CN111137137A - Control method and system of hybrid electric vehicle and hybrid electric vehicle - Google Patents
Control method and system of hybrid electric vehicle and hybrid electric vehicle Download PDFInfo
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- CN111137137A CN111137137A CN201811305565.5A CN201811305565A CN111137137A CN 111137137 A CN111137137 A CN 111137137A CN 201811305565 A CN201811305565 A CN 201811305565A CN 111137137 A CN111137137 A CN 111137137A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of 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
- Y02T10/72—Electric energy management in electromobility
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Abstract
本发明提出了一种混合动力汽车的控制方法、系统及混合动力汽车，该混合动力汽车的控制方法包括：整车控制器在检测到动力电池不可用时，将母线电压目标值和发电扭矩限值发送至电机控制器；电机控制器检测电机的转速；当转速与电机怠速值的差值等于或者小于预设的第一差值阈值时，电机控制器控制电机的发电扭矩小于发电扭矩限值。本发明的混合动力汽车的控制方法、系统及混合动力汽车，在检测到动力电池不可用且电机的转速较低时，通过电机控制器对电机的发电扭矩进行控制，避免发电扭矩超过发动机当前带载能力而导致的发动机熄火。
The invention provides a control method, system and hybrid electric vehicle of a hybrid electric vehicle. The control method of the hybrid electric vehicle includes: when the vehicle controller detects that the power battery is unavailable, the target value of the bus voltage and the limit value of the power generation torque are set. Sent to the motor controller; the motor controller detects the speed of the motor; when the difference between the speed and the motor idle speed value is equal to or less than the preset first difference threshold, the motor controller controls the motor's power generation torque to be less than the power generation torque limit. The hybrid electric vehicle control method, system and hybrid electric vehicle of the present invention, when it is detected that the power battery is unavailable and the rotational speed of the motor is low, the motor controller is used to control the power generation torque of the motor to prevent the power generation torque from exceeding the current speed of the engine. Engine stall due to load capacity.
Description
Technical Field
The invention relates to the field of motor control, in particular to a control method and a control system of a hybrid electric vehicle and the hybrid electric vehicle.
Background
Due to the enhancement of awareness of environmental protection and the promulgation and implementation of national preferential policies, hybrid vehicles are increasingly popularized. When there is no conventional generator in the hybrid electric vehicle, the hybrid electric vehicle usually uses the dc converter DCDC to convert the high voltage dc into the low voltage dc to supply power to the low voltage electric devices of the whole vehicle, and when the power battery cannot be used, the vehicle cannot run because there is no low voltage power supply.
In the related art, when the power battery cannot be used, the motor controller P1/P2 is generally adopted to control the motor to generate power to supply power to DCDC, but the scheme has certain requirements on the rotation speed of the engine, and when the rotation speed of the engine is too low, due to the fact that the generating target is bus voltage, when the generating torque of the motor exceeds the current loading capacity of the engine, the engine can be shut down.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first object of the present invention is to provide a control method for a hybrid vehicle, which controls the power generation torque of a motor through a motor controller when detecting that a power battery is unavailable and the rotation speed of the motor is low, so as to avoid engine stall caused by the power generation torque exceeding the current loading capacity of an engine.
A second object of the present invention is to provide a control system for a hybrid vehicle.
A third object of the present invention is to provide a hybrid vehicle.
To achieve the above object, an embodiment of a first aspect of the present invention provides a control method for a hybrid vehicle, including:
when the vehicle control unit detects that the power battery is unavailable, the bus voltage target value and the power generation torque limit value are sent to the motor controller;
the motor controller detects the rotating speed of the motor;
and when the difference value between the rotating speed and the idle speed value of the motor is equal to or smaller than a preset first difference threshold value, the motor controller controls the power generation torque of the motor to be smaller than the power generation torque limit value.
According to the control method of the hybrid electric vehicle, provided by the embodiment of the invention, when the vehicle control unit detects that the power battery is unavailable, the bus voltage target value and the power generation torque limit value are sent to the motor controller; the motor controller detects the rotating speed of the motor; and when the difference value between the rotating speed and the idle speed value of the motor is equal to or smaller than a preset first difference threshold value, the motor controller controls the power generation torque of the motor to be smaller than the power generation torque limit value. When the situation that the power battery is unavailable and the rotating speed of the motor is low is detected, the power generation torque of the motor is controlled through the motor controller, and the problem that the power generation torque exceeds the current loading capacity of the engine to cause the engine to stall is avoided.
According to an embodiment of the present invention, the control method of the hybrid vehicle further includes: and when the difference value is larger than the first difference value threshold value, the motor controller enters a bus voltage mode and controls the direct current converter to enter a normal working mode.
According to an embodiment of the present invention, the control method of the hybrid vehicle further includes: and when the difference is equal to or smaller than the first difference threshold and larger than a preset second difference threshold, the motor controller enters a bus voltage mode and controls the direct current converter to enter a normal working mode, and the second difference threshold is smaller than the first difference threshold.
According to an embodiment of the present invention, the control method of the hybrid vehicle further includes: the motor controller detects the state of the clutch; when the difference is equal to or smaller than a preset second difference threshold value and the clutch is in an engaged state, the motor controller enters a voltage limiting mode and controls the direct current converter to enter a limp home mode.
According to an embodiment of the present invention, the control method of the hybrid vehicle further includes: the motor controller detects the state of the clutch; and when the difference is equal to or smaller than a preset second difference threshold value and the clutch is in a disconnected state, the motor controller enters a standby mode and controls the direct current converter to enter the standby mode.
To achieve the above object, an embodiment of a second aspect of the present invention provides a control system for a hybrid vehicle, including:
the vehicle control unit is used for sending the bus voltage target value and the power generation torque limit value to the motor controller when detecting that the power battery is unavailable;
the motor controller is used for detecting the rotating speed of the motor and controlling the generating torque of the motor to be smaller than the generating torque limit value when the difference value between the rotating speed and the idle speed value of the motor is equal to or smaller than a preset first difference value threshold value.
According to the control system of the hybrid electric vehicle, provided by the embodiment of the invention, when the vehicle control unit detects that the power battery is unavailable, the bus voltage target value and the power generation torque limit value are sent to the motor controller; the motor controller detects the rotating speed of the motor; and when the difference value between the rotating speed and the idle speed value of the motor is equal to or smaller than a preset first difference threshold value, the motor controller controls the power generation torque of the motor to be smaller than the power generation torque limit value. When the situation that the power battery is unavailable and the rotating speed of the motor is low is detected, the power generation torque of the motor is controlled through the motor controller, and the problem that the power generation torque exceeds the current loading capacity of the engine to cause the engine to stall is avoided.
According to an embodiment of the invention, the motor controller is further configured to: and when the difference value is larger than the first difference value threshold value, entering a bus voltage mode, and controlling the direct current converter to enter a normal working mode.
According to an embodiment of the invention, the motor controller is further configured to: and when the difference is equal to or smaller than the first difference threshold and larger than a preset second difference threshold, entering a bus voltage mode, and controlling the direct current converter to enter a normal working mode, wherein the second difference threshold is smaller than the first difference threshold.
According to an embodiment of the invention, the motor controller is further configured to: detecting the state of the clutch; when the difference is equal to or smaller than a preset second difference threshold value and the clutch is in an engaged state, entering a voltage limiting mode and controlling the direct current converter to enter a limp home mode; and when the difference is equal to or smaller than the second difference threshold value and the clutch is in an off state, entering a standby mode and controlling the direct current converter to enter the standby mode.
To achieve the above object, a third aspect of the present invention provides a hybrid vehicle, including: the control system of the hybrid vehicle according to the embodiment of the second aspect of the invention.
Drawings
FIG. 1 is a schematic diagram of a system architecture of a motor controller P2 of a hybrid electric vehicle;
fig. 2 is a flowchart of a control method of a hybrid vehicle according to an embodiment of the invention;
fig. 3 is a detailed flowchart of a control method of a hybrid vehicle according to an embodiment of the invention;
fig. 4 is a block diagram of a control system of a hybrid vehicle according to an embodiment of the invention;
fig. 5 is a structural diagram of a hybrid vehicle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a control method and system for a hybrid vehicle and a hybrid vehicle according to an embodiment of the present invention with reference to the drawings.
Fig. 1 is a schematic diagram of a system architecture of a motor controller P2 of a hybrid electric vehicle, and as shown in fig. 1, the system architecture of the motor controller P2 of the hybrid electric vehicle includes: a 12V booster starter 11 for starting the vehicle; a gasoline internal combustion engine 12 for powering the vehicle; an Integrated Starter and Generator (ISG) 14 for powering a vehicle and powering electrical devices within the vehicle; a clutch 13 for controlling the connection of the gasoline internal combustion engine 12 with the ISG14, the gasoline internal combustion engine 12 being engaged with the ISG14 when the clutch 13 is engaged, the gasoline internal combustion engine 12 being disengaged from the ISG14 when the clutch 13 is disengaged; the automatic gearbox 15 is used for shifting gears according to the working conditions of the automobile; an electronic overload protector 16 for protecting the vehicle electronic system during overload; the motor controller 18 is connected with the ISG14 through a bus and used for outputting a control signal to the ISG14 and controlling the ISG14 to work; a direct current converter (DCDC)17 for converting the high voltage dc power to a low voltage dc power.
Fig. 2 is a flowchart of a control method of a hybrid vehicle according to an embodiment of the present invention, which includes, as shown in fig. 2:
and S101, when the vehicle controller detects that the power battery is unavailable, the vehicle controller sends the bus voltage target value Urep and the power generation torque limit Tlimit to the motor controller.
In the embodiment of the invention, when a Hybrid Control Unit (HCU) detects a power battery fault or is unavailable due to reasons such as too low temperature, the HCU disables high-voltage electric devices such as a high-voltage air conditioner (high-voltage air conditioner) and a (PTC) heater, and sends a bus voltage target value Urep and a power generation torque limit Tlimit to a motor controller. When the engine is in a non-idling state, the Tlimit is a preset default value, and when the engine is in an idling state, the Tlimit is a series of variable values calculated by the whole vehicle controller according to the characteristics of the engine.
S102, the motor controller detects the rotating speed S of the motor.
In the embodiment of the invention, the rotating speed S of the motor can be detected by a rotating speed sensor arranged on the motor controller.
And S103, when the difference value of the rotating speed S and the motor idle speed value S0 is equal to or smaller than a preset first difference threshold value S1, controlling the power generation torque of the motor to be smaller than a power generation torque limit value Tlimit by the motor controller.
In an embodiment of the present invention, the first difference threshold S1 may be preset, and as a possible implementation manner, S0+ S1 may be a threshold value for the motor to enter the high speed operation mode, when the motor speed S is lower than S0+ S1, it indicates that the motor is in the non-high speed operation mode, when the motor speed S is higher than S0+ S1, it indicates that the motor is in the high speed operation mode, and S1 may specifically be 500 revolutions per minute (rpm). After the rotation speed S of the motor is obtained in the step S102, the difference value between the S and the motor idling value S0 is calculated, and when S-S0 is smaller than or equal to S1, the motor is indicated to be in a non-high rotation speed operation mode at the moment, the motor controller controls the power generation torque of the motor to be smaller than the power generation torque limit value Tlimit, and engine stalling caused by the fact that the power generation torque exceeds the current loading capacity of the engine is prevented.
Further, the control method of the hybrid vehicle further includes: when the difference is greater than the first difference threshold S1, the motor controller enters the bus voltage mode and controls the dc converter to enter the normal operating mode.
In the embodiment of the invention, when S-S0 is greater than S1, the motor is in a high-speed running mode at the moment, the motor controller enters a bus voltage mode (namely Udc mode), and in the mode, the duty ratio and the switching sequence of an Insulated Gate Bipolar Transistor (IGBT for short) are adjusted in real time according to the current rotor angle of the motor, so that the bus voltage is maintained near a bus voltage target value Urep, and the generating torque is not limited. And controlling the direct current converter DCDC to enter a normal working mode, namely a BUCK mode, wherein in the normal working mode, the direct current converter needs to work at full power to ensure that the voltage of a low-voltage side does not drop and ensure the normal operation of low-voltage electric devices in the vehicle.
Further, the control method of the hybrid vehicle further includes: when the difference value is equal to or smaller than the first difference threshold value S1 and larger than a preset second difference threshold value S2, the motor controller enters a bus voltage mode and controls the dc converter to enter a normal operation mode, and the second difference threshold value S2 is smaller than the first difference threshold value S1.
In the embodiment of the present invention, the second difference threshold S2 may be preset, and as a possible implementation manner, S0+ S2 may be a threshold value when the motor enters the idle state, when the motor speed S is higher than S0+ S2, it indicates that the motor is in the non-idle operation mode, and when the motor speed S is lower than S0+ S2, it indicates that the motor is in the idle operation mode, S2 < S1, and S2 may be specifically 100 rpm. When S2 is greater than S-S0 and less than or equal to S1, the motor is not in a high-speed running mode, the motor speed is slightly higher than the speed in an idling state, the motor controller enters a bus voltage mode, under the mode, the duty ratio and the switching sequence of the IGBT are adjusted in real time according to the current motor rotor angle, the bus voltage is guaranteed to be maintained near Urep, the generating torque of the motor is controlled to be smaller than a generating torque limit Tlimit, and engine flameout caused by the fact that the generating torque exceeds the current load carrying capacity of the engine is prevented. And controlling the direct current converter to enter a normal working mode, namely a BUCK mode, wherein in the normal working mode, the direct current converter needs to work at full power to ensure that the voltage of a low-voltage side does not drop, and the normal operation of low-voltage electric devices in the vehicle is ensured.
Further, the control method of the hybrid vehicle further includes: the motor controller detects the state of the clutch; when the difference is equal to or less than a preset second difference threshold S2 and the clutch is in the engaged state, the motor controller enters the voltage limiting mode and controls the dc converter to enter the limp home mode.
In the embodiment of the invention, the motor controller detects the state of the clutch, when S-S0 is less than or equal to S2, the motor is in an idle running mode at the moment, and the clutch is in an engaged state, the motor controller enters a voltage limiting mode (namely Ulimit mode), in the mode, the motor torque is fixed to a series of values related to the rotating speed, and the coefficient can be calibrated. And the direct current converter is controlled to enter a limp mode (namely a limphome mode), in the limp mode, the direct current converter needs to carry out linear frequency reduction according to the bus voltage, a small amount of power generation is carried out, and when the voltage protection is turned off, the low-voltage side power output can be turned off when the voltage is too low.
Further, the control method of the hybrid vehicle further includes: the motor controller detects the state of the clutch; when the difference is equal to or smaller than a preset second difference threshold value S2 and the clutch is in the open state, the motor controller enters the standby mode and controls the dc converter to enter the standby mode.
In the embodiment of the invention, the motor controller detects the state of the clutch, when S-S0 is less than or equal to S2, the motor is in an idle running mode at the moment, and when the clutch is in an off state, the motor controller enters a Standby mode (namely a Standby mode) and controls the direct current converter to enter the Standby mode. The standby modes of the motor controller and the direct current converter are non-operating modes, and when the state of the clutch and the motor rotating speed S meet the working condition of entering in the above condition, the motor controller and the direct current converter can enter the working mode.
The automatic control is carried out according to the rotating speed of the motor and the state of the clutch, the maximum output capacity of the motor controller and the direct current converter is guaranteed, meanwhile, the protection can be obtained, and the comfort and the robustness of the vehicle are guaranteed.
For clarity of the present embodiment, a control method of a hybrid vehicle according to an embodiment of the present invention is described in detail below with reference to fig. 3, where fig. 3 is a specific flowchart of the control method of the hybrid vehicle according to an embodiment of the present invention, and as shown in fig. 3, the control method of the hybrid vehicle specifically includes:
s201, the vehicle control unit detects whether the power battery is available.
If yes, go to step S202; if not, the process proceeds to step S203.
And S202, normally running the vehicle.
And S203, the vehicle control unit sends the bus voltage target value Urep and the power generation torque limit Tlimit to the motor controller.
S204, judging whether S-S0 > S1 is satisfied.
If yes, go to step S205; if not, the process proceeds to step S206.
S205, the motor controller enters a bus voltage mode and controls the direct current converter to enter a normal working mode.
S206, judging whether S-S0 > S2 is satisfied.
If yes, go to step S207; if not, the process proceeds to step S208.
And S207, the motor controller enters a bus voltage mode, controls the direct current converter to enter a normal working mode, and controls the power generation torque of the motor to be smaller than the power generation torque limit Tlimit.
S208, judging whether the clutch is in an engaged state.
If yes, go to step S209; if not, the process proceeds to step S210.
S209, the motor controller enters a voltage limiting mode and controls the dc converter to enter a limp home mode.
S210, the motor controller enters a standby mode, and controls the dc converter to enter the standby mode.
According to the control method of the hybrid electric vehicle, provided by the embodiment of the invention, when the vehicle control unit detects that the power battery is unavailable, the bus voltage target value and the power generation torque limit value are sent to the motor controller; the motor controller detects the rotating speed of the motor; and when the difference value between the rotating speed and the idle speed value of the motor is equal to or smaller than a preset first difference threshold value, the motor controller controls the power generation torque of the motor to be smaller than the power generation torque limit value. When the situation that the power battery is unavailable and the rotating speed of the motor is low is detected, the power generation torque of the motor is controlled through the motor controller, the problem that the power generation torque exceeds the current loading capacity of the engine to cause engine flameout is avoided, shaking of the vehicle in the idling process can be avoided, and robustness and comfortableness of the hybrid vehicle are guaranteed.
Fig. 4 is a block diagram of a control system of a hybrid vehicle according to an embodiment of the present invention, which includes, as shown in fig. 4:
the vehicle control unit 21 is used for sending the bus voltage target value and the power generation torque limit value to the motor controller 22 when detecting that the power battery is unavailable;
and the motor controller 22 is used for detecting the rotating speed of the motor and controlling the generating torque of the motor to be smaller than the generating torque limit value when the difference value between the rotating speed and the idle speed value of the motor is equal to or smaller than a preset first difference value threshold value.
It should be noted that the explanation of the embodiment of the control method for a hybrid vehicle described above is also applicable to the control system for a hybrid vehicle of this embodiment, and will not be described herein again.
According to the control system of the hybrid electric vehicle, provided by the embodiment of the invention, when the vehicle control unit detects that the power battery is unavailable, the bus voltage target value and the power generation torque limit value are sent to the motor controller; the motor controller detects the rotating speed of the motor; and when the difference value between the rotating speed and the idle speed value of the motor is equal to or smaller than a preset first difference threshold value, the motor controller controls the power generation torque of the motor to be smaller than the power generation torque limit value. When the situation that the power battery is unavailable and the rotating speed of the motor is low is detected, the power generation torque of the motor is controlled through the motor controller, and the problem that the power generation torque exceeds the current loading capacity of the engine to cause the engine to stall is avoided.
Further, in a possible implementation manner of the embodiment of the present invention, the motor controller 22 is further configured to: and when the difference value is larger than the first difference value threshold value, entering a bus voltage mode, and controlling the direct current converter to enter a normal working mode.
Further, in a possible implementation manner of the embodiment of the present invention, the motor controller 22 is further configured to: and when the difference value is equal to or smaller than the first difference value threshold value and larger than a preset second difference value threshold value, entering a bus voltage mode, and controlling the direct current converter to enter a normal working mode, wherein the second difference value threshold value is smaller than the first difference value threshold value.
Further, in a possible implementation manner of the embodiment of the present invention, the motor controller 22 is further configured to: detecting the state of the clutch; when the difference value is equal to or smaller than a preset second difference value threshold value and the clutch is in an engaged state, entering a voltage limiting mode and controlling the direct current converter to enter a limp home mode; and when the difference value is equal to or smaller than the second difference value threshold value and the clutch is in an off state, entering a standby mode and controlling the direct current converter to enter the standby mode.
It should be noted that the explanation of the embodiment of the control method for a hybrid vehicle described above is also applicable to the control system for a hybrid vehicle of this embodiment, and will not be described herein again.
According to the control system of the hybrid electric vehicle, provided by the embodiment of the invention, when the vehicle control unit detects that the power battery is unavailable, the bus voltage target value and the power generation torque limit value are sent to the motor controller; the motor controller detects the rotating speed of the motor; and when the difference value between the rotating speed and the idle speed value of the motor is equal to or smaller than a preset first difference threshold value, the motor controller controls the power generation torque of the motor to be smaller than the power generation torque limit value. When the situation that the power battery is unavailable and the rotating speed of the motor is low is detected, the power generation torque of the motor is controlled through the motor controller, the situation that the power generation torque exceeds the current loading capacity of the engine to cause engine flameout is avoided, shaking of the vehicle in the idling process can be avoided, and robustness and comfortableness of the hybrid vehicle can be guaranteed.
In order to implement the above embodiment, the embodiment of the present invention further proposes a hybrid vehicle 50, as shown in fig. 5, including a control system 51 of the hybrid vehicle shown in the above embodiment.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
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| CN111775928B (en) * | 2020-06-11 | 2024-04-02 | 吉泰车辆技术（苏州）有限公司 | Limp control method and system for hybrid vehicle |
| CN114789719A (en) * | 2022-04-29 | 2022-07-26 | 重庆长安汽车股份有限公司 | Driving control method and system of hybrid vehicle during power battery failure |
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