WO2018133807A1 - Hybrid electric vehicle and active vibration damping control method and device therefor - Google Patents

Abstract

A hybrid electric vehicle (1000) and an active vibration damping control method and device (100) therefor. The method comprises the following steps: when it is determined that a hybrid electric vehicle (1000) is in an idle charging working condition according to a vehicle speed sensor signal and a crankshaft sensor signal, calculating a target current value (A) according to a revolving speed and a vibration period of an engine and the motion position of a piston, communicating with a vehicle controller so as to acquire the charging power of the hybrid electric vehicle (1000), and correcting the target current value (A) according to the charging power to obtain a first corrected current value (A'); acquiring a delay time according to a camshaft sensor signal; and when the delay time is reached, applying the first corrected current value (A') to an actuator (21) so as to carry out vibration damping control on the hybrid electric vehicle (1000). Therefore, the present invention achieves active vibration damping control under an idle charging working condition, has a relatively high timeliness, and by predetermining the effective time of vibration damping and noise reduction control by means of a camshaft sensor signal, has a more effective vibration damping effect.

Description

Hybrid electric vehicle and active vibration damping control method and device thereof

This application claims the priority of the Chinese patent application filed on January 20, 2017, the Chinese Patent Office, the application number is 201710042264.7, and the invention is entitled "hybrid vehicle and its active vibration damping control method and device". The citations are incorporated herein by reference.

Technical field

The present invention relates to the field of automobile technology, and in particular to an active vibration damping control method for a hybrid vehicle, an active vibration damping control device for a hybrid vehicle, and a hybrid vehicle having the same.

Background technique

With the advancement of social technology, people have higher and higher requirements for comfort, and ride comfort has become an important indicator to measure the performance of automobiles. Among them, the main factor affecting the ride comfort is the vibration of the car, and there are many reasons for the vibration of the car. Engine vibration is one of the main reasons worthy of attention. The engine vibration is mainly caused by the combustion in the engine cylinder and the reciprocating motion of the piston. The vibration is transmitted to the frame through the engine suspension system, and then transmitted to the cab, which affects the ride comfort.

In order to improve ride comfort, a reasonable suspension system is required to achieve the purpose of damping vibration. The development of the suspension system mainly experienced the process of rubber suspension, hydraulic suspension and active suspension. Among them, the rubber suspension is inferior to high and low temperature performance and oil resistant due to its own material; the hydraulic suspension will be at high frequency. Dynamic liquefaction occurs; the dynamic response of semi-active suspension is sensitive to structural parameters, requiring strict design requirements and manufacturing processes. Therefore, it is necessary to increase the research on active suspension.

Summary of the invention

This application is based on the inventors' understanding and research on the following issues:

The related art provides an anti-vibration control algorithm for estimating the vibration state of the first cycle of the engine vibration based on the output of the sensor for detecting the rotational variation of the engine, and simultaneously calculating the cycle length and the target current value waveform, and constant The sampling period samples the target current value waveform to obtain a data set of the target current value. When the target current value is output to the drive unit, the cycle length of the third cycle of the engine vibration is estimated based on the predetermined number of crank pulse intervals, and thereby the data set of the obtained target current value is corrected.

The inventor found that the above control algorithm is only for the fuel vehicle and does not involve the vibration reduction control of the hybrid vehicle. Further, the control algorithm estimates the vibration state and the target current value of the third cycle based on the vibration state and the target current value of the first cycle of the engine vibration, etc., and does not have timeliness, and real-time adjustment of the vibration cannot be realized, and It is suitable for working conditions where the engine speed is relatively stable.

The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, an object of the present invention is to provide an active vibration damping control method for a hybrid vehicle, which can realize active vibration damping control of the vehicle under idle charging conditions, has high timeliness, and uses camshaft sensor signals in advance. Judging the effective time of the vibration and noise reduction control makes the action time of the vibration reduction control more accurate and the vibration damping effect more effective.

Another object of the present invention is to provide an active vibration damping control method for a hybrid vehicle.

Yet another object of the present invention is to provide a hybrid vehicle.

In order to achieve the above object, an embodiment of the present invention provides an active vibration damping control method for a hybrid vehicle, the hybrid vehicle including an active suspension system, the method comprising the following steps: when the hybrid vehicle While the engine is operating, acquiring a vehicle speed sensor signal and a crank sensor signal of the hybrid vehicle, and determining, according to the vehicle speed sensor signal and the crank sensor signal, whether the hybrid vehicle is in an idle charging condition; if the hybrid vehicle is in An idle charging condition, calculating a rotational speed and a vibration period of the engine according to the crankshaft sensor signal, and detecting a moving position of the piston in the engine by a camshaft sensor, and in the engine according to a rotational speed and a vibration period of the engine Calculating a vibration state of the engine by the movement position of the piston, and calculating a target current value according to the vibration state of the engine; correcting the target current value according to the acquired charging power of the hybrid vehicle to obtain a first correction current value According to the camshaft The signal waveform outputted by the sensor estimates a cylinder explosion timing of the engine, and predetermines the cylinder explosion timing to obtain a delay time of the first correction current value; when the delay time arrives, the A correction current value is applied to the actuator, the actuator adjusting a dynamic stiffness of the active suspension system of the hybrid vehicle according to the first corrected current value to perform damping control on the hybrid vehicle.

An active vibration damping control method for a hybrid vehicle according to an embodiment of the present invention, when the engine of the hybrid vehicle is operating, determining whether the hybrid vehicle is in an idle charging condition according to the vehicle speed sensor signal and the crank sensor signal, and if so, according to the crankshaft The sensor signal calculates the engine speed and vibration period, and detects the movement position of the piston in the engine according to the camshaft sensor, thereby calculating the target current value. Get the charging power of a hybrid car. Then, the target current value is corrected according to the charging power of the hybrid vehicle to obtain a first corrected current value. Finally, the cylinder explosion time of the engine is estimated according to the signal waveform outputted by the camshaft sensor to obtain the delay time of the first correction current value, and when the delay time arrives, the first correction current value is applied to the actuator to perform the vehicle Vibration reduction control. Therefore, the active vibration reduction control of the vehicle under idle charging conditions is realized, which has high timeliness, and the effective moment of the vibration reduction and noise reduction control is pre-determined by the camshaft sensor signal, so that the action time of the vibration reduction control is more accurate and reduced. The vibration effect is more effective.

According to an embodiment of the present invention, when it is determined whether the hybrid vehicle is in an idle charging condition according to the vehicle speed sensor signal and the crank sensor signal, the active suspension system also passes through a vehicle with the hybrid vehicle The controller communicates to confirm whether the current operating condition of the hybrid vehicle during the current communication cycle is the idle charging condition.

According to an embodiment of the invention, the drive signal is also output to the drive circuit based on the first corrected current value to drive the actuator to operate by the drive circuit.

According to an embodiment of the present invention, the active vibration damping control method of the hybrid vehicle further includes: detecting an output current of the driving circuit to obtain an operating temperature of the actuator; and operating according to the actuator The temperature adjusts the first correction current value.

According to an embodiment of the present invention, the active vibration damping control method of the hybrid vehicle further includes: detecting an acceleration of the hybrid vehicle by an acceleration sensor to acquire vibration information of the hybrid vehicle; The vibration information of the automobile determines whether the current vibration value of the hybrid vehicle is greater than a preset vibration threshold; if the current vibration value of the hybrid vehicle is greater than a preset vibration threshold, the first correction current value is corrected twice A second corrected current value is obtained such that the actuator adjusts a dynamic stiffness of the active suspension system of the hybrid vehicle according to the second corrected current value.

According to an embodiment of the present invention, determining whether the hybrid vehicle is in an idle charging condition according to the vehicle speed sensor signal and the crank sensor signal comprises: determining, according to the vehicle speed sensor signal and the crank sensor signal, whether the hybrid vehicle is In an idle condition, and determining, according to the crank sensor signal, whether the engine speed is in a preset speed range corresponding to a charging condition; if the hybrid vehicle is in an idle condition and the engine speed is in a charging condition The preset speed range determines that the hybrid vehicle is in an idle charging condition.

According to an embodiment of the present invention, when the active suspension system communicates with a vehicle controller of the hybrid vehicle in a next communication cycle to confirm that the current operating condition of the hybrid vehicle is still the idle charging In the working condition, determining whether the acquired charging power changes, wherein if a change occurs, correcting the target current value according to the changed charging power to obtain a third corrected current value, when the delay time arrives The third corrected current value is applied to the actuator; if no change occurs, the operating current applied to the actuator is maintained unchanged.

According to an embodiment of the present invention, when it is determined whether the hybrid vehicle is in an idle charging condition based on the vehicle speed sensor signal and the crank sensor signal, the charging power of the hybrid vehicle is acquired.

In order to achieve the above object, an active vibration damping control apparatus for a hybrid vehicle according to another embodiment of the present invention includes: a first acquisition module, and the first acquisition module is configured to acquire an engine of a hybrid vehicle a vehicle speed sensor signal and a crank sensor signal of the hybrid vehicle; a first determining module, wherein the first determining module is configured to determine, according to the vehicle speed sensor signal and the crank sensor signal, whether the hybrid vehicle is in an idle charging condition; a vibration period calculation module, configured to calculate a rotation speed and a vibration period of the engine according to the crank sensor signal when the hybrid vehicle is in an idle charging condition; a piston state detection module, the piston state The detecting module is configured to detect a moving position of the piston in the engine according to a signal waveform output by the camshaft sensor; a vibration state estimating module, the vibration state estimating module is configured to: the piston in the engine according to the engine speed and the vibration period Position of the engine a target current calculation module, the target current calculation module is configured to calculate a target current value according to the vibration state of the engine; a first current correction module, the first current correction module is configured to be based on the acquired hybrid vehicle The charging power is corrected to obtain the first corrected current value; the delay time acquiring module is configured to calculate the cylinder of the engine according to the signal waveform output by the camshaft sensor Explosion moment, and predetermining the cylinder explosion moment to obtain a delay time of the first correction current value; driving control module, the driving control module is configured to use the first correction current when the delay time arrives A value is applied to the actuator such that the actuator adjusts the dynamic stiffness of the active suspension system of the hybrid vehicle based on the first corrected current value to perform damping control on the hybrid vehicle.

An active vibration damping control device for a hybrid vehicle according to an embodiment of the present invention, when the engine of the hybrid vehicle is operating, determining whether the hybrid vehicle is in an idle charging condition according to the vehicle speed sensor signal and the crank sensor signal, and if so, according to the crankshaft The sensor signal calculates the engine speed and vibration period, and detects the movement position of the piston in the engine according to the camshaft sensor, thereby calculating the target current value. Get the charging power of a hybrid car. Then, the target current value is corrected according to the charging power of the hybrid vehicle to obtain a first corrected current value. Finally, the cylinder explosion time of the engine is estimated according to the signal waveform outputted by the camshaft sensor to obtain the delay time of the first correction current value, and when the delay time arrives, the first correction current value is applied to the actuator to perform the vehicle Vibration reduction control. Therefore, the active vibration reduction control of the vehicle under idle charging conditions is realized, which has high timeliness, and the effective moment of the vibration reduction and noise reduction control is pre-determined by the camshaft sensor signal, so that the action time of the vibration reduction control is more accurate and reduced. The vibration effect is more effective.

According to an embodiment of the present invention, the main control module is configured to acquire the charging of the hybrid vehicle when the first determining module determines whether the hybrid vehicle is in an idle charging condition. power.

According to an embodiment of the present invention, the main control module is further configured to: when the first determining module determines whether the hybrid vehicle is in an idle charging condition, by performing with a vehicle controller of the hybrid vehicle The communication is to confirm whether the current operating condition of the hybrid vehicle in the current communication cycle is the idle charging condition.

According to an embodiment of the present invention, the active vibration damping control device of the hybrid vehicle further includes a driving circuit, wherein the driving control module is further configured to output a driving signal to the driving circuit according to the first modified current value, The operation is performed by driving the actuator through the drive circuit.

According to an embodiment of the present invention, the active vibration damping control device of the hybrid vehicle further includes: a current detecting module, wherein the current detecting module is configured to detect an output current of the driving circuit to obtain the actuator a working temperature correction module, wherein the target current correction module is configured to adjust the first correction current value according to an operating temperature of the actuator.

According to an embodiment of the present invention, the active vibration damping control device of the hybrid vehicle further includes: a fourth determining module, wherein the fourth determining module is configured to detect an acceleration of the hybrid vehicle by an acceleration sensor to acquire Determining vibration information of the hybrid vehicle, and determining whether the current vibration value of the hybrid vehicle is greater than a preset vibration threshold according to vibration information of the hybrid vehicle, and the current vibration value of the hybrid vehicle is greater than a preset vibration The first correction current value is corrected by the target current correction module to obtain a second current correction value, so that the actuator adjusts the active suspension of the hybrid vehicle according to the second correction current value. Set the dynamic stiffness of the system.

According to an embodiment of the present invention, the first determining module determines, according to the vehicle speed sensor signal and the crank sensor signal, whether the hybrid vehicle is in an idle charging condition, and determines the location according to the vehicle speed sensor signal and the crank sensor signal. Whether the hybrid vehicle is in an idle condition, and determining, according to the crank sensor signal, whether the engine speed is in a preset speed range corresponding to a charging condition, wherein the hybrid vehicle is in an idle condition and the engine The speed of the motor is in a preset speed range corresponding to the charging condition, and the first determining module determines that the hybrid vehicle is in an idle charging condition.

According to an embodiment of the present invention, when the main control module communicates with the vehicle controller of the hybrid vehicle in the next communication cycle to confirm that the current working condition of the hybrid vehicle is still the idle charger In any case, the fifth determining module determines whether the acquired charging power changes, wherein if the change occurs, the first current correcting module corrects the target current value according to the changed charging power to obtain a third correction. a current value such that the drive control module applies the third corrected current value to the actuator when the delay time arrives; if no change occurs, the target current correction module maintains output to the actuator The working current is constant.

In order to achieve the above object, an embodiment of the present invention provides an automobile including the above-described active vibration damping control device for an automobile.

According to the hybrid vehicle of the embodiment of the present invention, the active vibration damping control device of the hybrid vehicle can realize the active vibration damping control of the vehicle under the idle charging condition, and has high timeliness, and the camshaft sensor signal is used in advance. Judging the effective time of the vibration and noise reduction control makes the action time of the vibration reduction control more accurate and the vibration damping effect more effective.

DRAWINGS

1 is a flow chart of an active vibration damping control method of a hybrid vehicle according to an embodiment of the present invention;

2 is a flow chart of active damping control corresponding to a first signal period (n=1) of a hybrid vehicle in an idle charging condition, in accordance with an embodiment of the present invention;

3 is a flow chart of active damping control corresponding to a second and above signal periods (n≥2) of a hybrid vehicle in an idle charging condition, in accordance with an embodiment of the present invention;

4 is a diagram showing a relationship between a signal, a temperature, a rotational speed, and a PWM signal of a first corrected current value output by a camshaft sensor according to an embodiment of the present invention;

5 is a block diagram showing an active vibration damping control device of a hybrid vehicle according to an embodiment of the present invention;

6 is a block diagram showing an active vibration damping control device of a hybrid vehicle according to an embodiment of the present invention;

Figure 7 is a block schematic diagram of a hybrid vehicle in accordance with an embodiment of the present invention.

detailed description

The embodiments of the present invention are described in detail below, and the examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numerals are used to refer to the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are intended to be illustrative of the invention and are not to be construed as limiting.

An active vibration damping control method for a hybrid vehicle, an active vibration damping control device for a hybrid vehicle, and a hybrid vehicle having the same according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

1 is a flow chart of an active vibration damping control method of a hybrid vehicle according to an embodiment of the present invention. Among them, the hybrid vehicle includes an active suspension system. As shown in FIG. 1, the active vibration damping control method of the hybrid vehicle may include the following steps:

S1. When the engine of the hybrid vehicle is working, obtain the vehicle speed sensor signal and the crank sensor signal of the hybrid vehicle, and determine whether the hybrid vehicle is in an idle charging condition according to the vehicle speed sensor signal and the crank sensor signal.

According to an embodiment of the present invention, determining whether the hybrid vehicle is in an idle charging condition according to the vehicle speed sensor signal and the crank sensor signal comprises: determining whether the hybrid vehicle is in an idle condition according to the vehicle speed sensor signal and the crank sensor signal, and according to the crankshaft The sensor signal determines whether the engine speed is in a preset speed range corresponding to the charging condition; if the hybrid vehicle is in an idle condition and the engine speed is in a preset speed range corresponding to the charging condition, determining that the hybrid vehicle is in an idle charging condition . The preset speed range may be calibrated according to actual conditions, for example, the preset speed range may be 900r/min-2000r/min.

S2, if the hybrid vehicle is in an idle charging condition, the engine speed and the vibration period are calculated according to the crankshaft sensor signal, and the movement position of the piston in the engine is detected by the camshaft sensor, and the piston in the engine according to the engine speed and the vibration period. The motion position estimates the vibration state of the engine, and calculates the target current value based on the vibration state of the engine. Among them, the vibration state of the engine includes the vibration magnitude and the vibration frequency.

Specifically, when the engine of the hybrid vehicle is operating, the vehicle speed sensor signal and the crankshaft sensor signal are acquired and counted. It is judged whether the value of the acquired signal is within the range of the idle charging condition of the engine. If not, enter the processing of other operating conditions (such as acceleration, deceleration, etc.); if so, calculate the engine speed and vibration period based on the crankshaft sensor signal, wherein the engine speed is equal to the number of revolutions per minute of the crankshaft, the engine The vibration period can be calculated based on the number of cylinders of the engine and the number of revolutions of the engine. Taking a four-cylinder engine as an example, the crankshaft is rotated twice in each working cycle of the engine, and in each working cycle, four cylinders are fired and exploded once in the order of 1342, that is, the engine will explode twice per revolution, that is, the engine. It vibrates twice per revolution. If the engine speed is 6000r/min, the engine's vibration period is 1/200s. At the same time, the motion state of the engine piston is also derived from the signal waveform output from the camshaft sensor.

Then, based on the engine speed and the engine piston's motion state, the vibration state of the engine at this time is estimated by the sampling method or the like, and then the required target current value A is obtained by sampling or table lookup according to the vibration state of the engine. . Specifically, the calculation method in the prior art can be sampled.

S3. Acquire a charging power of the hybrid vehicle when determining whether the hybrid vehicle is in an idle charging condition according to the vehicle speed sensor signal and the crank sensor signal.

It will be readily understood by those skilled in the art that the step of obtaining the charging power of the hybrid vehicle may also be performed after determining that the hybrid vehicle is in an idle charging condition based on the vehicle speed sensor signal and the crank sensor signal.

S4. Correct the target current value according to the charging power of the hybrid vehicle to obtain a first corrected current value.

Specifically, since the charging power affects the vibration of the engine, the target current value A is also adjusted according to the charging power of the power battery to obtain the first corrected current value A', so that the corrected target current value is more consistent. The actual working conditions are more conducive to the vibration reduction and noise reduction of the active suspension.

Since the charging power needs to be obtained by communication between the vehicle controller and the battery management unit, or directly with the battery management unit, and the communication cycle is many times larger than the vibration period of the engine, in order to reduce the calculation time after the communication is completed. A pre-processing (such as steps S1-S2) can be set. The pre-processing function is to calculate a target current value A in advance by using the time before the communication is completed, and directly use the target current value A after the communication ends. Thereby effectively reducing the calculation time after the end of communication.

According to an embodiment of the present invention, when determining whether the hybrid vehicle is in an idle charging condition based on the vehicle speed sensor signal and the crank sensor signal, the active suspension system also confirms the current communication by communicating with the vehicle controller of the hybrid vehicle. Whether the current working condition of the hybrid vehicle in the cycle is an idle charging condition.

That is to say, in order to ensure the accuracy of the working condition judgment, it is also communicated with the vehicle controller of the hybrid vehicle to confirm whether the current working condition is an idle charging condition. If so, the target current value A is corrected in accordance with the charging power of the hybrid vehicle to obtain the first corrected current value A'.

S5. Calculate the cylinder explosion time of the engine according to the signal waveform output by the camshaft sensor, and predetermine the cylinder explosion timing to obtain the delay time of the first correction current value.

S6. When the delay time arrives, the first correction current value is applied to the actuator, and the actuator adjusts the dynamic stiffness of the active suspension system of the hybrid vehicle according to the first correction current value to perform vibration reduction control on the hybrid vehicle. .

According to an embodiment of the invention, the drive signal is also output to the drive circuit based on the first corrected current value to drive the actuator to operate.

Specifically, the cylinder explosion timing can be derived based on the signal waveform of the camshaft sensor and the vehicle communication signal, and the cylinder explosion timing can be determined in advance to estimate the delay time of the first correction current value A'. It is judged whether or not the delay time has arrived, and if it is reached, the drive signal generated based on the first corrected current value A' is input to the drive circuit. The driving circuit outputs an operating current to the actuator according to the driving signal, and the actuator adjusts the electromagnetic induction device in the active suspension according to the working current to realize the up and down movement of the mechanical structure to change the damping and dynamic stiffness of the active suspension, thereby The vehicle can reduce the vibration and noise reduction function under the idling condition, and improve the user's ride comfort; otherwise, enter the waiting state until the delay time arrives.

The active vibration damping control method of the hybrid vehicle according to the embodiment of the invention can not only realize the active vibration damping control of the hybrid vehicle under the idle charging condition, but also has high timeliness, the algorithm is more accurate, and the vibration damping effect is more good. At the same time, the camshaft sensor signal is used to predetermine the effective time of the vibration reduction and noise reduction control, so that the action time of the vibration reduction control is more accurate and the vibration damping effect is more effective.

In addition, in practical applications, since the temperature affects the vibration damping effect of the actuator, in order to achieve a better vibration damping effect, the operating temperature of the actuator is also monitored, and the first correction is made according to the operating temperature. The current value is adjusted.

According to an embodiment of the present invention, the active vibration damping control method of the hybrid vehicle further includes: detecting an output current of the driving circuit to obtain an operating temperature of the actuator; and correcting the first correction current according to an operating temperature of the actuator The value is adjusted.

Specifically, since the resistance of the coil in the driving circuit increases as the temperature increases, the output current of the driving circuit can be used to calculate the resistance value of the coil, and then the actuator is calculated based on the resistance value. The working temperature is finally calculated based on the operating temperature, and the first corrected current value A' is adjusted according to the working state, and the dynamic stiffness of the active suspension is adjusted according to the adjusted current value. Therefore, before the current damping effect is generated, the magnitude of the first correction current value at each moment is adjusted by monitoring the operating temperature of the actuator, thereby eliminating the influence of the temperature on the actuator and achieving the vibration damping effect. The purpose of active adjustment is to have a better damping effect.

After adjusting the dynamic stiffness of the active suspension, if the vibration damping effect is not monitored, it is impossible to judge whether the vibration damping is effective and what kind of vibration damping effect, and if the vibration damping effect can be monitored, and according to the current reduction The vibration effect adjusts the first correction current value of the next cycle, and the obtained first correction current value is more reasonable, and the vibration damping effect is better.

According to an embodiment of the present invention, the active vibration damping control method of the hybrid vehicle further includes: detecting an acceleration of the hybrid vehicle by the acceleration sensor to obtain vibration information of the hybrid vehicle; and determining the mixing according to the vibration information of the hybrid vehicle. Whether the current vibration value of the power car is greater than a preset vibration threshold; if the current vibration value of the hybrid vehicle is greater than the preset vibration threshold, the first correction current value is secondarily corrected to obtain a second correction current value for the actuator The dynamic stiffness of the active suspension system of the hybrid vehicle is adjusted according to the second corrected current value.

Specifically, after adjusting the dynamic stiffness of the active suspension, the current vibration value of the vehicle is estimated by the signal waveform of the acceleration sensor, and then compared with the preset vibration threshold. If the vibration value is greater than the preset vibration threshold, the damping effect is not good. At this time, the target current correction signal is output according to the difference between the vibration value and the preset vibration threshold, and the first correction current value is corrected according to the target current correction signal. A' is corrected, and then the dynamic stiffness of the active suspension is adjusted according to the corrected target current value, that is, according to the second corrected current value A".

That is to say, after the first correction current value is input to the driving circuit, the vibration damping effect is monitored by the acceleration sensor, and feedback is performed for the case where the vibration damping effect cannot be satisfied, so as to correct the first correction current value to form a closed loop adjustment. To ensure the effectiveness of the damping effect. Moreover, when the above two modes work synergistically, the vibration damping effect is more obvious, and the ride comfort can be greatly improved.

Further, according to an embodiment of the present invention, when the active suspension system communicates with the vehicle controller of the hybrid vehicle in the next communication cycle to confirm that the current operating condition of the hybrid vehicle is still an idle charging condition, Whether the obtained charging power changes, wherein if a change occurs, the target current value is corrected according to the changed charging power to obtain a third corrected current value, so that the third corrected current value is applied when the delay time arrives The actuator; if there is no change, keep the operating current applied to the actuator unchanged.

Specifically, since the engine vibration changes rapidly, in order to ensure the calculation is fast and accurate, the signal periods n=1 and n≥2 after switching to the idle charging condition for other operating conditions are set. When n≥2, if the front and back working conditions have not changed, the actuator is directly controlled by the target current value obtained in the last signal cycle, thereby simplifying the calculation process and ensuring the accuracy of the calculation; if there is a change, Then, the latest target current value calculated after the preprocessing is called, and the target current value is corrected according to the obtained charging power of the hybrid vehicle to obtain the latest first corrected current value, that is, the third corrected current value.

Specifically, after the end of the first signal period of the idle charging condition, communication with the vehicle controller is continued to obtain the current condition information of the automobile. Before the signal of the vehicle controller is acquired, the actuator is always controlled using the target current value finally obtained in the previous signal cycle.

After obtaining the signal of the vehicle controller, it is judged whether the current car is still in the idle charging condition, and if not, the other working conditions are processed; if yes, it is determined whether the charging power of the hybrid car changes. If not, continue to use the target current value finally obtained in the previous signal cycle to control the actuator; if so, call the latest target current value calculated by the preprocessing, and correct the target current value according to the charging power. A third correction current value is obtained, and then the actuator is controlled according to the third correction current value. Thereby, the process of calculating each signal cycle is effectively reduced, the calculation amount is simplified, and the calculation accuracy is ensured. Among them, it should be noted that the delay time is recalculated in each cycle to ensure the accuracy of the control and the effect of vibration reduction.

In order to make the present invention more clearly understood by those skilled in the art, FIG. 2 is a flow chart of active vibration damping control corresponding to the first signal period (n=1) of the hybrid vehicle in an idle charging condition according to an embodiment of the present invention. Figure. As shown in FIG. 2, the active vibration damping control of the hybrid vehicle may include the following steps:

S801, communicating with the vehicle controller to determine whether the hybrid vehicle is in an idle charging condition. If yes, go to step S803; if no, go to the other working conditions identified.

S802, performing pre-processing to obtain a target current value A while communicating with the vehicle controller.

S803, obtaining the charging power of the hybrid vehicle, and correcting the target current value A according to the charging power to obtain the first correction current value A'.

S804, acquiring a signal of the camshaft sensor, estimating a moving position of the piston in the engine, estimating a combustion time of the engine, and calculating a delay time.

S805, determining whether the delay signal is OFF, that is, determining whether the delay time is over. If yes, go to step S806; if no, go back to step S805.

S806, performing duty control on the driving circuit to obtain a first corrected current value A'.

At S807, the first corrected current value A' is input to the drive circuit.

S808, detecting an operating current of the driving circuit.

S809, the first correction current value A' is adjusted according to the operating current.

S810. Acquire a signal waveform of the acceleration sensor.

S811, determining whether the vibration damping effect meets the condition according to the signal waveform of the acceleration sensor. If yes, the vibration reduction and noise reduction of the signal period is ended; if not, step S812 is performed.

At S812, the adjusted A' is corrected according to the damping effect to obtain a second corrected current value A".

Further, FIG. 3 is a flow chart of active damping control corresponding to the second and above signal periods (n≥2) when the hybrid vehicle is in an idle charging condition according to an embodiment of the present invention. As shown in FIG. 3, the active vibration damping control of the hybrid vehicle may include the following steps:

S901, communicating with the vehicle controller to determine whether the hybrid vehicle is still in an idle charging condition. If yes, go to step S902; if no, go to the other working conditions identified.

S902, determining whether the charging power has changed. If yes, go to step S903; if no, go to step S905.

S903: Acquire a latest target current value A1.

S904, correcting the latest target current value A1 according to the charging power to obtain a third current correction value A1'.

S905, directly acquiring the second correction current value A".

S906, acquiring a signal of the camshaft sensor, estimating a moving position of the piston in the engine, estimating a combustion time of the engine, and calculating a delay time.

S907, determining whether the delay signal is OFF, that is, determining whether the delay time is over. If yes, go to step S908; if no, go back to step S907.

S908, performing duty control on the driving circuit to obtain a third corrected current value A1' or a second corrected current value A".

S909, the third correction current value A1' or the second correction current value A" is input to the drive circuit.

S910, detecting an operating current of the driving circuit.

S911 adjusts the third correction current value A1' or the second correction current value A" current value according to the operating current.

S912. Acquire a signal waveform of the acceleration sensor.

S913, determining whether the vibration damping effect meets the condition according to the signal waveform of the acceleration sensor. If yes, the vibration and noise reduction of the signal period is ended; if not, step S914 is performed.

S914, the adjusted current value is corrected according to the vibration damping effect.

4 is a graph showing a relationship between a signal output from a camshaft sensor and a target current value, in accordance with one embodiment of the present invention. Among them, q5 is the signal output by the camshaft sensor, F is the PWM signal required to generate the target current value, a and a1 are the initial phase difference before and after the correction, respectively, b and b1 are the time lengths of the high-level signal before and after the correction. , c, c1 are the length of time of one signal period before and after correction, wherein the duty ratio is b/c, b1/c1.

In the above embodiment, the signal existing in the automobile such as the crank sensor, the camshaft sensor, and the vehicle speed sensor is used as the input signal of the vibration damping control, and the signal acquisition is more convenient and effective. Moreover, the effective moment of the vibration reduction and noise reduction control is determined in advance by using the camshaft sensor signal, so that the action time of the vibration damping control is more accurate, and the vibration damping effect is more effective. At the same time, the operating current of the driving circuit is taken as the input signal, the target current value is actively adjusted, and the signal of the acceleration sensor is used as a feedback signal, and the target current value is closed-loop adjusted, so that the signal processing is more strict and effective, so that the signal can be better The vibration and noise reduction control is realized to achieve the effects of attenuating vibration and reducing noise, and improving user comfort.

In summary, the active vibration damping control method of the hybrid vehicle according to the embodiment of the present invention determines whether the hybrid vehicle is in an idle charging condition according to the vehicle speed sensor signal and the crank sensor signal when the engine of the hybrid vehicle is operating. Yes, the engine speed and the vibration period are calculated based on the crankshaft sensor signal, and the movement position of the piston in the engine is detected according to the camshaft sensor, thereby calculating the target current value. At the same time, the charging power of the hybrid vehicle is obtained. Then, the target current value is corrected according to the charging power of the hybrid vehicle to obtain a first corrected current value. Finally, the cylinder explosion time of the engine is estimated according to the signal waveform outputted by the camshaft sensor to obtain the delay time of the first correction current value, and when the delay time arrives, the first correction current value is applied to the actuator to perform the vehicle Vibration reduction control. Therefore, the active vibration reduction control of the vehicle under idle charging conditions is realized, which has high timeliness, and the effective moment of the vibration reduction and noise reduction control is pre-determined by the camshaft sensor signal, so that the action time of the vibration reduction control is more accurate and reduced. The vibration effect is more effective.

FIG. 5 is a block schematic diagram of an active vibration damping control apparatus of a hybrid vehicle according to an embodiment of the present invention. As shown in FIG. 5, the active vibration damping control apparatus of the hybrid vehicle includes: a first acquisition module 11, a first determination module 12, a vibration period calculation module 13, a piston state detection module 14, a vibration state estimation module 15, and a target current. The arithmetic module 16, the main control module 17, the first current correction module 18, the delay time acquisition module 19, and the drive control module 20.

The first obtaining module 11 is configured to acquire a vehicle speed sensor signal and a crank sensor signal of the hybrid vehicle when the engine of the hybrid vehicle is in operation; the first determining module 12 is configured to determine whether the hybrid vehicle is based on the vehicle speed sensor signal and the crank sensor signal The idling charging operation module 13 is configured to calculate the engine speed and the vibration period according to the crankshaft sensor signal when the hybrid vehicle is in the idle charging condition; the piston state detecting module 14 is configured to output the signal waveform according to the camshaft sensor. Detecting a moving position of the piston in the engine; the vibration state estimating module 15 is configured to estimate the vibration state of the engine according to the engine speed and the vibration period, the moving position of the piston in the engine; the target current computing module 16 is configured to calculate the target current according to the vibration state of the engine The main control module 17 is configured to obtain the charging power of the hybrid vehicle when the first determining module 12 determines whether the hybrid vehicle is in an idle charging condition; the first current correcting module 18 is configured to use the charging power of the hybrid vehicle. The calibration current value is corrected to obtain a first correction current value; the delay time acquisition module 19 is configured to estimate the cylinder explosion timing of the engine according to the signal waveform output by the camshaft sensor, and predetermine the cylinder explosion timing to obtain the first correction current. The delay time of the value; the drive control module 20 is configured to apply the first corrected current value to the actuator 21 when the delay time arrives, so that the actuator 21 adjusts the motion of the active suspension system of the hybrid vehicle according to the first corrected current value. Stiffness to control the vibration of hybrid vehicles.

According to an embodiment of the present invention, the main control module 17 is further configured to confirm the current communication cycle by communicating with the vehicle controller of the hybrid vehicle when the first determination module 12 determines whether the hybrid vehicle is in an idle charging condition. Whether the current working condition of the hybrid vehicle is an idle charging condition.

According to an embodiment of the present invention, the active vibration damping control device of the hybrid vehicle further includes a driving circuit 22, wherein the driving control module 19 is further configured to output a driving signal to the driving circuit 22 according to the first corrected current value, The actuator 20 is driven by the drive circuit 22 to operate.

According to an embodiment of the present invention, as shown in FIG. 6, the active vibration damping control device of the hybrid vehicle further includes: a current detecting module 23 and a target current correcting module 24, and the current detecting module 23 is configured to detect the driving circuit 22 The output current is used to obtain the operating temperature of the actuator; the target current correction module 24 is configured to adjust the first corrected current value according to the operating temperature of the actuator 21.

According to an embodiment of the present invention, as shown in FIG. 6, the active vibration damping control device of the hybrid vehicle further includes: a fourth determining module 25, wherein the fourth determining module 25 is configured to detect the hybrid vehicle by the acceleration sensor. Acceleration to obtain the vibration information of the hybrid vehicle, and determine whether the current vibration value of the hybrid vehicle is greater than a preset vibration threshold according to the vibration information of the hybrid vehicle, and pass the target when the current vibration value of the hybrid vehicle is greater than the preset vibration threshold The current correction module 24 corrects the first correction current value to obtain a second current correction value, so that the actuator 21 adjusts the dynamic stiffness of the active suspension system of the hybrid vehicle according to the second correction current value.

According to an embodiment of the present invention, the first determining module 12 determines, according to the vehicle speed sensor signal and the crank sensor signal, whether the hybrid vehicle is in an idle charging condition, and determines whether the hybrid vehicle is in an idle condition according to the vehicle speed sensor signal and the crank sensor signal. And determining, according to the crankshaft sensor signal, whether the engine speed is in a preset speed range corresponding to the charging condition, wherein if the hybrid vehicle is in an idle condition and the engine speed is in a preset speed range corresponding to the charging condition, the first determining module 12 judges that the hybrid car is in an idle charging condition.

According to an embodiment of the present invention, when the main control module 17 communicates with the vehicle controller of the hybrid vehicle in the next communication cycle to confirm that the current working condition of the hybrid vehicle is still an idle charging condition, the fifth judgment is passed. A module (not specifically shown in the figure) determines whether the acquired charging power changes, wherein if a change occurs, the first current correction mode 18 block corrects the target current value according to the changed charging power to obtain a third correction current. The value is such that the drive control module applies a third correction current value to the actuator 21 when the delay time arrives; if no change occurs, the target current correction module 24 maintains the output current output to the actuator 21 unchanged.

It should be noted that, in the details not disclosed in the active vibration damping control device of the hybrid vehicle according to the embodiment of the present invention, please refer to the details disclosed in the active vibration damping control method of the hybrid vehicle according to the embodiment of the present invention. Let me repeat.

An active vibration damping control device for a hybrid vehicle according to an embodiment of the present invention, when the engine of the hybrid vehicle is operating, determining whether the hybrid vehicle is in an idle charging condition according to the vehicle speed sensor signal and the crank sensor signal, and if so, according to the crankshaft The sensor signal calculates the engine speed and vibration period, and detects the movement position of the piston in the engine according to the camshaft sensor, thereby calculating the target current value. At the same time, the charging power of the hybrid vehicle is obtained. Then, the target current value is corrected according to the charging power of the hybrid vehicle to obtain a first corrected current value. Finally, the cylinder explosion time of the engine is estimated according to the signal waveform outputted by the camshaft sensor to obtain the delay time of the first correction current value, and when the delay time arrives, the first correction current value is applied to the actuator to perform the vehicle Vibration reduction control. Therefore, the active vibration reduction control of the vehicle under idle charging conditions is realized, which has high timeliness, and the effective moment of the vibration reduction and noise reduction control is pre-determined by the camshaft sensor signal, so that the action time of the vibration reduction control is more accurate and reduced. The vibration effect is more effective.

Figure 7 is a block schematic diagram of a hybrid vehicle in accordance with an embodiment of the present invention. As shown in FIG. 6, the automobile 1000 includes the above-described active vibration damping control device 100 of a hybrid vehicle.

According to the hybrid vehicle of the embodiment of the present invention, the active vibration damping control device of the hybrid vehicle described above can realize the active vibration damping control of the vehicle under the idle charging condition, has high timeliness, and uses the camshaft sensor signal. Predetermining the effective time of the vibration reduction and noise reduction control makes the action time of the vibration reduction control more accurate and the vibration damping effect more effective.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " After, "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inside", "Outside", "Clockwise", "Counterclockwise", "Axial", The orientation or positional relationship of the "radial", "circumferential" and the like is based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplified description, and does not indicate or imply the indicated device or component. It must be constructed and operated in a particular orientation, and is not to be construed as limiting the invention.

Moreover, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first" or "second" may include at least one of the features, either explicitly or implicitly. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless specifically defined otherwise.

In the present invention, the terms "installation", "connected", "connected", "fixed" and the like shall be understood broadly, and may be either a fixed connection or a detachable connection, unless explicitly stated and defined otherwise. , or integrated; can be mechanical or electrical connection; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction of two elements, unless otherwise specified Limited. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.

In the present invention, the first feature "on" or "under" the second feature may be a direct contact of the first and second features, or the first and second features may be indirectly through an intermediate medium, unless otherwise explicitly stated and defined. contact. Moreover, the first feature "above", "above" and "above" the second feature may be that the first feature is directly above or above the second feature, or merely that the first feature level is higher than the second feature. The first feature "below", "below" and "below" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely that the first feature level is less than the second feature.

In the description of the present specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means a specific feature described in connection with the embodiment or example. A structure, material or feature is included in at least one embodiment or example of the invention. In the present specification, the schematic representation of the above terms is not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, various embodiments or examples described in the specification, as well as features of various embodiments or examples, may be combined and combined.

Although the embodiments of the present invention have been shown and described, it is understood that the above-described embodiments are illustrative and are not to be construed as limiting the scope of the invention. The embodiments are subject to variations, modifications, substitutions and variations.

Claims (17)

1. An active vibration damping control method for a hybrid vehicle, characterized in that the hybrid vehicle comprises an active suspension system, the method comprising the following steps:

   And acquiring, when the engine of the hybrid vehicle is in operation, a vehicle speed sensor signal and a crank sensor signal of the hybrid vehicle, and determining, according to the vehicle speed sensor signal and the crank sensor signal, whether the hybrid vehicle is in an idle charging condition;

   If the hybrid vehicle is in an idle charging condition, calculating a rotational speed and a vibration period of the engine according to the crank sensor signal, and detecting a moving position of the piston in the engine by a camshaft sensor, and according to the rotational speed of the engine a vibration period, a moving position of the piston in the engine, a vibration state of the engine, and a target current value according to a vibration state of the engine;

   Correcting the target current value according to the obtained charging power of the hybrid vehicle to obtain a first corrected current value;

   Deriving a cylinder explosion timing of the engine according to a signal waveform output by the camshaft sensor, and predetermining the cylinder explosion timing to obtain a delay time of the first correction current value;

   When the delay time arrives, the first correction current value is applied to an actuator, and the actuator adjusts a dynamic stiffness of the active suspension system of the hybrid vehicle according to the first correction current value. The hybrid vehicle is subjected to vibration damping control.
2. The active vibration damping control method for a hybrid vehicle according to claim 1, wherein said active suspension is determined when said hybrid vehicle is in an idle charging condition based on said vehicle speed sensor signal and said crank sensor signal The placement system also communicates with the vehicle controller of the hybrid vehicle to confirm whether the current operating condition of the hybrid vehicle during the current communication cycle is the idle charging condition.
3. The active vibration damping control method for a hybrid vehicle according to claim 1 or 2, further comprising outputting a drive signal to the drive circuit according to the first correction current value to drive the operation by the drive circuit The actuator works.
4. The active vibration damping control method for a hybrid vehicle according to claim 3, further comprising:

   Detecting an output current of the driving circuit to obtain an operating temperature of the actuator;

   The first correction current value is adjusted according to an operating temperature of the actuator.
5. The active vibration damping control method for a hybrid vehicle according to any one of claims 1 to 4, further comprising:

   Detecting acceleration of the hybrid vehicle by an acceleration sensor to acquire vibration information of the hybrid vehicle;

   Determining, according to vibration information of the hybrid vehicle, whether a current vibration value of the hybrid vehicle is greater than a preset vibration threshold;

   If the current vibration value of the hybrid vehicle is greater than a preset vibration threshold, performing a second correction on the first correction current value to obtain a second correction current value, so that the actuator is based on the second correction current The value adjusts the dynamic stiffness of the active suspension system of the hybrid vehicle.
6. The active vibration damping control method for a hybrid vehicle according to any one of claims 1 to 5, wherein the hybrid vehicle is judged to be in an idle charging condition based on the vehicle speed sensor signal and the crank sensor signal. include:

   Determining, according to the vehicle speed sensor signal and the crank sensor signal, whether the hybrid vehicle is in an idle condition, and determining, according to the crank sensor signal, whether the engine speed is in a preset speed range corresponding to a charging condition;

   If the hybrid vehicle is in an idle condition and the engine speed is in a preset speed range corresponding to the charging condition, it is determined that the hybrid vehicle is in an idle charging condition.
7. An active vibration damping control method for a hybrid vehicle according to any one of claims 2 to 6, wherein when the active suspension system passes the vehicle controller of the hybrid vehicle in the next communication cycle When it is determined that the current operating condition of the hybrid vehicle is still the idle charging condition, determining whether the acquired charging power changes, wherein

   If a change occurs, correcting the target current value according to the changed charging power to obtain a third correction current value, to apply the third correction current value to the actuator when the delay time arrives;

   If no change has occurred, the operating current applied to the actuator is kept constant.
8. The active vibration damping control method for a hybrid vehicle according to any one of claims 1 to 7, wherein when it is determined whether the hybrid vehicle is in an idle charging condition based on the vehicle speed sensor signal and the crank sensor signal At the time, the charging power of the hybrid vehicle is obtained.
9. An active vibration damping control device for a hybrid vehicle, comprising:

   a first acquisition module, configured to acquire a vehicle speed sensor signal and a crank sensor signal of the hybrid vehicle when the engine of the hybrid vehicle is in operation;

   a first determining module, configured to determine, according to the vehicle speed sensor signal and the crank sensor signal, whether the hybrid vehicle is in an idle charging condition;

   a vibration period calculation module, configured to calculate a rotation speed and a vibration period of the engine according to the crank sensor signal when the hybrid vehicle is in an idle charging condition;

   a piston state detecting module, configured to detect a moving position of the piston in the engine according to a signal waveform output by the camshaft sensor;

   a vibration state estimation module for estimating a vibration state of the engine according to a rotation speed and a vibration period of the engine and a movement position of a piston in the engine;

   a target current calculation module, wherein the target current calculation module is configured to calculate a target current value according to the vibration state of the engine;

   a first current correction module, wherein the first current correction module is configured to correct the target current value according to the acquired charging power of the hybrid vehicle to obtain a first correction current value;

   a delay time acquisition module, configured to calculate a cylinder explosion time of the engine according to a signal waveform output by the camshaft sensor, and predetermine the cylinder explosion moment to obtain the first Correct the delay time of the current value;

   Driving a control module for applying the first corrected current value to an actuator when the delay time arrives, so that the actuator adjusts the hybrid according to the first corrected current value The dynamic stiffness of the active suspension system of the vehicle is controlled by vibration damping of the hybrid vehicle.
10. The active vibration damping control apparatus for a hybrid vehicle according to claim 9, further comprising a main control module, wherein the main control module is configured to determine, at the first determining module, whether the hybrid vehicle is at idle speed The charging power of the hybrid vehicle is obtained during a charging condition.
11. The active vibration damping control device for a hybrid vehicle according to claim 9 or 10, wherein the main control module is further configured to determine, at the first determining module, whether the hybrid vehicle is in an idle charging condition And communicating with the vehicle controller of the hybrid vehicle to confirm whether the current operating condition of the hybrid vehicle in the current communication cycle is the idle charging condition.
12. The active vibration damping control apparatus for a hybrid vehicle according to any one of claims 9 to 11, further comprising a driving circuit, wherein the driving control module is further configured to output according to the first corrected current value A drive signal is applied to the drive circuit to drive the actuator to operate by the drive circuit.
13. The active vibration damping control apparatus for a hybrid vehicle according to any one of claims 9 to 12, further comprising:

    a current detecting module, configured to detect an output current of the driving circuit to obtain an operating temperature of the actuator;

    a target current correction module, wherein the target current correction module is configured to adjust the first correction current value according to an operating temperature of the actuator.
14. The active vibration damping control apparatus for a hybrid vehicle according to any one of claims 9 to 13, further comprising:

    a fourth determining module, configured to detect acceleration of the hybrid vehicle by an acceleration sensor to acquire vibration information of the hybrid vehicle, and determine the hybrid power according to vibration information of the hybrid vehicle Whether the current vibration value of the automobile is greater than a preset vibration threshold, and correcting the first correction current value by the target current correction module to obtain a second when the current vibration value of the hybrid vehicle is greater than a preset vibration threshold a current correction value such that the actuator adjusts a dynamic stiffness of the active suspension system of the hybrid vehicle based on the second corrected current value.
15. The active vibration damping control apparatus for a hybrid vehicle according to any one of claims 9 to 14, wherein the first determining module determines whether the hybrid vehicle is based on the vehicle speed sensor signal and the crank sensor signal When the vehicle is in an idle charging condition, determining whether the hybrid vehicle is in an idle condition according to the vehicle speed sensor signal and the crank sensor signal, and determining, according to the crank sensor signal, whether the engine speed is in a pre-corresponding condition Set the speed range, where

    If the hybrid vehicle is in an idle condition and the engine speed is in a preset speed range corresponding to the charging condition, the first determining module determines that the hybrid vehicle is in an idle charging condition.
16. An active vibration damping control apparatus for a hybrid vehicle according to any one of claims 11 to 15, wherein when said main control module passes through a vehicle controller of said hybrid vehicle in a next communication cycle When it is confirmed that the current operating condition of the hybrid vehicle is still the idle charging condition, the fifth determining module determines whether the acquired charging power changes, wherein

    If the change occurs, the first current correction module corrects the target current value according to the changed charging power to obtain a third modified current value, so that the driving control module will when the delay time arrives a third corrected current value is applied to the actuator;

    If no change has occurred, the operating current of the output to the actuator is kept constant by the target current correction module.
17. A hybrid vehicle characterized by comprising an active vibration damping control device for a hybrid vehicle according to any one of claims 9-16.

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