motor torque:
when the motor is determined to be in a feeding state currently, controlling the rotation speed and power reduction coefficient of torque output of a motor controller to be 1;
and when the motor is determined to be in a driving state currently, determining a rotation speed power reduction coefficient of the torque output of the motor controller according to the first rotation speed.
4. The control method for preventing overspeed of a motor of a hybrid vehicle according to claim 1, wherein obtaining a rotational speed ring demand torque of said motor controller in an active speed limit mode based on said second rotational speed, comprises:
and the control rotating speed ring carries out PI adjustment according to the speed difference between the second rotating speed and the target limiting value rotating speed in the rotating speed ring, so as to obtain the rotating speed ring required torque of the motor controller in the active speed limiting mode.
5. The control method for preventing overspeed of a hybrid vehicle motor of claim 1, wherein determining a current demand torque of the motor based on the speed ring demand torque and the vehicle demand torque includes:
and determining the output torque of the rotating speed ring according to the required torque of the rotating speed ring and the required torque of the whole vehicle, and controlling the output torque of the rotating speed ring to be limited by the external characteristic limit CUR of the rotating speed torque of the motor to obtain the current required torque of the motor.
6. The control method for preventing overspeed of a hybrid vehicle motor of claim 5, wherein determining a rotational speed ring output torque from said rotational speed ring demand torque and said vehicle demand torque includes:
if the second rotating speed is greater than 0, taking the smaller value of the rotating speed ring required torque and the whole vehicle required torque as the rotating speed ring output torque;
and if the second rotating speed is smaller than 0, taking the larger value of the rotating speed ring required torque and the whole vehicle required torque as the rotating speed ring output torque.
7. The control method for preventing overspeed of a motor of a hybrid vehicle according to claim 1, characterized in that said control method for preventing overspeed of a motor of a hybrid vehicle further comprises:
and when the acquired third rotating speed is smaller than or equal to the second rotating speed threshold value, or the whole vehicle demand control mode is a non-torque mode, or the gear is in a gear shifting process state, the motor controller is controlled to exit the active speed limiting mode.
8. A control device for preventing overspeed of a motor of a hybrid vehicle, comprising:
the motor state judging module is used for acquiring a first rotating speed, a current motor torque and a whole vehicle required torque of a motor in a motor driving system of the hybrid motor vehicle in the running process of the hybrid motor vehicle, and determining that the motor is in a driving state or a feeding state currently according to the first rotating speed and the current motor torque;
the active speed limiting mode entering module is used for executing the steps that when the motor is in a feeding state at present, the second rotating speed of the motor is obtained, when the second rotating speed is larger than a first rotating speed threshold value, the whole vehicle demand control mode is a torque mode, the gear is in a gear shifting completion state, and the motor controller is controlled to enter the active speed limiting mode;
and the rotating speed control module is used for executing the process of acquiring the rotating speed ring required torque of the motor controller in the active speed limiting mode according to the second rotating speed, and determining the current required torque of the motor according to the rotating speed ring required torque and the whole vehicle required torque so as to adjust the rotating speed of the motor through the current required torque.
9. A hybrid vehicle, characterized in that the hybrid vehicle comprises:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the control method of preventing overspeed of a motor of a hybrid vehicle of any one of claims 1-7.
10. A computer readable storage medium, characterized in that the computer readable storage medium stores computer instructions for causing a processor to execute a control method for preventing overspeed of a motor of a hybrid vehicle according to any one of claims 1-7.
CN202311724155.5A 2023-12-13 2023-12-13 Control method and device for preventing overspeed of motor of hybrid electric vehicle, hybrid electric vehicle and medium Pending CN117657105A (en)

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Application Number Priority Date Filing Date Title
CN202311724155.5A CN117657105A (en) 2023-12-13 2023-12-13 Control method and device for preventing overspeed of motor of hybrid electric vehicle, hybrid electric vehicle and medium

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CN117657105A true CN117657105A (en) 2024-03-08

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