CN1272203C - Shift controlling method of clutch-less operation for parallel type mixed power automobile - Google Patents
Shift controlling method of clutch-less operation for parallel type mixed power automobile Download PDFInfo
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- CN1272203C CN1272203C CNB2004100092226A CN200410009222A CN1272203C CN 1272203 C CN1272203 C CN 1272203C CN B2004100092226 A CNB2004100092226 A CN B2004100092226A CN 200410009222 A CN200410009222 A CN 200410009222A CN 1272203 C CN1272203 C CN 1272203C
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The present invention relates to a gear shift controlling method of the operation of a parallel type mixed power automobile without a clutch, which belongs to the technical field of the control of a power assembly and a gear shifting process of the parallel type mixed power automobile. The gear shift controlling method of the operation of a parallel type mixed power automobile without a clutch is characterized in that the clutch is not used in the gear shifting process, an old gear is plucked when the output of a mixed torque of an engine and a motor is zero, and a new gear is hitched; therefore, a gear shifting purpose is achieved. In the present invention, the clutch does not need to be separated before the old gear is plucked, the clutch does not need to be connected before the new gear is hitched, and the output torque of the motor is controlled by the rotating speed of the engine and an output torque MAP picture under the proper opening degree of a throttle gate. Therefore, the mixed output torque of the engine and the motor can become zero by controlling, the old gear is plucked, and the new gear is hitched. The present invention can shorten the time of the gear shifting process, prolong the service life of the clutch, improve the quality of the gear shifting process and enhance the accelerating performance of the automobile. Because the clutch is not separated in the gear shifting process, the control logic of the gear shifting process is simplified.
Description
Technical field
The gear-shifting control method of parallel type hybrid dynamic automobile no-clutch operation belongs to the dynamic assembly control and the gearshift procedure control technology field of parallel type hybrid dynamic automobile.
Background technology
Adopting the speed-changing mechanism of AMT (hand-operated transmission of automation) pattern, is the more satisfactory speed-changing mechanism scheme of hybrid power car.The gearshift procedure of conventional manual formula mechanical transmission conventional truck is cut-off clutch, pluck steps such as old shelves, synchronization, engaging a new gear and engaging clutch finishes, and promptly gearshift procedure need be by separating and engaging clutch be finished.In the AMT vehicle, the clutch control of gearshift procedure is very important and more complicated, is easy to cause the quick wearing and tearing, power interruption time of power-transfer clutch long and shifting shock is bigger.
Summary of the invention
The present invention is directed to the shortcoming that the parallel type hybrid dynamic car that adopts hand-operated transmission has the gear shift of clutch operating to control, a kind of shift control strategy of no-clutch operation is proposed, in gearshift procedure, pass through co-operative control to driving engine and motor, realize need not cut-off clutch in the gearshift procedure, promptly gearshift procedure is reduced to: driving torque is controlled, is plucked old shelves, synchronization, engaging a new gear and driving torque and recovers steps such as control.The gear shift control of this no-clutch operation, can shorten the gearshift procedure time, prolong power-transfer clutch service life, improve the gearshift procedure quality and improve the accelerating ability of vehicle.Because cut-off clutch not in the gearshift procedure, the gear shift control logic is simplified, but to the combination drive torque of driving engine and motor and the control of rotating speed, then has higher requirement.
Method proposed by the invention is characterised in that: it is not use power-transfer clutch in the car gear shifting process, but when the mixing torque of driving engine and motor is output as 0 shifting gear and engaging a new gear, thereby reach the purpose of gear shift, it contains the following steps of being carried out by power assembly controller control successively:
1) control of the torque before the shifting gear:
1.1) the control throttle opening reaches and keep the threshold alpha of engine operation when the works fine state
Min
1.2) reach threshold alpha when throttle opening
MinThe time, motor is switched to generating operation mode;
1.3) keep the aperture of throttle gate constant, detect the rotating speed of driving engine this moment by engine management system, and, check in the output torque of driving engine this moment according to engine speed under this throttle opening and output torque MAP figure;
1.4) detect the output torque of motor by electric machine control system, with 1.3) engine output torque found in the step is expected value, regulates the output torque of motor by electric machine control system, the mixing output torque that makes driving engine and motor is 0;
2) shifting gear when the mixing output torque of driving engine and motor is 0;
3) synchronization control:
3.1) record gearbox output rotating speed V by control system of speed variator
Out, calculate the size of input shaft synchronous speed expected value with following formula:
V
in＝V
out×i
Wherein, i is new shelves speed ratio;
3.2) motor is switched to rotating speed control operating mode, detect the actual speed of input shaft by electric machine control system, and, make it reach input shaft synchronous speed expected value V by the actual speed that electric machine control system is regulated input shaft
In, as the actual speed and the expected value V of input shaft
InNear the time, then carry out next step;
4) control of the torque before the engaging a new gear:
4.1) motor is switched to generating operation mode;
4.2) keep the aperture of throttle gate in threshold alpha
MinConstant, detect the rotating speed of driving engine this moment by engine management system, and, check in the output torque of driving engine this moment according to engine speed under this throttle opening and output torque MAP figure;
4.3) detect the output torque of motor by electric machine control system, with 4.2) engine output torque found in the step is expected value, regulates the output torque of motor by electric machine control system, the mixing output torque that makes driving engine and motor is 0;
5) engaging a new gear when the mixing output torque of driving engine and motor is 0;
6) recovery of driving torque control:
Motor is switched to the driving operating mode; Regulate throttle opening, regulate motor output torque, the given expected value of throttle opening and motor output torque and chaufeur is equated, thereby finish gearshift procedure.
Described throttle opening reaches keeps the threshold alpha of engine operation when the works fine state
MinBe 10% of throttle wide degree.
The above-mentioned the 1.2nd) in the step, after described motor switches to generating operation mode, the generation current of motor is limited to this motor the maximum generation electric current 50%, avoid motor to produce excessive braking torque.
The above-mentioned the 3.2nd) in the step, as the actual speed and the expected value V of the input shaft of change-speed box
InSpeed difference when reaching 50r/min, think the actual speed and the expected value V of input shaft
InApproaching, then carry out the preceding torque control of next step engaging a new gear.
The above-mentioned the 6th) in the recovery control of the driving torque in step, when throttle opening and motor output torque were regulated, the rate of change of throttle gate was no more than 100%/s, and the rate of change of motor output torque is no more than 100Nm/s.
Invention effect: through experiment showed, that this method makes the gearshift procedure time of parallel type hybrid dynamic car shorten, life of clutch prolongs, shifting shock reduces and vehicle accelerating ability is improved.
Description of drawings
Fig. 1 is the structure diagram that adopts the parallel type hybrid dynamic automobile driving system of AMT change-speed box.
Fig. 2 has the gear-shifting control process of clutch operating and the comparison diagram of the gear-shifting control process that no-clutch is operated; Wherein Fig. 2 (a) is traditional gear-shifting control process figure that clutch operating is arranged, and Fig. 2 (b) is the gear-shifting control process figure of no-clutch operation.
Fig. 3 is a hybrid power car power assembly control system scheme drawing used in the present invention.
Fig. 4 is the gear shift control logic diagram of circuit of parallel type hybrid dynamic car no-clutch operation of the present invention.
Fig. 5 plucks the preceding driving torque control logic sub-process figure of shelves.
Fig. 6 is synchronization control logic sub-process figure.
Fig. 7 is that driving torque is recovered control logic sub-process figure.
Fig. 8 is the simulation result figure that 2 retainings rise throttle-valve control and electric machine control in the gearshift procedures of 3 retainings.
Fig. 9 is that 2 retainings rise the simulation result figure that engine speed and the speed of a motor vehicle change in the gearshift procedures of 3 retainings.
Engine speed and output torque MAP figure when Figure 10 is throttle opening 10%.
The specific embodiment
Be elaborated with reference to accompanying drawing below in conjunction with embodiment, so that to purpose of the present invention, feature and advantage are carried out more deep understanding.
As shown in Figure 1, use the power system of the parallel type hybrid dynamic car of AMT (hand-operated transmission of automation) mainly to constitute by driving engine, power-transfer clutch, main motor and hand-operated transmission (comprising synchro).The power system of this power system and traditional combustion engine+hand-operated transmission is similar, all needs to carry out gear shift control.
As shown in Figure 2, traditional gear-shifting control process that clutch operating is arranged is divided into: driving torque control, cut-off clutch, pluck old shelves, synchronization, engaging a new gear, engaging clutch, driving torque and recover 7 big steps (seeing Fig. 2 (a)) such as control, need to carry out the separation of power-transfer clutch and the action of joint in gearshift procedure.As everyone knows, in the hand-operated transmission gearshift procedure, power system has bigger torque and rotation speed change, separation and the rubbing effect in engaging process of tradition gear shift method by power-transfer clutch absorbs the energy that torque and change in rotational speed produce, therefore the automatic guidance of hand-operated transmission power-transfer clutch is very complicated, and the traveling comfort of gearshift procedure, the time length of power cut, the life-span of power-transfer clutch and the accelerating ability of vehicle etc. are all had very big influence.And hybrid vehicle uses the shift control strategy of no-clutch operation, mainly absorb the energy of torque and change in rotational speed generation by motor, and be converted into electric current, can not cause wearing and tearing to power-transfer clutch, then gearshift procedure is reduced to: driving torque is controlled, is plucked old shelves, synchronization control, engaging a new gear and driving torque and recovers control 5 big steps (seeing Fig. 2 (b)).
As shown in Figure 3, use the gear-shifting control method of no-clutch operation, the power assembly control system that needs hybrid power car is as the platform of realizing.Power assembly control system among the figure is the key that realizes no-clutch operation gear shift control.As can be seen from the figure, the drive system of hybrid power car mainly is made of parts such as starter motor, driving engine, motor, power-transfer clutch, change-speed box and storage batterys, engine management system, electric machine control system, battery management system and control system of speed variator etc. then are the control system of these parts, and the control system of all these parts is then all carried out co-operative control by power assembly control system.The realization of non-clutch shift control needs coordinations such as driving engine, motor, change-speed box and storage battery, and therefore key is the co-operative control that needs power assembly control system.Wherein, the control of motor is most critical in the gearshift procedure.Motor has 3 kinds of operating modes: drive operating mode, generating operation mode and rotating speed control operating mode.Drive operating mode, promptly motor sends driving torque, and powered vehicle is travelled, and controlled target is the size of motor output torque; Power generation mode (being braking mode), promptly motor is as electrical generator work, can produce braking torque and storage battery is charged, and controlled target is the size of generation current; Rotating speed control operating mode, motor carries out closed loop control with rotating speed of target as controlled target.
As shown in Figure 4, the first step of gearshift procedure is driving torque control.Have only when driving torque to control under 0 the situation of approaching, can pluck old shelves and enter the neutral state; If under the bigger situation of driving torque, pluck shelves, the phenomenon that vibration appears in engine speed transition and change-speed box transmission shaft then can appear, driving engine, synchro and gear shift traveling comfort are all brought adverse effect.Therefore the first step of gearshift procedure is controlled driving engine and motor exactly, makes the combination drive torque of driving engine and motor output control to 0, realizes plucking the stationarity of old shelves.The control of combination drive torque can realize by the torque of the fuel-flow control of driving engine and motor is controlled.In general, vehicle can not installed torque sensor at the input shaft of change-speed box, therefore can not discern the size of driving torque by sensor.The estimation of combination drive torque can be adopted the method for mathematics, by input shaft rotating speed and the speed of a motor vehicle as input value, the estimation that the method for math modeling can be similar to driving torque is set up in employing, but need through a large amount of mathematical computations, computing power requirement to embedded control system is very high, is unfavorable for commercialization.Pluck the preceding driving torque control of old shelves, essence is exactly the combination drive torque that reduces driving engine and motor output gradually.Give discharging the unfavorable adverse effect of bringing for the variation that reduces engine operating condition in the gearshift procedure, will reduce the variation of engine behavior in the gearshift procedure, and will guarantee that driving engine always works in the low emission zone.In traditional gearshift procedure that clutch operating is arranged, throttle opening need be reduced to 0, i.e. closed throttle makes that acute variation appears in throttle opening in the whole gearshift procedure, and engine behavior is had stronger adverse effect.As shown in Figure 5, the present invention controls the minimum α that throttle opening to can be kept the driving engine works fine earlier
Min(can select according to concrete driving engine, the present invention selects α
MinFor the throttle gate maximum opening 10%), can reduce the variation range of throttle opening, make the mode of operation of driving engine be unlikely to worsen; Motor switches to generating operation mode simultaneously, can the generation current size be optimized braking torque size as required, and it is 50% of motor maximum generation electric current that the present invention limits generation current.When the throttle opening of reality reaches α
MinAfter, be α according to throttle opening
MinThe time engine speed and the output torque MAP figure braking torque of controlling motor, can guarantee that like this driving torque reduces rapidly and reposefully.Here adopt the method for demarcating driving torque in advance to carry out the approximate evaluation of driving torque, promptly adopting test method to calibrate throttle opening in advance is α
MinEngine start machine rotating speed and output torque MAP figure when (the present invention 10%).This calibration method is a method commonly used in the engine control, belongs to static torque and estimates, have certain error with the actual torque of driving engine, but this error is within the acceptable scope.As shown in figure 10, when throttle opening is 10%, the different rotating speeds correspondence of driving engine different output torques, engine speed can record by engine management system, therefore, can find its cooresponding output torque from MAP figure by rotating speed, can regulate the braking torque of motor subsequently according to this output torque, be 0 up to the two mixing output torque.MAP figure is that process is demarcated in advance, obtains a series of data, is stored in the power assembly controller with the form of showing.
Second step was to pluck old shelves, plucked the action of old shelves and was finished by control system of speed variator.
The 3rd step of gearshift procedure is synchronization control.The expected value of input shaft rotating speed is Vin (being the input shaft synchronous speed), and the pass between output shaft rotating speed Vout and the gear speed ratio i is: Vin=Vout * i; Vout can obtain by control system of speed variator; For AMT, when gear shift and to be changed to several retainings be to be calculated automatically by the position of control system of speed variator according to the speed of a motor vehicle and acceleration pedal.I is new shelves speed ratio, is the value of determining for same car, can be given in advance.Therefore exist big speed poor between the different gears of hand-operated transmission, such as, suppose 1 grade of speed ratio i in certain vehicle
1Be the fast i of 4,2 retainings
2Be 3,, suppose that the speed of a motor vehicle is constant in the gearshift procedure if gear shift Front Derailleur output shaft rotating speed Vout is 1000r/min, change-speed box is raised to 2 retainings from 1 retaining, then the input shaft rotating speed Vin of change-speed box is 4000r/min before upshift, is 3000r/min after the upshift, and the speed difference of the two is 1000r/min.This shows, guarantee the gear shift success, just must carry out active adjustment, make it progressively be adjusted to the required rotating speed of new retaining the input shaft rotating speed of change-speed box.Rotating speed control is to reduce synchro worn-down key, and the wearing and tearing of good rotating speed control can reducing greatly synchro meet or exceed the synchro wearing and tearing index under the clutch operating situation.As shown in Figure 6, synchronization control needs earlier according to transmission output speed V
OutCalculate input shaft rotating speed Vin with new shelves speed ratio i, being the size of synchronous speed, then motor being switched to rotating speed control operating mode, is that expected value is carried out speed closed loop control with the synchronous speed, driving engine then keeps throttle opening constant, guarantees the driving engine smooth working.
The 4th step of gearshift procedure is an engaging a new gear, and this action is also finished by control system of speed variator.Realized after the synchronization (determination methods commonly used is that input shaft and output shaft speed difference can be thought near synchronously after less than 50r/min) when input shaft and output shaft, can begin engaging a new gear., also should control driving torque simultaneously near synchronously the time at rotating speed, make engaging a new gear before and after driving torque near 0, realize that engage a gear process medium speed and torque all realize synchronously, thereby can improve the gearshift procedure quality greatly.The driving torque control in this time, the torque control preceding with plucking shelves is similar, also is that throttle opening is maintained α
Min, simultaneously motor switches from rotating speed control operating mode and postbacks electrician's condition, the braking torque of generation is then controlled according to engine speed this throttle opening under and output torque MAP figure, guarantee the combination drive torque before and after engage a gear the moment all near 0.
The final step of gearshift procedure is the recovery control of driving torque, and promptly pulsation-free returns to the needed size of chaufeur with driving torque.Rejuvenation can not be too fast, can influence traveling comfort too soon, even can cause gear to come off; Also can not be too slow, the too slow dynamic property that can influence vehicle.As shown in Figure 7, the recovery of driving torque control mainly is that the rate of change of throttle opening rate of change and motor torque is controlled, and sets the maximum rate of change α of throttle opening
MaxBe 100%/s, motor torque rate of change β
MaxBe 100Nm/s, make the rate of change＜α of throttle opening in the recovery stage
Max, the rate of change＜β of motor torque
Max, can suitably reduce throttle opening rate of change and motor torque rate of change according to the requirement of traveling comfort.After the throttle opening of reality and motor torque are identical with driver requested expected value, then give chaufeur control fully, gearshift procedure is all over thus.
Fig. 8 is the simulation result that 2 retainings rise throttle-valve control and electric machine control in the gearshift procedures of 3 retainings.Abscissa among the figure is a time shaft, and two curves of drafting are the change curve of throttle opening and motor torque in the gear shift overall process.From figure can, after gear shift began, in the driving torque control stage before the shifting gear, throttle opening controlled to α gradually
MinBe 10%, it is generating operation mode that motor then produces transition gradually by the driving operating mode that produces driving torque, has produced braking torque; Enter after the synchronization control stage, the throttle opening of driving engine remains on α
MinConstant, motor has then entered rotating speed control operating mode; Driving torque behind the shift end is recovered the control stage, and throttle opening and motor-driven torque then return to driver requested expected value gradually.
Fig. 9 is that 2 retainings rise the simulation result that engine speed and the speed of a motor vehicle change in the gearshift procedures of 3 retainings.As can be seen from the figure, the speed of a motor vehicle changes minimumly in the gearshift procedure, and engine speed (equating with the input shaft rotating speed) then carries out the transition to the new grade of required tachometer value of speed ratio gradually after having carried out synchronization control.
Figure 10 is throttle opening α
MinBe 10% o'clock engine speed and output torque MAP figure.This torque M AP figure can demarcate by engine test in actual control system, and the calibration method of testing this torque M AP figure is a static torque method of estimation common in the engine control, has obtained to use widely.
Claims (5)
1, the gear-shifting control method of parallel type hybrid dynamic automobile no-clutch operation, it is characterized in that, it is not use power-transfer clutch in the car gear shifting process, but when the mixing torque of driving engine and motor is output as 0 shifting gear and engaging a new gear, thereby reach the purpose of gear shift, it contains the following steps of being carried out by power assembly controller control successively:
1) control of the torque before the shifting gear:
1.1) the control throttle opening reaches and keep the threshold alpha of engine operation when the works fine state
Min
1.2) reach threshold alpha when throttle opening
MinThe time, motor is switched to generating operation mode;
1.3) keep the aperture of throttle gate constant, detect the rotating speed of driving engine this moment by engine management system, and, check in the output torque of driving engine this moment according to engine speed under this throttle opening and output torque MAP figure;
1.4) detect the output torque of motor by electric machine control system, with 1.3) engine output torque found in the step is expected value, regulates the output torque of motor by electric machine control system, the mixing output torque that makes driving engine and motor is 0;
2) shifting gear when the mixing output torque of driving engine and motor is 0;
3) synchronization control:
3.1) record gearbox output rotating speed V by control system of speed variator
Out, calculate the size of input shaft synchronous speed expected value with following formula:
V
in＝V
out×i
Wherein, i is new shelves speed ratio;
3.2) motor is switched to rotating speed control operating mode, detect the actual speed of input shaft by electric machine control system, and, make it reach input shaft synchronous speed expected value V by the actual speed that electric machine control system is regulated input shaft
In, as the actual speed and the expected value V of input shaft
InNear the time, then carry out next step;
4) control of the torque before the engaging a new gear:
4.1) motor is switched to generating operation mode;
4.2) keep the aperture of throttle gate in threshold alpha
MinConstant, detect the rotating speed of driving engine this moment by engine management system, and, check in the output torque of driving engine this moment according to engine speed under this throttle opening and output torque MAP figure;
4.3) detect the output torque of motor by electric machine control system, with 4.2) engine output torque found in the step is expected value, regulates the output torque of motor by electric machine control system, the mixing output torque that makes driving engine and motor is 0;
5) engaging a new gear when the mixing output torque of driving engine and motor is 0;
6) recovery of driving torque control:
Motor is switched to the driving operating mode; Regulate throttle opening, regulate motor output torque, the given expected value of throttle opening and motor output torque and chaufeur is equated, thereby finish gearshift procedure.
2, the gear-shifting control method of parallel type hybrid dynamic automobile no-clutch operation as claimed in claim 1 is characterized in that described throttle opening reaches keeps the threshold alpha of engine operation when the works fine state
MinBe 10% of throttle wide degree.
3, the gear-shifting control method of parallel type hybrid dynamic automobile no-clutch operation as claimed in claim 1, it is characterized in that, the above-mentioned the 1.2nd) step in, after described motor switches to generating operation mode, the generation current of motor is limited to this motor the maximum generation electric current 50%, avoid motor to produce excessive braking torque.
4, the gear-shifting control method of parallel type hybrid dynamic automobile no-clutch as claimed in claim 1 operation is characterized in that, the above-mentioned the 3.2nd) in the step, as the actual speed and the expected value V of the input shaft of change-speed box
InSpeed difference when reaching 50r/min, think the actual speed and the expected value V of input shaft
InApproaching, then carry out the preceding torque control of next step engaging a new gear.
5, the gear-shifting control method of parallel type hybrid dynamic automobile no-clutch operation as claimed in claim 1, it is characterized in that, the above-mentioned the 6th) in the recovery control of the driving torque in step, when throttle opening and motor output torque are regulated, the rate of change of throttle gate is no more than 100%/s, and the rate of change of motor output torque is no more than 100Nm/s.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100092226A CN1272203C (en) | 2004-06-18 | 2004-06-18 | Shift controlling method of clutch-less operation for parallel type mixed power automobile |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100092226A CN1272203C (en) | 2004-06-18 | 2004-06-18 | Shift controlling method of clutch-less operation for parallel type mixed power automobile |
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| CN1593976A CN1593976A (en) | 2005-03-16 |
| CN1272203C true CN1272203C (en) | 2006-08-30 |
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| CNB2004100092226A Expired - Fee Related CN1272203C (en) | 2004-06-18 | 2004-06-18 | Shift controlling method of clutch-less operation for parallel type mixed power automobile |
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Cited By (3)
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| WO2008128474A1 (en) | 2007-04-20 | 2008-10-30 | Byd Company Limited | Clutchless transmission apparatus for controlling gear-position shifting and control method thereof |
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| WO2008128474A1 (en) | 2007-04-20 | 2008-10-30 | Byd Company Limited | Clutchless transmission apparatus for controlling gear-position shifting and control method thereof |
| CN101451612B (en) * | 2007-12-04 | 2012-09-26 | 比亚迪股份有限公司 | Gear engaging method without clutch and gear engaging control system at vehicle starting |
| US10315659B2 (en) | 2015-07-31 | 2019-06-11 | Massachusetts Institute Of Technology | Clutchless shifting of a manual transmission |
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