CN115027444B - Vehicle speed control method, device and computer readable storage medium - Google Patents
Vehicle speed control method, device and computer readable storage medium Download PDFInfo
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- CN115027444B CN115027444B CN202210654391.3A CN202210654391A CN115027444B CN 115027444 B CN115027444 B CN 115027444B CN 202210654391 A CN202210654391 A CN 202210654391A CN 115027444 B CN115027444 B CN 115027444B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0644—Engine speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/081—Speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a method and a device for controlling the rotating speed of a vehicle and a computer readable storage medium. The method comprises the steps of obtaining a capacity parameter value of the hybrid electric vehicle for adjusting the rotating speed of an engine in a serial hybrid power mode, comparing the capacity parameter value with a preset capacity parameter threshold value to obtain a comparison result, obtaining vehicle required power for driving the hybrid electric vehicle and adjusting power for adjusting the rotating speed of the engine from an actual rotating speed at the current moment to a reference rotating speed under the condition that the capacity parameter value is smaller than the preset capacity parameter threshold value as a result of the comparison, determining total required power of the engine based on the vehicle required power and the adjusting power, and determining target rotating speed of the engine based on the total required power of the engine. The invention solves the technical problem that the engine speed cannot be effectively regulated under the condition that the capacity for regulating the engine speed is limited in the related art.
Description
Technical Field
The present invention relates to the field of vehicle control, and in particular, to a method and apparatus for controlling a rotational speed of a vehicle, and a computer readable storage medium.
Background
For a hybrid vehicle of a dual-motor hybrid system, the generator is driven by the engine to generate electricity in a series mode, the electric quantity is used for driving the motor to drive the vehicle, and the clutch is combined in a parallel mode, so that the engine directly participates in driving the vehicle.
In the related art, in a case where the hybrid vehicle is in a series mode, the generator cannot adjust the engine speed with the generator torque capacity limited or the power battery capacity limited. That is, in the related art, there is a problem in that the engine speed cannot be effectively adjusted when the torque capacity of the generator is limited or the power battery capacity is limited.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the invention provides a rotating speed control method and device of a vehicle and a computer readable storage medium, which at least solve the technical problem that the rotating speed of an engine cannot be effectively regulated under the condition that the capability for regulating the rotating speed of the engine is limited in the related art.
According to one aspect of the embodiment of the invention, a rotating speed control method of a vehicle is provided, and the rotating speed control method comprises the steps of obtaining a capability parameter value of a hybrid electric vehicle for adjusting the rotating speed of an engine in a series hybrid power mode, comparing the capability parameter value with a preset capability parameter threshold value to obtain a comparison result, obtaining automobile required power for driving the hybrid electric vehicle and adjusting power for adjusting the rotating speed of the engine from the actual rotating speed at the current moment to a reference rotating speed when the capability parameter value is smaller than the preset capability parameter threshold value as the comparison result, determining total required power of the engine based on the automobile required power and the adjusting power, and determining target rotating speed of the engine based on the total required power of the engine.
Optionally, the adjusting power for adjusting the rotation speed of the engine from the actual rotation speed at the current moment to the reference rotation speed comprises the step of adopting a proportional integral PI algorithm to determine the adjusting power required for adjusting the rotation speed of the engine from the actual rotation speed at the current moment to the reference rotation speed based on the actual rotation speed and the reference rotation speed.
Optionally, the reference rotation speed is the optimal rotation speed of the engine in a target period, wherein the optimal rotation speed of the engine in the target period is the rotation speed corresponding to the total required power of the engine in the target period.
Optionally, the adjusting power required for adjusting the rotating speed of the engine from the actual rotating speed at the current moment to the reference rotating speed is determined by adopting a proportional integral PI algorithm based on the actual rotating speed and the reference rotating speed, wherein the adjusting torque required for adjusting the rotating speed of the engine from the actual rotating speed at the current moment to the reference rotating speed is obtained by adopting a proportional integral PI algorithm based on the difference value between the actual rotating speed and the reference rotating speed, and the adjusting power required for adjusting the rotating speed of the engine from the actual rotating speed at the current moment to the reference rotating speed is obtained according to the adjusting torque and the actual rotating speed.
Optionally, the determining the target rotating speed of the engine based on the total required power of the engine comprises obtaining a corresponding relation between engine power and engine rotating speed, and determining the target rotating speed of the engine corresponding to the total required power of the engine based on the corresponding relation.
Optionally, the comparison of the capacity parameter value and the capacity parameter threshold value is performed to obtain a comparison result, wherein the comparison result comprises at least one of determining that the capacity parameter value is smaller than the preset capacity parameter threshold value when the capacity parameter value comprises a torque capacity parameter of a generator of the hybrid electric vehicle in the series hybrid mode, the preset capacity parameter threshold value comprises a torque capacity threshold value of the generator, and the torque capacity parameter is smaller than the torque capacity threshold value, and determining that the capacity parameter value is smaller than the preset capacity parameter threshold value when the capacity parameter value comprises a charge and discharge capacity parameter of a power battery of the hybrid electric vehicle in the series hybrid mode, the preset capacity parameter threshold value comprises a charge and discharge capacity threshold value of the power battery, and the charge and discharge capacity parameter is smaller than the charge and discharge capacity threshold value.
Optionally, after determining the target rotation speed of the engine based on the total required power of the engine, the method further comprises the steps of obtaining a first torque corresponding to the actual rotation speed of the engine at the current moment and a second torque corresponding to the target rotation speed of the engine, determining a first torque change corresponding to the engine based on the first torque and the second torque, and controlling a second torque change corresponding to a generator of the hybrid electric vehicle in a series hybrid mode to be smaller than the first torque change.
Optionally, the determining the total required power of the engine based on the vehicle required power and the regulated power includes determining that the sum of the vehicle required power and the regulated power is the total required power of the engine.
According to another aspect of the embodiment of the invention, a rotating speed control device of a vehicle is provided, which comprises a first acquisition module, a comparison module, a second acquisition module, a first determination module and a second determination module, wherein the first acquisition module is used for acquiring a capability parameter value of a hybrid electric vehicle for adjusting the rotating speed of an engine in a series hybrid power mode, the comparison module is used for comparing the capability parameter value with a preset capability parameter threshold value to obtain a comparison result, the second acquisition module is used for acquiring automobile required power for driving the hybrid electric vehicle and adjusting power for adjusting the rotating speed of the engine from an actual rotating speed at the current moment to a reference rotating speed when the comparison result is that the capability parameter value is smaller than the preset capability parameter threshold value, the first determination module is used for determining total required power of the engine based on the automobile required power and the adjusting power, and the second determination module is used for determining target rotating speed of the engine based on the total required power of the engine.
According to another aspect of the embodiment of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program, when executed, controls a device in which the storage medium is located to execute the method for controlling the rotational speed of the vehicle according to any one of the above.
In the embodiment of the invention, the capacity parameter value for adjusting the rotating speed of the engine is obtained by obtaining the capacity parameter value of the hybrid electric vehicle in a series hybrid power mode, the capacity parameter value is compared with a preset capacity parameter threshold value to obtain a comparison result, the vehicle required power for driving the hybrid electric vehicle and the adjusting power for adjusting the engine to be in a target working state are obtained under the condition that the capacity parameter value is smaller than the preset capacity parameter threshold value as the comparison result, the total required power of the engine is determined based on the vehicle required power and the adjusting power, and the target rotating speed of the engine is determined based on the total required power of the engine. The technical problem that the engine rotating speed cannot be effectively regulated when the torque capacity of the generator is limited or the capacity of the power battery is limited is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a flow chart of an alternative vehicle speed control method according to an embodiment of the invention;
FIG. 2 is a flow chart of another alternative vehicle speed control method according to an embodiment of the invention;
fig. 3 is a block diagram of a rotational speed control apparatus of an alternative vehicle according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
According to an embodiment of the present invention, there is provided an embodiment of a method for controlling a rotational speed of a vehicle, it should be noted that, the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and, although a logical sequence is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in a different order than that illustrated herein.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. It should be appreciated that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art.
Description of the terms
The power system of serial hybrid power automobile consists of mainly power assemblies of engine, generator, driving motor, etc. connected serially.
The power of the two power assemblies can be mutually overlapped and output, and can also be independently output.
The power system of the hybrid electric vehicle integrates a series-type and parallel-type structure and mainly comprises an engine, a motor-generator and a driving motor.
Fig. 1 is a flowchart of a rotational speed control method of a vehicle according to an embodiment of the present invention, as shown in fig. 1, the method including the steps of:
step S102, acquiring a capacity parameter value for adjusting the rotation speed of an engine of the hybrid electric vehicle in a series hybrid mode.
In some alternative embodiments, the capability parameter values for regulating engine speed include generator maximum drive torque, and/or power battery maximum available charge-discharge power. It should be appreciated that the drive torque of the generator is equal to the torque magnitude at which the generator torque is positive.
It should be appreciated that in a hybrid vehicle in a series hybrid mode, there is a problem in that the generator cannot regulate the engine speed when the generator drive torque and the charge and discharge power available to the power battery are limited.
Step S104, the capacity parameter value is compared with a preset capacity parameter threshold value, and a comparison result is obtained.
Step S106, in the case that the capacity parameter value is smaller than the predetermined capacity parameter threshold value as a result of the comparison, obtaining the vehicle demand power for driving the hybrid vehicle, and the adjustment power for adjusting the rotation speed of the engine from the actual rotation speed at the current time to the reference rotation speed.
In some alternative embodiments, the vehicle demand power for driving the hybrid vehicle is obtained and the regulated power for regulating the rotational speed of the engine from the actual rotational speed at the current time to the reference rotational speed is obtained when the generator torque capacity is less than the corresponding generator torque capacity parameter threshold, or the power battery capacity is less than the corresponding power battery capacity parameter threshold.
In one embodiment, the vehicle demand power for driving the hybrid vehicle includes demand power corresponding to an accelerator opening degree when the driver steps on the accelerator, and power supplied to accessories of the hybrid vehicle. The required power corresponding to the accelerator opening degree can be obtained through a corresponding relation table of the accelerator opening degree and the required power. Among other things, automotive accessories include air conditioning systems, lighting systems, and the like. In one embodiment, the regulated power used to regulate the engine in the target operating state is the power required by the engine itself to regulate the operating region.
Step S108, determining the total required power of the engine based on the required power of the automobile and the regulated power.
Step S110, determining a target rotation speed of the engine based on the total required power of the engine.
In the alternative embodiment, the capability parameter value for adjusting the rotating speed of the engine is obtained through obtaining the capability parameter value of the hybrid electric vehicle in a series hybrid power mode, the capability parameter value is compared with a preset capability parameter threshold value to obtain a comparison result, automobile required power for driving the hybrid electric vehicle is obtained under the condition that the capability parameter value is smaller than the preset capability parameter threshold value as the comparison result, the adjusting power for adjusting the rotating speed of the engine from the actual rotating speed at the current moment to the reference rotating speed is obtained, the total required power of the engine is determined based on the automobile required power and the adjusting power, and the target rotating speed of the engine is determined based on the total required power of the engine. In the case that the capability parameter value for adjusting the engine speed is smaller than the predetermined capability parameter threshold value, that is, in the case that the capability for adjusting the engine speed is limited, the target engine speed is determined by the vehicle required power and the adjusting power of the engine, the technical problem that the engine speed cannot be effectively adjusted when the capability for adjusting the engine speed is limited is solved. It should be appreciated that the generator drive torque and the power battery charge-discharge power may be indicative of the capability parameter values for regulating the engine speed.
The total required power of the engine is determined based on the vehicle required power and the regulated power, including determining a sum of the vehicle required power and the regulated power as the total required power of the engine.
In some alternative embodiments, obtaining the adjustment power for adjusting the rotational speed of the engine from the actual rotational speed at the current time to the reference rotational speed includes determining an adjustment power required by the engine to adjust the rotational speed of the engine from the actual rotational speed to the reference rotational speed based on the actual rotational speed and the reference rotational speed using a proportional-integral PI algorithm. It should be appreciated that the actual rotational speed of the engine may be a dynamic value that varies over time, and that the adjustment power required by the engine to adjust the engine rotational speed from the actual rotational speed to the reference rotational speed may be determined using a proportional-integral PI algorithm based on the actual rotational speed and the reference rotational speed, so that continuous adjustment and optimization of the adjustment power may be implemented, and thus, the adjustment power required by the engine to adjust the engine rotational speed from the actual rotational speed to the reference rotational speed may be accurately and dynamically obtained.
In some alternative embodiments, the reference speed used to determine the adjusted speed may be the optimal speed of the engine over the target period, or may be a speed value determined from empirical values. Preferably, the reference rotational speed is determined as the optimal rotational speed of the engine in one vehicle controller operation period before the current time, and in the case where the data of the optimal rotational speed of the engine in one vehicle controller operation period before the current time is missing, the aforementioned reference rotational speed may be determined based on the optimal rotational speed of the engine in the historical operation period of the vehicle controller nearest to the current time. The optimal rotation speed of the engine in the target period can be obtained according to the total required power of the engine in the target period and the corresponding relation between the total required power of the engine and the rotation speed. The reference rotation speed is determined based on the optimal rotation speed of the engine in the target period, and the reference rotation speed can be updated in real time, so that the reference rotation speed with higher applicability can be obtained, and the accuracy and the instantaneity of the adjustment power for adjusting the rotation speed of the engine from the actual rotation speed at the current moment to the reference rotation speed obtained based on the reference rotation speed are high.
In an alternative embodiment, the method for determining the adjustment power required for adjusting the rotational speed of the engine from the actual rotational speed at the current time to the reference rotational speed by adopting a proportional-integral PI algorithm based on the actual rotational speed and the reference rotational speed may include the steps of acquiring the adjustment torque required for adjusting the rotational speed of the engine from the actual rotational speed at the current time to the reference rotational speed by adopting a proportional-integral PI algorithm based on the difference between the actual rotational speed and the reference rotational speed, and acquiring the adjustment power required for adjusting the rotational speed of the engine from the actual rotational speed at the current time to the reference rotational speed according to the adjustment torque and the actual rotational speed. The actual rotation speed is a dynamic value which changes along with time, and the adjusting power required by the engine for adjusting the rotation speed of the engine from the actual rotation speed to the reference rotation speed can be accurately and dynamically obtained through a proportional integral PI algorithm based on the difference value between the actual rotation speed and the reference rotation speed.
In an alternative embodiment, the method for determining the adjustment power required for adjusting the rotational speed of the engine from the actual rotational speed at the current time to the reference rotational speed by using a proportional-integral PI algorithm based on the actual rotational speed and the reference rotational speed may include the following steps:
the engine adjustment torque T Regulation of is obtained according to the following method:
T Regulation of ＝A×(V Reference to -V Actual practice is that of )+B×∫(V Reference to -V Actual practice is that of )
Wherein A is a predetermined proportionality coefficient, B is a predetermined integral coefficient, and V Reference to and V Actual practice is that of are the reference rotation speed and the actual rotation speed of the engine respectively.
The engine conditioning power P Regulation of is obtained by the following method:
where C is a coefficient, and in an alternative embodiment, the value of C is 9550.
In some alternative embodiments, a method of determining a target rotational speed of an engine based on a total required power of the engine may include the steps of obtaining a correspondence between engine power and engine rotational speed, and determining a target rotational speed of the engine corresponding to the total required power of the engine based on the correspondence. The foregoing correspondence may be a relationship curve or a relationship function fitted according to an empirical value, or may be a correspondence table between the total required engine power and the engine speed that is pre-generated according to an empirical value or a theoretical value. The target rotation speed of the engine corresponding to the total required power of the engine is determined based on the corresponding relation, and the target rotation speed of the engine corresponding to the total required power of the engine can be rapidly and accurately obtained.
In some alternative embodiments, the correspondence between engine power and engine speed is based on an optimal fuel economy curve BSFC (Brake Specific Fuel Consumption, vehicle brake fuel consumption).
In some alternative embodiments, the capability parameter value is compared with a capability parameter threshold to obtain a comparison result, wherein the capability parameter value comprises at least one of a capability parameter value of the generator in a series hybrid mode, a capability parameter value of the generator is determined to be smaller than a capability parameter threshold when the capability parameter value comprises a torque capability parameter of the generator in a series hybrid mode, and the capability parameter value is determined to be smaller than the capability parameter threshold when the torque capability parameter is smaller than the torque capability threshold. When the capacity parameter value is smaller than the corresponding preset capacity parameter threshold value, the device corresponding to the capacity parameter value is not satisfied with the requirement of regulating the engine speed for the engine, namely the engine speed cannot be effectively regulated. Determining whether the target rotation speed of the engine is required to be determined according to the automobile required power and the adjusting power based on the capacity parameter value and the corresponding preset capacity parameter threshold value can realize effective adjustment of the rotation speed of the engine under the condition that the capacity of the generator torque capacity or the capacity of the power battery is limited.
In some alternative embodiments, after the target rotating speed of the engine is determined based on the total required power of the engine, the method further comprises the steps of obtaining first torque corresponding to the current actual rotating speed of the engine and second torque corresponding to the target rotating speed of the engine, determining first torque change corresponding to the engine based on the first torque and the second torque, and controlling the second torque change corresponding to the generator of the hybrid electric vehicle in the series hybrid mode to be smaller than the first torque change. The internal rotation speed regulation of the engine is also related to the processes of regulating the air inflow, the ignition angle and the like through torque regulation. Therefore, the regulation speed of the engine is slower than that of the generator, and in order to ensure the stability of the rotational speed control process, it is necessary to limit the torque variation speed of the generator. The speed of the torque change of the generator is limited, so that the response of the engine and the generator are in the same frequency, and the aim of ensuring stable control of the rotating speed is fulfilled.
As an alternative embodiment, after determining the target rotational speed of the engine based on the total required power of the engine, the method further comprises obtaining a second torque corresponding to the target rotational speed of the engine based on the target rotational speed of the engine and the total required power of the engine. In the case where the torque that the engine itself can provide is smaller than the second torque, the generator is used to provide an assist torque to the engine, wherein the sum of the assist torque and the torque that the engine itself can provide is smaller than the second torque, and the assist torque is smaller than the predetermined generator torque. Therefore, the problem of insufficient power output of the engine caused by insufficient speed regulation capability of the generator can be effectively avoided, the problem of over-charge and over-discharge of a battery in the speed regulation process caused by weak battery capability can be avoided, and the torque requirement of the engine can be met within the maximum range.
Based on the above embodiments and alternative embodiments, a method for controlling a rotational speed of a vehicle is provided.
In the related art, an engine speed control mode is divided into three different control modes according to the state of a vehicle clutch during running, then the difference of speeds at two ends of the clutch and the oil consumption and an optimal curve of an engine are comprehensively considered, different engine target speeds and engine speed control request torques are respectively obtained in the different control modes, and meanwhile, a PID control algorithm is adopted to calculate engine speed control request torques in a closed loop control mode and in a positive and negative torque mode. The method is only suitable for the situation of adjusting the speed difference of the clutch in series-parallel connection switching, and is not suitable for the series working condition.
It should be appreciated that a hybrid vehicle configured as a two-motor hybrid system, the electric-only mode of which directly drives the vehicle by the drive motor. In the series mode, the engine drives the generator to generate electricity, the electric quantity is used for driving the motor to drive the vehicle, and in the parallel mode, the clutch is combined, and the engine directly participates in driving the vehicle. The full-time torque control of the hybrid system engine is realized, the whole vehicle controller sends a torque request to the engine, and the rotating speed is regulated by controlling the generator by the whole vehicle controller. The system is in series mode where the generator torque capacity is limited or the power battery capacity is limited resulting in the generator not being able to regulate the engine speed. The method provided by the alternative embodiment solves the problems of insufficient power output of the engine caused by insufficient speed regulation capability of the generator and over-charge and over-discharge of the battery in the speed regulation process caused by weak battery capability through engine speed control. The working interval of the engine is regulated by sending a rotating speed request to the engine through the whole vehicle controller. In addition, the method provided by the alternative embodiment can effectively avoid the problems of insufficient power output of the engine caused by insufficient speed regulation capability of the generator and over-charge and over-discharge of the battery in the speed regulation process caused by weak battery capability.
The hybrid power system of this alternative embodiment may be a two-motor series-parallel configuration, in which the engine and generator achieve energy transfer through gears. When the hybrid power system operates, the system detects the charge-discharge power of the power battery and the driving torque of the generator, and when the charge-discharge power of the power battery and the driving torque of the generator are smaller than corresponding preset capacity threshold values, the hybrid power system starts an engine speed control function. Specifically, the hybrid power system operates in a series mode, and in a two-motor hybrid system series mode, the total required power of the system comes entirely from the engine, which itself also needs to operate in an optimal operating region. In this case, the power that the engine needs to output (corresponding to the total required power of the engine as described above) is equal to the superposition of the total required power of the system and the power required by the engine itself to adjust the working zone. After obtaining the required output power of the engine, the optimum operating speed (corresponding to the target speed in the foregoing embodiment) and the operating torque (corresponding to the second torque in the foregoing embodiment) of the engine can be obtained from the optimum BSFC. The optimal rotation speed can be directly sent to the engine for execution, and the working torque is converted into a speed ratio and then is sent to the generator for execution.
Fig. 2 is a flowchart of another alternative vehicle speed control method according to an embodiment of the invention. Referring to fig. 2, the rotational speed control method of the vehicle includes the steps of:
And S01, the HCU (Hybrid Control Unit, the whole vehicle control unit) monitors the torque capacity of the generator and the charge and discharge capacity of the power battery in real time through a CAN (Controller Area Network ) signal, and when the torque capacity and the charge and discharge capacity are smaller than a certain threshold value, the HCU enters an engine rotating speed control flow.
It should be understood that the HCU is an actuator of ABS (Antilock Brake System, anti-lock braking system), and is generally composed of a pressure increasing valve (normally open valve), a pressure reducing valve (normally closed valve), a liquid return pump, and an energy storage. The pressure increasing valve and the pressure reducing valve are controlled by ECU (Electronic Control Unit, driving computer) signals to realize the switching of the liquid path, thereby realizing the conventional braking process of pressure maintaining, pressure reducing and pressure increasing. The electric pump consists of a plunger type oil pump and a driving motor and is mainly used for keeping certain pressure of brake fluid in the energy accumulator.
S02, after the HCU enters an engine speed control flow, the calculation method of the total required power of the system is unchanged.
Where the regulated power of the engine=pi (last cycle engine optimum speed-engine actual speed).
It should be understood that, in the case of the loss of the data of the optimal rotation speed of the engine in the previous period, the adjustment power of the engine may be calculated based on the optimal rotation speed of the engine in the previous period.
And S03, the total required power of the engine is equal to the total required power of the system plus the regulated power of the engine.
It should be appreciated that the total power demand of the system includes power corresponding to the accelerator opening of the driver when stepping on the accelerator, as well as additional power for vehicle accessories provided to the air conditioning system, lighting system, exhaust system.
And S04, determining the optimal rotation speed of the engine in the current period according to the optimal BSFC curve, wherein the optimal rotation speed of the engine in the current period is the rotation speed corresponding to the total required power of the engine on the optimal BSFC curve.
S05, the engine executes the optimal rotation speed in the last step in the rotation speed control mode.
In this alternative embodiment, the engine internal adjustment rotational speed is related to the adjustment process of adjusting the torque, adjusting the intake air amount, the ignition angle, and the like, and according to this adjustment process, the adjustment speed of the engine is slower than the adjustment speed of the generator. In order to ensure stable and controlled rotation speed control process, the torque change speed of the generator needs to be limited, so that the response of the engine and the generator is the same frequency. Wherein the generator torque may be calculated by a system torque distribution module provided in the vehicle. Because of the rapid conversion rate following the driver demand, the engine regulation capability may be exceeded, and the rotation speed may be fluctuated, and in order to avoid this problem, the torque variation of the generator needs to be controlled so as to be less than or equal to the engine torque variation. In addition, when the rotational speed adjustment capability of the engine itself is weak, auxiliary adjustment is required by the generator, but the auxiliary adjustment power cannot be higher than a predetermined adjustment power value, which is five kw in one embodiment. Furthermore, there is a need to limit the slope of demand when calculating the total power demanded of the system, which slope cannot be greater than the response speed of the engine.
It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present invention is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present invention. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present invention.
Example 2
According to an embodiment of the present invention, there is further provided an apparatus for implementing the above-mentioned rotational speed control method of a vehicle, and fig. 3 is a block diagram of an alternative rotational speed control apparatus of a vehicle according to an embodiment of the present invention. As shown in fig. 3, the data processing apparatus includes a first acquisition module 302, a comparison module 304, a second acquisition module 306, a first determination module 308, and a second determination module 310. The following is a detailed description.
The system comprises a first acquisition module 302, a comparison module 304, a second acquisition module 306, a first determination module 308 and a second determination module 310, wherein the first acquisition module 302 is used for acquiring a capacity parameter value of the hybrid electric vehicle for adjusting the rotating speed of the engine in a series hybrid power mode, the comparison module 304 is connected with the first acquisition module 302 and is used for comparing the capacity parameter value with a preset capacity parameter threshold value to obtain a comparison result, the second acquisition module 306 is connected with the comparison module 304 and is used for acquiring automobile required power for driving the hybrid electric vehicle and adjusting the rotating speed of the engine from the actual rotating speed at the current moment to the adjusting power of the reference rotating speed when the comparison result is that the capacity parameter value is smaller than the preset capacity parameter threshold value, the first determination module 308 is connected with the second acquisition module 306 and is used for determining the total required power of the engine based on the automobile required power and the adjusting power, and the second determination module 310 is connected with the first determination module 308 and is used for determining the target rotating speed of the engine based on the total required power of the engine.
Here, it should be noted that the first obtaining module 302, the comparing module 304, and the second obtaining module 306, the first determining module 308, and the second determining module 310 correspond to the steps S102 to S110 in the embodiment 1, respectively, and several modules are the same as the examples and application scenarios implemented by the corresponding steps, but are not limited to those disclosed in the embodiment 1.
An embodiment of the present invention may provide a computer-readable storage medium, alternatively, in the present embodiment, the computer-readable storage medium may be used to store program code executed by the data processing method provided in the above embodiment 1.
Alternatively, in this embodiment, the above-mentioned computer-readable storage medium may be located in any one of the computer terminals in the computer terminal group in the computer network, or in any one of the mobile terminals in the mobile terminal group.
Optionally, in this embodiment, the computer readable storage medium is arranged to store program code for obtaining a capability parameter value of the hybrid vehicle for adjusting the engine speed in a series hybrid mode, comparing the capability parameter value with a predetermined capability parameter threshold to obtain a comparison result, obtaining a vehicle demand power for driving the hybrid vehicle if the capability parameter value is smaller than the predetermined capability parameter threshold, and adjusting the engine speed from an actual speed at a current time to a reference speed, determining a total demand power of the engine based on the vehicle demand power and the adjusting power, and determining a target speed of the engine based on the total demand power of the engine.
Optionally, in the present embodiment, the computer readable storage medium is arranged to store program code for performing the step of determining an adjustment power required to adjust the rotational speed of the engine from the actual rotational speed at the current time to the reference rotational speed, based on the actual rotational speed and the reference rotational speed, using a proportional-integral PI algorithm.
Optionally, the reference rotational speed is an optimal rotational speed of the engine in the target period, wherein the optimal rotational speed of the engine in the target period is a rotational speed corresponding to the total required power of the engine in the target period.
Optionally, in this embodiment, the computer readable storage medium is arranged to store program code for performing the steps of obtaining an adjustment torque required to adjust the rotational speed of the engine from the actual rotational speed at the current time to the reference rotational speed using a proportional-integral PI algorithm based on a difference between the actual rotational speed and the reference rotational speed, and obtaining an adjustment power required to adjust the rotational speed of the engine from the actual rotational speed at the current time to the reference rotational speed based on the adjustment torque and the actual rotational speed.
Optionally, in this embodiment, the computer readable storage medium is arranged to store program code for obtaining a correspondence between engine power and engine speed, determining a target speed of the engine corresponding to a total required power of the engine based on the correspondence.
Optionally, in this embodiment, the computer readable storage medium is arranged to store program code for comparing the capability parameter value with a capability parameter threshold, resulting in a comparison result, comprising at least one of determining that the capability parameter value is less than a predetermined capability parameter threshold in case the capability parameter value comprises a torque capability parameter of the generator of the hybrid vehicle in a series hybrid mode, the predetermined capability parameter threshold comprises a torque capability threshold of the generator, and the torque capability parameter is less than the torque capability threshold, and determining that the capability parameter value is less than the predetermined capability parameter threshold in case the capability parameter value comprises a charge-discharge capability parameter of the power battery of the hybrid vehicle in the series hybrid mode, the predetermined capability parameter threshold comprises a charge-discharge capability threshold of the power battery, and the charge-discharge capability parameter is less than the charge-discharge capability threshold.
Optionally, in this embodiment, the computer readable storage medium is configured to store program code for performing the steps of, after determining the target rotational speed of the engine based on the total required power of the engine, obtaining a first torque corresponding to the actual rotational speed of the engine at the current time and a second torque corresponding to the target rotational speed of the engine, determining a first torque change corresponding to the engine based on the first torque and the second torque, and controlling the second torque change corresponding to the generator of the hybrid vehicle in the series hybrid mode to be less than the first torque change.
Optionally, in this embodiment, the computer readable storage medium is arranged to store program code for determining a sum of the vehicle demand power and the regulated power as a total demand power of the engine.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be implemented by a program for instructing a terminal device related hardware, and the program may be stored in a computer readable storage medium, where the storage medium may include a flash disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, etc.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of units may be a logic function division, and there may be another division manner in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method of the various embodiments of the present invention. The storage medium includes a U disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, etc. which can store the program code.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (9)
1. A rotational speed control method of a vehicle, characterized by comprising:
acquiring a capacity parameter value of the hybrid electric vehicle for adjusting the rotation speed of an engine in a series hybrid power mode;
Comparing the capacity parameter value with a preset capacity parameter threshold value to obtain a comparison result;
Acquiring automobile required power for driving the hybrid electric vehicle and adjusting power for adjusting the rotating speed of the engine from the actual rotating speed at the current moment to a reference rotating speed under the condition that the capacity parameter value is smaller than the preset capacity parameter threshold value as a comparison result;
Determining a total required power of the engine based on the vehicle required power and the regulated power;
determining a target rotational speed of the engine based on the total required power of the engine;
The capacity parameter value is compared with a capacity parameter threshold value to obtain a comparison result, wherein the capacity parameter value comprises at least one of a capacity parameter value and a capacity parameter threshold value, the capacity parameter value is determined to be smaller than the preset capacity parameter threshold value when the capacity parameter value comprises a torque capacity parameter of a generator of the hybrid electric vehicle in the series hybrid power mode, the capacity parameter value comprises a torque capacity threshold value of the generator, and the capacity parameter value is determined to be smaller than the preset capacity parameter threshold value when the torque capacity parameter is smaller than the torque capacity threshold value, and the capacity parameter value comprises a charge-discharge capacity parameter of a power battery of the hybrid electric vehicle in the series hybrid power mode, the preset capacity parameter threshold value comprises a charge-discharge capacity threshold value of the power battery and the charge-discharge capacity parameter is determined to be smaller than the preset capacity parameter threshold value.
2. The method according to claim 1, wherein obtaining the adjustment power for adjusting the rotational speed of the engine from the actual rotational speed at the current time to the reference rotational speed includes:
and based on the actual rotating speed and the reference rotating speed, adopting a proportional-integral PI algorithm to determine the adjusting power required for adjusting the rotating speed of the engine from the actual rotating speed at the current moment to the reference rotating speed.
3. The method of claim 2, wherein the reference speed is an optimal speed of the engine over a target period, and wherein the optimal speed of the engine over the target period is a speed corresponding to a total required engine power of the engine over the target period.
4. The method according to claim 2, wherein the determining the adjustment power required to adjust the rotational speed of the engine from the actual rotational speed at the current time to the reference rotational speed using a proportional-integral PI algorithm based on the actual rotational speed and the reference rotational speed includes:
Based on the difference value between the reference rotating speed and the actual rotating speed, acquiring an adjusting torque required for adjusting the rotating speed of the engine from the actual rotating speed at the current moment to the reference rotating speed by adopting a proportional-integral PI algorithm;
and according to the regulating torque and the actual rotating speed, obtaining regulating power required for regulating the rotating speed of the engine from the actual rotating speed at the current moment to the reference rotating speed.
5. The method of claim 1, wherein the determining the target rotational speed of the engine based on the total required power of the engine comprises:
acquiring a corresponding relation between engine power and engine speed;
and determining a target rotating speed of the engine corresponding to the total required power of the engine based on the corresponding relation.
6. The method of claim 1, further comprising, after determining the target rotational speed of the engine based on the total required power of the engine:
Acquiring a first torque corresponding to the actual rotating speed of the engine at the current moment and a second torque corresponding to the target rotating speed of the engine;
determining a first torque change corresponding to the engine based on the first torque and the second torque;
And controlling the second torque change corresponding to the generator of the hybrid electric vehicle in the series hybrid power mode to be smaller than the first torque change.
7. The method of any one of claims 1 to 6, wherein the determining the total required power of the engine based on the vehicle required power and the regulated power includes determining a sum of the vehicle required power and the regulated power to be the total required power of the engine.
8. A rotational speed control apparatus of a vehicle, characterized by comprising:
The first acquisition module is used for acquiring a capacity parameter value of the hybrid electric vehicle for adjusting the rotating speed of the engine in a series hybrid mode;
The comparison module is used for comparing the capacity parameter value with a preset capacity parameter threshold value to obtain a comparison result;
The second acquisition module is used for acquiring automobile required power for driving the hybrid electric vehicle and adjusting the rotating speed of the engine from the actual rotating speed at the current moment to the adjusting power of the reference rotating speed under the condition that the capacity parameter value is smaller than the preset capacity parameter threshold value as a result of the comparison;
a first determination module configured to determine a total required power of the engine based on the vehicle required power and the regulated power;
A second determination module configured to determine a target rotational speed of the engine based on a total required power of the engine;
The comparison module is further configured to determine that the capability parameter value is smaller than the predetermined capability parameter threshold when the capability parameter value includes a torque capability parameter of a generator of the hybrid vehicle in the series hybrid mode, the predetermined capability parameter threshold includes a torque capability threshold of the generator, and the torque capability parameter is smaller than the torque capability threshold, and determine that the capability parameter value is smaller than the predetermined capability parameter threshold when the capability parameter value includes a charge-discharge capability parameter of a power battery of the hybrid vehicle in the series hybrid mode, the predetermined capability parameter threshold includes a charge-discharge capability threshold of the power battery, and the charge-discharge capability parameter is smaller than the charge-discharge capability threshold.
9. A computer-readable storage medium, characterized in that the storage medium includes a stored program, wherein the program, when run, controls a device in which the storage medium is located to execute the rotational speed control method of the vehicle according to any one of claims 1 to 7.
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| CN111845704B (en) * | 2019-04-30 | 2022-08-19 | 广州汽车集团股份有限公司 | Rotating speed control method and device and computer equipment |
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