CN201214410Y - Speed cruising control device of oil-electric mixed power electric vehicle - Google Patents
Speed cruising control device of oil-electric mixed power electric vehicle Download PDFInfo
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- CN201214410Y CN201214410Y CNU2007203023250U CN200720302325U CN201214410Y CN 201214410 Y CN201214410 Y CN 201214410Y CN U2007203023250 U CNU2007203023250 U CN U2007203023250U CN 200720302325 U CN200720302325 U CN 200720302325U CN 201214410 Y CN201214410 Y CN 201214410Y
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- 238000004146 energy storage Methods 0.000 claims abstract description 21
- 238000011084 recovery Methods 0.000 claims abstract 2
- 238000001514 detection method Methods 0.000 abstract 3
- 210000000529 third trochanter Anatomy 0.000 description 11
- 238000012544 monitoring process Methods 0.000 description 10
- 230000008859 change Effects 0.000 description 6
- 239000000446 fuel Substances 0.000 description 5
- 238000004804 winding Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 230000005389 magnetism Effects 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
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Abstract
The utility model discloses a speed cruise controller of a hybrid power vehicle. The hybrid power vehicle comprises an engine, an engine control unit, an engine economical operation control unit, a first electric motor, a second electric motor, a first servo driver, a second servo driver, an energy storage unit, a direct current bus and a bus voltage detection and PID control unit; wherein, the engine economical operation control unit controls the first servo driver and the first electric motor to apply load on the engine according to the requirement on optimal economical operation; the first and the second servo drives respectively control the first and the second electric motors; the bus voltage detection and PID control unit controls the torques of the output shafts of the electric motors; the first electric motor is directly connected with the output shaft of the engine; the first and the second electric motors are jointly connected with the driving shaft of the hybrid power vehicle in order to supply driving power to the hybrid power vehicle; and the energy storage unit, the first and the second servo drivers and the bus voltage detection and PID control unit are connected together through the direct current bus. The cruise controller has the following characteristics: the cruise controller comprises a cruise control unit which is connected with the second servo driver to control the rotation speed or rotation torque of the second electric motor in order to realize cruise control under the required speed, and moreover, the direct current bus is connected with the second servo driver and the energy storage unit in order to meet the requirement on the real-time supply or recovery of energy for cruise control.
Description
Technical field
The utility model relates to a kind of speed cruise control apparatus in car speed control field, in particular to a kind of speed cruise control apparatus that adopts the oil electric mixed dynamic battery-driven car of duplex motor.
Technical background
For making automobile have driver comfort preferably, people are provided with cruise function on the automobile control policy.When on express highway, travelling for a long time, open the automatic guidance switch of this CCS cruise control system after, CCS cruise control system will increase and decrease throttle opening automatically according to car resistance, thereby make automobile driving speed keep certain.Can avoid the frequent accelerator pedal of chaufeur like this, guarantee that simultaneously automobile travels with predefined speed.Automobile is constant speed drive under certain condition automatically, has alleviated the driving fatigue intensity of chaufeur widely.Because CCS cruise control system can automatically keep certain speed of a motor vehicle, avoided the artificial change of unnecessary Das Gaspedal, and then improved the fuel economy of automobile and the emission performance of driving engine.
Conventional CCS cruise control system is made up of sensor, operating switch, actr and cruising control ECU etc.Sensor and switch are sent signal into cruising control ECU, and ECU is according to the due aperture of these calculated signals throttle gates, and send signal, the automatically regulating throttle opening to actr.
Sensor comprises car speed sensor, throttle position sensor, throttle-valve control rocking arm sensor, is respectively applied for to measure the speed of a motor vehicle, Throttle Position, throttle-valve control rocking arm position.
Operating switch is mainly operated by chaufeur, is used for being provided with the speed of a motor vehicle or it is re-set as another speed of a motor vehicle of cruising, and the cancellation cruising control etc.
Cruising control ECU is made up of processor chips, A/D, D/A conversion IC and modules such as output replacement driving and protective circuit.ECU receives the signal from various sensors (for example car speed sensor) and various switches, handles according to program stored in advance.When the speed of a motor vehicle departs from cruising during the speed of a motor vehicle of setting, give electric signal of actr, the action of control actr makes actual vehicle speed consistent with the setting speed of a motor vehicle.
Actr is mechanical movement with the curtage signal transition of ECU output, and then the aperture of control throttle gate, finally reaches the purpose of the control speed of a motor vehicle.At present the actr that uses has two types, is the vacuum driven type in one, and another kind is a motor driving type.The former is by negative pressure control node valve, and the latter is by micromotor control node valve.
Existing cruising control scheme adopts mechanical actuating mechanism to regulate engine speed by changing throttle opening, thereby realization cruise function, because the time-delay naturally of the action delay of mechanical actuating mechanism and engine response, existing cruising control has a lot of limitations in application, for example relatively poor at condition of road surface, wind speed changes greatly, when setting cruising speed and actual vehicle speed have big difference, cruise function often can not be realized or can not improve automobile fuel ecomomy.
The speed cruise control apparatus of the oil electric mixed dynamic battery-driven car that the utility model is described, utilize the servomotor servo characteristic of response fast, overcome well that speed of response is slow in the traditional scheme, the constant speed precision is low, fuel economy is improved limited shortcoming, and with low cost, be convenient to promote.
Summary of the invention
The purpose of this utility model is the speed cruise control apparatus of a kind of oil electric mixed dynamic battery-driven car of design, under the control of corresponding control method, this device has following function: 1. can allow automobile balance operate on the setting speed, can realize still that high precision velocity cruises even change at load resistance when violent; Even 2. change when violent at load resistance, still keep the engine operating state smooth change, driving engine is operated on the optimal economic run curve always, realize better fuel-economy performance; 3. broader cruising speed setting range and governing response are faster arranged; 4. the speed governing of cruising is level and smooth, simple to operate, has good driving performance.
The speed cruise control apparatus of the utility model design-calculated oil electric mixed dynamic battery-driven car comprises driving engine, control unit of engine, driving engine economical operation control unit, first motor and second motor, control first servo-driver of first motor and second motor and second servo-driver, energy-storage units, dc bus and bus voltage respectively detects and the PID control unit.This first motor is made of first, second two rotors, and its first rotor and engine output shaft are direct-connected, and the permanent magnetism magnetic pole that is used to set up motor-field is installed on the first rotor, and the first speed/positional sensor is installed on the first rotor axle; On second rotor of this first motor machine winding is installed, winding is realized being electrically connected by the coaxial mounted slip ring and first servo-driver, and second rotor of output shaft axle is connected to diff by output gear; This second motor stator is installed on the fixing support, is armature loop on it, and the rotor of second motor is equipped with the permanent magnetism magnetic pole that is used to set up motor-field for this device third trochanter, third trochanter.The third trochanter axle and second rotor coaxial are equipped with second speed/position transduser on the third trochanter axle.Driving engine economical operation control unit is controlled first servo-driver and first motor and by the requirement of optimal economic operation driving engine is applied load, first motor simultaneously with second motor one in the same way hybrid vehicle driving power is provided.Energy-storage units, first and second servo-drivers and bus voltage are detected dc bus and the PID control unit links to each other, and this bus voltage detects and the PID control unit is used to control the second motor output shaft moment size.Cruise control apparatus also comprises the cruising control unit, wherein:
When the speed of a motor vehicle was carried out cruising control, the cruising control unit was directly controlled second rotating speed of motor or torque according to the required speed of a motor vehicle by second servo-driver, to realize the cruising control under the required speed of a motor vehicle; And
When imposing a condition or during the condition of loading steep variation, the energy that second motor is required or the energy of output in real time by energy-storage units by dc bus supply or absorption, to realize real-time energy requirement in the cruising control.
This speed cruise control apparatus also comprises main control unit, when selecting cruising control, main control unit is slowly controlled the changing operate-point of driving engine according to the charge power desired signal of energy-storage units and according to the driving power demand signal that vehicle condition obtains by control unit of engine, thereby satisfies the energy requirement of cruising control in the long period section.
Even under the violent situation of load variations, main control unit still keeps the engine operating state smooth variation.
This speed cruise control apparatus also comprises main control unit, and whether main control unit carries out cruising control according to the peripheral operation decision; When carrying out cruising control, main control unit sends the speed of a motor vehicle according to outside cruising control instruction to the cruising control unit and sets, end to control the torque settings of second servo-driver simultaneously by bus voltage monitoring and PID control unit, and by the torque settings of cruising control unit controls second servo-driver.
When the cancellation cruising control, main control unit is cancelled the operation that the cruising control unit is ended in the cruising control instruction according to the outside, and is controlled the torque settings of second servo-driver by bus voltage monitoring and PID control unit.
Above-mentioned first motor also can adopt following structure: machine winding is installed on the first rotor, and winding is realized being electrically connected by the coaxial mounted slip ring and first servo-driver, and the first speed/positional sensor is installed on the first rotor axle; On second rotor of first motor permanent magnetism magnetic pole that is used to set up motor-field is installed.
First servo-driver receives from the moment setting signal of driving engine economical operation main control unit and from first, second rotor relative position signal of first motor of first, second speed/positional sensor, then control the current phasor of the first armature winding in the servo mode of moment, realize that moment of torsion to the first rotor applies and by the first rotor driving engine applied load torque; The torque setting signal that the acceptance of second servo-driver passes over from main control unit according to the third trochanter position signal of second motor that detects from second speed/position transduser, drives the external output torque of third trochanter of second motor.
Computer unit in the driving engine economical operation main control unit has the optimal economic run curve of driving engine, and the moment setting value of first servo-driver is sent in the engine rotational speed signal decision that it is sent here according to the first speed/positional sensor.
Dc bus and energy-storage units are monitored with first, second servo-driver and bus voltage and the PID control unit is connected, and are mainly used to store unnecessary electric energy or carry electric energy stored to bus where necessary.
Bus voltage monitoring and PID control unit determine the size of the second servo-driver moment setting value under the non-cruising condition according to the monitoring result of bus voltage, and are delivered to second servo-driver by main control unit, control the second motor output torque then.
The vehicle speed signal that the cruising control unit detects according to speed of a motor vehicle setting signal and second speed/position transduser from main control unit determines the size of the moment setting value of second servo-driver, and be delivered to second servo-driver by main control unit, then control the second motor output torque, realize that speed of a motor vehicle closed loop control is a cruising control.
Control unit of engine is accepted the control signal from main control unit, the control turn of engine, thus satisfy car load operation, electrification energy storage homenergic demand.
Main control unit is according to driver's operation, individual link to car load is controlled, in the utility model, particularly accept the cruising control instruction, sending the speed of a motor vehicle to the cruising control unit sets, the second servo-driver moment setting signal that acceptance is sent here respectively from the monitoring of cruising control unit and bus voltage and PID control unit is selected cruising control or non-cruising control.Simultaneously, the charge power desired signal also sent here according to energy-storage units of main control unit and the driving power demand signal that obtains according to vehicle condition are by the operation point of control unit of engine control driving engine.
Description of drawings
Fig. 1 is the speed cruise control apparatus example structure scheme drawing according to the electric hybrid electric vehicle of oil of the present utility model.
The number in the figure tabulation:
1, control unit of engine,
2, driving engine,
3, the first speed/positional sensor,
4, second rotor,
5, the first rotor,
6, driving engine economical operation control unit,
7, current colector,
8, main control unit,
9, first servo-driver,
10, output gear train,
11, stator,
12, third trochanter,
13, dc bus and energy-storage units,
14, bus voltage monitoring and PID control unit,
15, second servo-driver,
16, cruising control unit,
17, second speed/position transduser and
18, diff.
The specific embodiment
According to the speed cruise control apparatus example structure scheme drawing of oil electric mixed dynamic battery-driven car of the present utility model as shown in Figure 1.In this hybrid-power electric vehicle, driving engine 2 is subjected to control unit of engine 1 control.First motor can be the birotor permanent magnetic synchronous dynamo, and its first rotor 5 is installed on the output shaft of driving engine 2, thereby its second rotor 4 is installed on the output shaft and is connected to diff 18 by output gear train 10.The second epitrochanterian armature loop is connected with first servo-driver 9 by coaxial mounted current colector 7.Second motor can be permagnetic synchronous motor, and its rotor is the third trochanter 12 in the utility model, third trochanter 12 and second rotor, 4 same axle mountings, and the stator 11 of second motor is installed on the fixing casing.The first speed/positional sensor 3 is installed, in order to measure engine speed and the first rotor position on the output shaft of driving engine 2.On the common axle of second rotor 4 and third trochanter 12, second speed/position transduser 17 is installed, in order to measure the position of output shaft rotating speed (because speed ratio is fixed, from then on speed can obtain the speed of a motor vehicle) and second rotor 4 and third trochanter 12.
This device also comprises first servo-driver 9 and second servo-driver 15, and they accept the moment setting signal from driving engine economical operation control unit 6, to control the moment of first, second motor respectively; And accept control signal from main control unit 8, with the operation of controlling first, second electric system whether.
This device also comprises bus voltage monitoring and PID control unit 14, and it is connected with first servo-driver 9, second servo-driver 15, dc bus and energy-storage units 13 by dc bus.Bus voltage monitoring and PID control unit 14 send the moment setting value of second electric system under the non-cruising condition to main control unit 8, and accept the control of main control unit 8.Dc bus and energy-storage units 13 are taken electric energy to batteries to store energy from dc bus except thinking in the internal battery management system under the necessary situation, also can according to the DC bus-bar voltage situation in case of necessity internally storage battery take energy transport to dc bus, and propose the charge power demand according to internal battery management system state to main control unit 8, thereby can change the acceptable operating point of driving engine 2 by main control unit 8.
This device also comprises cruising control unit 16, the speed of a motor vehicle setting signal that vehicle speed signal that its reception second speed/position transduser 17 is sent here and main control unit 8 are sent here, carry out the PID computing, and set to the moment that main control unit 8 is sent second electric system, realize that through main control unit 8, second servo-driver 15, second motor closed loop control of the speed of a motor vehicle is a cruising control.
Speed cruise control apparatus according to oil electric mixed dynamic battery-driven car of the present utility model can be controlled by following exemplary control method.
Cruise or cruise when being cancelled when chaufeur is non-selected, main control unit 8 comprehensive chaufeurs jam on the charge power desired signal that the signal of acceleration pedal and dc bus and energy-storage units 13 are sent here, by 2 operations of control unit of engine 1 control driving engine, and the moment of utilizing bus voltage monitoring and PID control unit 14 to control second servo-driver 15 by the variation of bus voltage is set, to satisfy the population equilibrium of power demand and supply.Main control unit 8 is revised the demand of quickening dynamic characteristic to satisfy in real time according to the angle variation of acceleration pedal to the moment setting signal size that outputs to second servo-driver 15 simultaneously.
When driver's operation cruise control switch and when selecting cruising control, main control unit 8 is accepted outside cruising control instruction for example, and send the corresponding speed of a motor vehicle according to this cruising control instruction to cruising control unit 16 and set.Main control unit 8 cuts off the passage of being set by the moment of bus voltage monitoring and PID control unit 14 controls second servo-driver 15 simultaneously, then is set by the moment of cruising control unit 16 controls second servo-driver 15.
In the case, cruising control unit 16 is according to speed of a motor vehicle setting signal and second speed/position transduser 17 detected vehicle speed signal from main control unit 8, utilize second motor to carry out speed closed loop control by the moment setting of controlling second servo-driver 15, can realize speed of a motor vehicle cruising control.For example, when the requirement of the speed of a motor vehicle according to cruise speed set changes, perhaps the road surface that vehicle travelled, when wind speed even load situation changes, the speed of a motor vehicle may produce deviation between the setting speed of a motor vehicle with cruising.This deviation is eliminated according to this deviation and the moment of the control policy that prestores (as PID control) control second electric system in cruising control unit 16, guarantees the precision of cruising thus.When condition of loading changed rapidly, second electric system was to carry out energy that cruising control consumes or reclaim in real time by dc bus and energy-storage units 13 supplies or absorption.So just avoid traditional cruise control method to regulate by the hysteresis that produces in the driving engine process that rising or falling speed is regulated slowly, the inaccuracy of the speed of a motor vehicle like that, and realized real-time, accurate speed control.
When selecting cruising control, charge power desired signal that main control unit 8 is also sent here according to dc bus and energy-storage units 13 and the driving power demand signal that obtains according to vehicle condition, control the operation point of driving engine 2 by control unit of engine 1, thereby satisfy the energy requirement of cruising control on the whole.Usually, the changing operate-point of driving engine 2 if desired, main control unit 8 makes the operation point of driving engine 2 slowly change along the optimal fuel economy curve.Even under the violent situation of load variations, main control unit 8 still keeps the engine operating state smooth variation.Thereby make discharging can not worsen because of the operation point changes suddenly.
No matter whether select the operation of cruising, driving engine economical operation control unit 6 is controlled first servo-driver 9 all the time and is controlled first motor thus and by the requirement of optimal economic operation driving engine 2 applied load.Main control unit 8 is also according to the start and stop of the control driving engines 2 such as power storage state of size, dc bus and the energy-storage units 13 of power demand, to obtain economic fuel efficiency.
Claims (2)
1. the speed cruise control apparatus of an oil electric mixed dynamic battery-driven car, this hybrid vehicle comprises: driving engine; Control unit of engine; Control first servo-driver and first motor apply load to driving engine by the requirement of optimal economic operation driving engine economical operation control unit; First motor and second motor; Control first servo-driver and second servo-driver of first motor and second motor respectively; Energy-storage units; Dc bus; And the bus voltage of control motor output shaft moment size detects and the PID control unit, this first motor and engine output shaft are direct-connected, first motor and second motor are connected to the axle drive shaft of vehicle jointly so that driving power to be provided to hybrid vehicle, this dc bus is with energy-storage units, first and second servo-drivers and bus voltage detect and the PID control unit links to each other, it is characterized in that, this cruise control apparatus comprises the cruising control unit, and the cruising control unit is connected to second servo-driver and realizes cruising control under the required speed of a motor vehicle to control second rotating speed of motor or torque; And dc bus connects second servo driver of motor and real-time energy supply or the recovery demand of energy-storage units to satisfy cruising control.
2. speed cruise control apparatus according to claim 1 is characterized in that:
This speed cruise control apparatus also comprises with energy-storage units and being connected to monitor its charging demand, to be connected with each vehicle condition sensor to monitor vehicle condition and to be connected with the main control unit that it is controlled with control unit of engine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007203023250U CN201214410Y (en) | 2007-12-29 | 2007-12-29 | Speed cruising control device of oil-electric mixed power electric vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007203023250U CN201214410Y (en) | 2007-12-29 | 2007-12-29 | Speed cruising control device of oil-electric mixed power electric vehicle |
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| CN201214410Y true CN201214410Y (en) | 2009-04-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNU2007203023250U Expired - Lifetime CN201214410Y (en) | 2007-12-29 | 2007-12-29 | Speed cruising control device of oil-electric mixed power electric vehicle |
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| CN103381826A (en) * | 2013-07-31 | 2013-11-06 | 中国人民解放军国防科学技术大学 | Adaptive Cruise Control Method Based on Approximate Policy Iteration |
| CN104015720A (en) * | 2013-02-28 | 2014-09-03 | 现代自动车株式会社 | System and method for controlling auto cruise of hybrid electric vehicle |
| WO2015113419A1 (en) * | 2014-01-30 | 2015-08-06 | 比亚迪股份有限公司 | Vehicle and vehicle cruise control method |
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- 2007-12-29 CN CNU2007203023250U patent/CN201214410Y/en not_active Expired - Lifetime
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