CN101244721A - Multi-power-operated control method and system for hybrid power vehicle - Google Patents
Multi-power-operated control method and system for hybrid power vehicle Download PDFInfo
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Abstract
The invention provides a control method and a system of multiple energy sources of the mixed hybrid vehicle, which comprises: an explaining module of the driving behaviors of the drivers; a mode determination and ability estimation module; a target confirmation module; and a generating module of the control instruction. The explaining module of the driving behaviors of the drivers confirms the needed driving/braking torque of the whole vehicle which is reflected on the wheels by the drivers under the current status. Meanwhile the mode determination and ability estimation mode completes the confirmation of the current operation mode of the mixed power system and the ability calculation of the charging/discharging of the power battery group, and confirms the current ability of the driving/power generation of the motor. The target confirmation module completes the confirmation calculation of the target torque of the two big power supplies of the mixed power system under the current status. The control instruction generates a mode port to confirm the corresponding execution instruction of the actuator. The control method and system of multiple energy sources of the mixed hybrid vehicle has the advantages of reducing the complexity of the control system of the power train assembly of the multiple energy sources of the prior hybrid vehicle, and ensuring the clarification and generalization of the modular structure of the power train assembly control system of multiple energy sources of the whole vehicle of the original complicated mixed hybrid vehicle.
Description
Technical field
The present invention relates to a kind of energy source of car control method and system, specifically the multipotency operated control method and the system of hybrid vehicle.
Background technology
For satisfying people to the environmental protection of automobile increasingly stringent and the technical requirements of energy-conservation two aspects, batteries to store energy technology and fuel cell technology do not obtain advance by leaps and bounds before, hybrid vehicle is inevitable to be replaced traditional fuel-engined vehicle gradually and becomes the mainstream car design of modern automobile in longer a period of time.With respect to the orthodox car that adopts combustion engine as propulsion source, hybrid vehicle has had more power supply aspect energy source.Therefore, how to coordinate driving engine and motor, and the energy distribution of power battery pack and folding and unfolding, so that hybrid power system output efficiency optimum, guarantee the combustion engine anti-emission carburetor simultaneously, and keep power battery pack use before and after electric weight balanced, these are different with traditional combustion engine automobile maximum.In order to realize the intention of this co-operative control, on hybrid vehicle, must install the car load Multi-Energy Dynamic Assemble Control System additional with to driving engine, motor, power battery pack, and other relevant component assembly carries out the actv. control and management.
In the correlation technique document that can find at present, research to the hybrid vehicle Multi-Energy Dynamic Assemble Control System is more, but only relate to control system sub-module control thought at the most, and control system module aggregated(particle) structure complexity is not elaborated to the hybrid vehicle Multi-Energy Dynamic Assemble Control System.
Summary of the invention
The objective of the invention is to propose the multipotency operated control method and the system of a kind of module aggregated(particle) structure sharpening and unitized hybrid vehicle.
Purpose of the present invention can be achieved through the following technical solutions:
The multipotency operated control method of hybrid vehicle may further comprise the steps
(1) receives the operation behavior to acceleration pedal or brake pedal of reflection chaufeur driving intention, and in conjunction with the vehicle speed condition under the current state, determine that chaufeur under the present situation wishes driving or the braking torque that obtains on wheel.The specific implementation method is: driving engine, the torque of motor under different rotating speeds, different accelerator open degree (is different load for motor) are scaled driving engine, motor torque corresponding to the stack torque under the different speed of a motor vehicle, the different gear, wish the driving torque that obtains thereby obtain chaufeur on wheel.Chaufeur wish the braking torque that on wheel, obtains and chaufeur brake pedal to step on stroke proportional.
(2) the current vehicle speed signal that obtains according to sensor acquisition, pedal aperture signal, ignition lock signal, power battery pack state-of-charge signal, Transmission gear signal, power-transfer clutch bonding state signal, engine rotational speed signal, and motor speed signal, determine the operational mode that hybrid power system should be under the current whole vehicle state.The operational mode of hybrid power system is: 1. shutdown mode, 2. start-up mode, 3. idling pattern, 4. idling power generation mode, 5. drive pattern and 6. braking mode.
(3) the battery pack terminal voltage signal that obtains according to sensor acquisition, battery pack current signal, battery pack temperature signal, and the SOC (battery pack state-of-charge) of batteries management system feedback, power battery pack can be supported the torque of motor powered or generating under the estimation current state.Concrete evaluation method is: the power that discharges and recharges that calculates battery pack according to current battery pack terminal voltage, and this power is limited according to battery pack SOC (battery pack state-of-charge) bound, according to the current rotating speed of motor, this magnitude of power is converted into the current possible electronic or generating torque of motor.
(4) motor speed signal that obtains according to sensor acquisition is estimated motor torque under the current state.Concrete evaluation method is: according to the current rotating speed of motor, find out the maximum electronic or generating torque of cooresponding motor under the current rotating speed on motor total external characteristics torque curve data.
(5), determine hybrid power system two propulsion source driving engines and motor target output torque under each pattern according to step (1)～(4) resulting chaufeur demand torque, hybrid power system pattern, power battery pack torque and motor torque.Concrete definite method is: the target torque that the torque of chaufeur demand is scaled hybrid power system under the current state, search the torque range when the cooresponding driving engine operating efficiency of universal characteristic curve of engine figure is more excellent under the current state, and with the contrast of the target torque value of hybrid power system, determine the target torque value under the driving engine current state, the difference of the target torque value of hybrid power system and engine target torque value is the target torque value of motor.
(6) the engine target output torque that obtains according to step (5) obtains the every fuel delivery per cycle instruction of instruction of spark ignition engine target throttle valve expected value or diesel engine, and according to the motor target output torque that step (5) obtains, motor is when the preload instruction.Concrete grammar is: engine output torque can be organized into the data sheet of engine air throttle aperture (or every fuel delivery per cycle) with output torque, rotation speed change with the data of throttle opening (or every fuel delivery per cycle), rotation speed change in the driving engine universal characteristic data.Target torque and rotating speed according to driving engine under the current state are looked into engine air throttle aperture (or every fuel delivery per cycle) with output torque, rotation speed change data sheet, obtain engine target throttle opening expected value (or the every fuel delivery per cycle of diesel engine), it is the ratio of the total external characteristics torque under motor target torque and the current state that motor is worked as preload, and resulting opening value (or fuel feeding value) is corresponding instruction.
The multipotency source control system of hybrid vehicle comprises with lower module:
Chaufeur driving behavior explanation module is used to gather the behaviour signal of chaufeur to acceleration pedal or brake pedal, determines that the demand to car load that chaufeur is reflected on the wheel under the current state drives or braking torque;
Mode decision and capabilities module, be used for finishing simultaneously the hybrid power system present mode of operation is determined and power battery pack is received or discharge can ability calculate, and calculate the driving that motor is current or the ability of generating determined;
The target determination module is used to finish the calculation of devising a stratagem really of target torque under the hybrid power system two big propulsion source current states;
The control command generation module is used for determining the execution command of respective actuators.
Purpose of the present invention can also further realize by following technical measures:
The multipotency source control system of aforesaid hybrid vehicle, wherein said mode decision and capabilities module comprise following submodule:
Hybrid power system mode decision submodule is used to determine the operational mode that hybrid power system should be under the current whole vehicle state;
Power battery pack torque estimator module is used to estimate power battery pack torque under the current state;
Motor torque estimator module is used to estimate motor torque under the current state;
Expected value calculating sub module under each pattern of hybrid power system is used for determining hybrid power system two propulsion source driving engines and motor target output torque under each pattern.
The multipotency source control system of aforesaid hybrid vehicle, the input termination current vehicle speed signal of wherein said hybrid power system mode decision submodule, pedal aperture signal, ignition lock signal, power battery pack state-of-charge signal, Transmission gear signal, power-transfer clutch bonding state signal, engine rotational speed signal, and the mouth of motor speed signal; The input termination battery pack terminal voltage signal of power battery pack torque estimator module, battery pack current signal, and the mouth of battery pack temperature signal; The mouth of the input termination motor speed signal of motor torque estimator module; The mouth of input termination hybrid power system mode decision submodule, power battery pack torque estimator module and the motor torque estimator module of expected value calculating sub module under each pattern of hybrid power system.
The multipotency source control system of aforesaid hybrid vehicle, wherein said control command generation module comprises following submodule:
Driving engine execution command calculating sub module is used to export the every fuel delivery per cycle instruction of instruction of spark ignition engine target throttle valve expected value or diesel engine;
The motor load calculating sub module is used for output motor when the preload instruction.
Advantage of the present invention is: the present invention has reduced the complexity of present hybrid vehicle Multi-Energy Dynamic Assemble Control System, with the modular construction sharpening and the universalization of complicated originally hybrid electric vehicle complete vehicle Multi-Energy Dynamic Assemble Control System.Control method of the present invention and system architecture have higher reliability, and are easy to realize, are applicable to the car load Multi-Energy Dynamic Assemble Control System with the oil electric mixed dynamic system of spark ignition engine or diesel engine and motor composition.
Description of drawings
Fig. 1 is a basic block diagram of the present invention.
Fig. 2 is a calculation flow chart of the present invention.
Fig. 3 is a detailed structure view of the present invention.
The specific embodiment
The multipotency operated control method of hybrid vehicle of the present invention may further comprise the steps:
(1) receives the operation behavior to acceleration pedal or brake pedal of reflection chaufeur driving intention, and in conjunction with the vehicle speed condition under the current state, determine that chaufeur under the present situation wishes driving or the braking torque that obtains on wheel.The specific implementation method is: driving engine, the torque of motor under different rotating speeds, different accelerator open degree (is different load for motor) are scaled driving engine, motor torque corresponding to the stack torque under the different speed of a motor vehicle, the different gear, wish the driving torque that obtains thereby obtain chaufeur on wheel.Chaufeur wish the braking torque that on wheel, obtains and chaufeur brake pedal to step on stroke proportional.
(2) the current vehicle speed signal that obtains according to sensor acquisition, pedal aperture signal, ignition lock signal, power battery pack state-of-charge signal, Transmission gear signal, power-transfer clutch bonding state signal, engine rotational speed signal, and motor speed signal, determine the operational mode that hybrid power system should be under the current whole vehicle state.The operational mode of hybrid power system is: 1. shutdown mode, 2. start-up mode, 3. idling pattern, 4. idling power generation mode, 5. drive pattern and 6. braking mode.
(3) the battery pack terminal voltage signal that obtains according to sensor acquisition, battery pack current signal, battery pack temperature signal, and the SOC (battery pack state-of-charge) of batteries management system feedback, power battery pack can be supported the torque of motor powered or generating under the estimation current state.Concrete evaluation method is: the power that discharges and recharges that calculates battery pack according to current battery pack terminal voltage, and this power is limited according to battery pack SOC (battery pack state-of-charge) bound, according to the current rotating speed of motor, this magnitude of power is converted into the current possible electronic or generating torque of motor.
(4) motor speed signal that obtains according to sensor acquisition is estimated motor torque under the current state.Concrete evaluation method is: according to the current rotating speed of motor, find out the maximum electronic or generating torque of cooresponding motor under the current rotating speed on motor total external characteristics torque curve data.
(5), determine hybrid power system two propulsion source driving engines and motor target output torque under each pattern according to step (1)～(4) resulting chaufeur demand torque, hybrid power system pattern, power battery pack torque and motor torque.Concrete definite method is: the target torque that the torque of chaufeur demand is scaled hybrid power system under the current state, search the torque range when the cooresponding driving engine operating efficiency of universal characteristic curve of engine figure is more excellent under the current state, and with the contrast of the target torque value of hybrid power system, determine the target torque value under the driving engine current state, the difference of the target torque value of hybrid power system and engine target torque value is the target torque value of motor.
(6) the engine target output torque that obtains according to step (5) obtains the every fuel delivery per cycle instruction of instruction of spark ignition engine target throttle valve expected value or diesel engine, and according to the motor target output torque that step (5) obtains, motor is when the preload instruction.Concrete grammar is: engine output torque can be organized into the data sheet of engine air throttle aperture (or every fuel delivery per cycle) with output torque, rotation speed change with the data of throttle opening (or every fuel delivery per cycle), rotation speed change in the driving engine universal characteristic data.Target torque and rotating speed according to driving engine under the current state are looked into engine air throttle aperture (or every fuel delivery per cycle) with output torque, rotation speed change data sheet, obtain engine target throttle opening expected value (or the every fuel delivery per cycle of diesel engine), it is the ratio of the total external characteristics torque under motor target torque and the current state that motor is worked as preload, and resulting opening value (or fuel feeding value) is corresponding instruction.
The multipotency source control system basic structure of the hybrid vehicle that the present invention proposes as shown in Figure 1, Fig. 2 is its calculation flow chart, Fig. 3 is a detailed structure view.In system module of the present invention, chaufeur driving behavior explanation module is the basis of The whole control system, this module is by receiving the operation behavior to acceleration pedal or brake pedal of reflection chaufeur driving intention, and, calculate and determine that chaufeur under the present situation wishes driving or the braking torque that obtains on wheel in conjunction with the vehicle speed condition under the current state.This torque is the foundation and the target of The whole control system allocation manager.
Control system second module is mode decision and capabilities module, mainly finishes the estimation of judgement of hybrid power system operational mode and relevant component assembly ability.Form by expected value calculating sub module under hybrid power system mode decision submodule, power battery pack torque estimator module, motor torque estimator module and each pattern of hybrid power system.Mode decision and capabilities module have been determined the operational mode of hybrid power system, have estimated power battery pack and the motor maximum capacity under current state simultaneously.This module has retrained the residing pattern of hybrid power system, estimated also simultaneously that motor is subjected to the restriction of power battery pack power supply capacity and possible maximum output power under driving condition, and the motor under the regenerative brake state is subjected to power battery pack to absorb the electric energy capabilities limits and possible maximum regenerative power.These Power Limitation conditions are that motor drives under current state and the upper limit of generating capacity.
The current vehicle speed signal that hybrid power system mode decision submodule collects according to respective sensor, pedal aperture signal, ignition lock signal, power battery pack state-of-charge (SOC) signal, Transmission gear signal, power-transfer clutch bonding state signal, engine rotational speed signal, and signal such as motor speed, hybrid power system operational mode decision sub-module determines the operational mode that hybrid power system should be under the current whole vehicle state.The hybrid power system operational mode is divided into 6 kinds of patterns: 1. shutdown mode; 2. start-up mode; 3. idling pattern; 4. idling power generation mode; 5. drive pattern; 6. braking mode.Shutdown mode refers in particular to driving engine and motor is not all worked.Start-up mode is divided into electric motor starting pattern under the normal circumstances and conventional starter start-up mode in particular cases.Driving engine is taken to higher certain at short notice rapidly and is specified rotating speed under this pattern, to reach the purpose of emission abatement and raising fuel economy.3. difference 4. is pattern with pattern: mode 3 only is the engine idle state; Pattern 4 refers to separate fully at power-transfer clutch, perhaps power-transfer clutch in conjunction with but under two kinds of situations of change-speed box neutral, the engine drive motor rotation, machine operation is the electrically-charged situation of power battery pack in generating state.Pattern 4 can occur under the speed of a motor vehicle and two kinds of situations of the no speed of a motor vehicle.Pattern driving condition 5. comprises that motor independent drive, driving engine independent drive, driving engine and motor unite driving, and driving engine also to provide the torque actuated motor powered vehicle time when driving be 4 kinds of situations such as power battery pack generating.Divide according to being to be prerequisite, fully optimize operating efficiency and emission behaviour under the driving engine current state, and take into full account the current state-of-charge of power battery pack with the car load dynamic property.6. pattern can be divided into motor regenerative brake, motor and mechanical brake Associated brake, and only mechanical brake is braked 3 kinds of situations.The current state-of-charge of power battery pack is the main foundation that this three state is divided.
Power battery pack torque estimator module receives battery pack terminal voltage signal, battery pack current signal, and the battery pack temperature signal, estimates power battery pack torque under the current state.The motor speed signal that motor torque estimator module obtains according to sensor acquisition is estimated motor torque under the current state.The expected value calculating sub module is according to the torque of resulting chaufeur demand, hybrid power system pattern, power battery pack torque and motor torque under each pattern of hybrid power system, determines hybrid power system two propulsion source driving engines and motor target output torque under each pattern.
Control system the 3rd module is the calculating determination module of hybrid power system two propulsion source driving engines and motor target output torque under each pattern.With the above, 6 kinds of patterns according to hybrid power system may move comprise 6 submodules in this module: shut down module 1.; 2. startup module; 3. idling module; 4. idling electricity generation module; 5. driver module; 6. brake module.In each module, according to the target torque of driving engine and motor under different definite each operational modes of different control policies distribution.This module is the core of hybrid vehicle Multi-Energy Dynamic Assemble Control System, has determined vehicle performance.
Last module of control system is the output module of The whole control system, the control command of output respective actuators.Main output spark ignition engine target throttle valve instruction (then exporting every fuel delivery per cycle instruction) in this module for diesel engine, the ignition lock control command; Motor is when preload instruction or current goal torque instruction, and instruction such as motor operational mode.The control command of this module output can be according to the needs of working control, and the instruction of output control corresponding is with the control respective actuators.
The present invention is with the demand torque of the wheel demand torque as chaufeur, for the category of the present invention that belongs to that reflects the torque of chaufeur demand with the torque of input shaft demand.In addition, for being the object that system assignment is calculated with power, belong to the invention category of deriving of the present invention.
Claims (10)
1. the multipotency operated control method of hybrid vehicle is characterized in that: may further comprise the steps:
(1) receives the operation behavior to acceleration pedal or brake pedal of reflection chaufeur driving intention, and in conjunction with the vehicle speed condition under the current state, determine that chaufeur under the present situation wishes driving or the braking torque that obtains on wheel;
(2) the current vehicle speed signal that obtains according to sensor acquisition, pedal aperture signal, ignition lock signal, power battery pack state-of-charge signal, Transmission gear signal, power-transfer clutch bonding state signal, engine rotational speed signal, and motor speed signal, determine the operational mode that hybrid power system should be under the current whole vehicle state;
(3) the battery pack terminal voltage signal that obtains according to sensor acquisition, battery pack current signal, battery pack temperature signal, and the battery pack state-of-charge of batteries management system feedback, power battery pack can be supported the torque of motor powered or generating under the estimation current state;
(4) motor speed signal that obtains according to sensor acquisition is estimated motor torque under the current state;
(5), determine hybrid power system two propulsion source driving engines and motor target output torque under each pattern according to step (1)～(4) resulting chaufeur demand torque, hybrid power system pattern, power battery pack torque and motor torque;
(6) the engine target output torque that obtains according to step (5) obtains the every fuel delivery per cycle instruction of instruction of spark ignition engine target throttle valve expected value or diesel engine, and according to the motor target output torque that step (5) obtains, motor is when the preload instruction.
2. the multipotency operated control method of hybrid vehicle as claimed in claim 1, it is characterized in that: in the described step (1), under the present situation chaufeur wish in the implementation method of driving that obtains on the wheel or braking torque be: driving engine, motor are scaled driving engine, motor torque corresponding to the stack torque under the different speed of a motor vehicle, the different gear in the torque under different rotating speeds, the different accelerator open degree, wish the driving torque that on wheel, obtains thereby obtain chaufeur.
3. the multipotency operated control method of hybrid vehicle as claimed in claim 1, it is characterized in that: in the described step (3), calculate the power that discharges and recharges of battery pack according to current battery pack terminal voltage, and this power is limited according to battery pack state-of-charge bound, according to the current rotating speed of motor, this magnitude of power is converted into the current possible electronic or generating torque of motor.
4. the multipotency operated control method of hybrid vehicle as claimed in claim 1, it is characterized in that: in the described step (4), the evaluation method of motor torque is under the current state: according to the current rotating speed of motor, find out the maximum electronic or generating torque of cooresponding motor under the current rotating speed on motor total external characteristics torque curve data.
5. the multipotency operated control method of hybrid vehicle as claimed in claim 1, it is characterized in that: in the described step (5), definite method of driving engine and motor target output torque is: the target torque that the torque of chaufeur demand is scaled hybrid power system under the current state, search the torque range when the cooresponding driving engine operating efficiency of universal characteristic curve of engine figure is more excellent under the current state, and with the contrast of the target torque value of hybrid power system, determine the target torque value under the driving engine current state, the difference of the target torque value of hybrid power system and engine target torque value is the target torque value of motor.
6. the multipotency operated control method of hybrid vehicle as claimed in claim 1, it is characterized in that: in the described step (6), concrete grammar is: target torque and rotating speed according to driving engine under the current state are looked into the engine air throttle aperture with output torque, rotation speed change data sheet, obtain engine target throttle opening expected value, it is the ratio of the total external characteristics torque under motor target torque and the current state that motor is worked as preload, and resulting opening value is corresponding instruction.
7. the multipotency source control system of hybrid vehicle is characterized in that: comprise with lower module:
Chaufeur driving behavior explanation module is used to gather the behaviour signal of chaufeur to acceleration pedal or brake pedal, determines that the demand to car load that chaufeur is reflected on the wheel under the current state drives or braking torque;
Mode decision and capabilities module, be used for finishing simultaneously the hybrid power system present mode of operation is determined and power battery pack is received or discharge can ability calculate, and calculate the driving that motor is current or the ability of generating determined;
The target determination module is used to finish the calculation of devising a stratagem really of target torque under the hybrid power system two big propulsion source current states;
The control command generation module is used for determining the execution command of respective actuators.
8. the multipotency source control system of hybrid vehicle as claimed in claim 7, it is characterized in that: described mode decision and capabilities module comprise following submodule:
Hybrid power system mode decision submodule is used to determine the operational mode that hybrid power system should be under the current whole vehicle state;
Power battery pack torque estimator module is used to estimate power battery pack torque under the current state;
Motor torque estimator module is used to estimate motor torque under the current state;
Expected value calculating sub module under each pattern of hybrid power system is used for determining hybrid power system two propulsion source driving engines and motor target output torque under each pattern.
9. the multipotency source control system of hybrid vehicle as claimed in claim 7, it is characterized in that: the input termination current vehicle speed signal of described hybrid power system mode decision submodule, pedal aperture signal, ignition lock signal, power battery pack state-of-charge signal, Transmission gear signal, power-transfer clutch bonding state signal, engine rotational speed signal, and the mouth of motor speed signal; The input termination battery pack terminal voltage signal of described power battery pack torque estimator module, battery pack current signal, and the mouth of battery pack temperature signal; The mouth of the input termination motor speed signal of described motor torque estimator module; The mouth of input termination hybrid power system mode decision submodule, power battery pack torque estimator module and the motor torque estimator module of expected value calculating sub module under each pattern of described hybrid power system.
10. the multipotency source control system of hybrid vehicle as claimed in claim 7, it is characterized in that: described control command generation module comprises following submodule:
Driving engine execution command calculating sub module is used to export the every fuel delivery per cycle instruction of instruction of spark ignition engine target throttle valve expected value or diesel engine;
The motor load calculating sub module is used for output motor when the preload instruction.
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2008
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