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WO2009086700A1 - A cruising control device of a hybrid vehicle and the method thereof - Google Patents

A cruising control device of a hybrid vehicle and the method thereof Download PDF

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Publication number
WO2009086700A1
WO2009086700A1 PCT/CN2008/000056 CN2008000056W WO2009086700A1 WO 2009086700 A1 WO2009086700 A1 WO 2009086700A1 CN 2008000056 W CN2008000056 W CN 2008000056W WO 2009086700 A1 WO2009086700 A1 WO 2009086700A1
Authority
WO
WIPO (PCT)
Prior art keywords
control unit
cruise control
motor
speed
engine
Prior art date
Application number
PCT/CN2008/000056
Other languages
French (fr)
Chinese (zh)
Inventor
Hong Lv
Original Assignee
Guilin Geely Stars Oil-Electric Hybrid Engine Co., Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guilin Geely Stars Oil-Electric Hybrid Engine Co., Ltd. filed Critical Guilin Geely Stars Oil-Electric Hybrid Engine Co., Ltd.
Priority to CN2008801241667A priority Critical patent/CN101909912B/en
Priority to PCT/CN2008/000056 priority patent/WO2009086700A1/en
Publication of WO2009086700A1 publication Critical patent/WO2009086700A1/en

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Classifications

    • 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
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/44—Series-parallel type
    • B60K6/448—Electrical distribution type
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/26—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the motors or the generators
    • B60K2006/262—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the motors or the generators the motor or generator are used as clutch, e.g. between engine and driveshaft
    • 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
    • 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

Definitions

  • the present invention relates to a speed cruise control device in the field of vehicle speed control, and in particular to a speed patrol control device for a hybrid electric vehicle using a double motor.
  • the invention also relates to a cruise control method for the speed cruise control device.
  • the cruise control system In order to make the car have better driving comfort, people set the cruise function in the car control strategy.
  • the cruise control system When driving on the highway for a long time, after the automatic control switch of the cruise control system is turned on, the cruise control system will automatically increase or decrease the throttle opening according to the driving resistance, so that the driving speed of the vehicle is kept constant. This prevents the driver from frequently stepping on the accelerator pedal while keeping the car at a pre-set speed.
  • the car automatically travels at a constant speed under certain conditions, greatly reducing the driver's driving fatigue. Since the cruise control system can automatically maintain a certain speed, unnecessary man-made changes in the accelerator pedal are avoided, thereby improving the fuel economy of the vehicle and the emission of the engine.
  • the conventional cruise control system consists of sensors, operating switches, actuators, and cruise control ECUs.
  • the sensors and switches feed the signals to the cruise control ECU, which calculates the opening of the throttle based on these signals and signals the actuator to automatically adjust the throttle opening.
  • the sensor includes a vehicle speed sensor, a throttle position sensor, and a throttle control rocker sensor for measuring the vehicle speed, the throttle position, and the throttle control rocker position.
  • the operation switch is mainly operated by the driver for setting the cruising speed or resetting it to another vehicle speed, and canceling the cruise control.
  • the cruise control BCU consists of a processor chip, A/D, D/A conversion I C and output reset drive and protection circuits.
  • the ECU receives signals from various sensors (such as the vehicle speed sensor) and various switches and processes them according to a pre-stored program. When the vehicle speed deviates from the set cruise speed, the actuator is given an electric signal to control the action of the actuator so that the actual vehicle speed is consistent with the set vehicle speed.
  • the actuator converts the current or voltage signal output by the ECU into mechanical motion, and Control the opening of the throttle valve and finally achieve the purpose of controlling the speed of the vehicle.
  • actuators There are two types of actuators currently in use, one is vacuum driven and the other is motor driven. The former is operated by a negative pressure throttle, and the latter is operated by a micromotor.
  • the existing cruise control scheme uses a mechanical actuator to adjust the engine speed by changing the throttle opening to achieve the cruise function. Due to the mechanical delay of the mechanical actuator and the natural delay of the engine response, the existing cruise control has applications in the application. There are many limitations. For example, when the road surface condition is poor, the wind speed changes greatly, and the set cruise speed is too different from the actual vehicle speed, the cruise function often cannot or cannot improve the fuel economy of the vehicle.
  • the speed patrol control device and method for the hybrid electric vehicle of the present invention utilizes the servo characteristics of the servo motor to quickly respond, and overcomes the slow response speed, low speed precision and improved fuel economy in the conventional scheme. Limited shortcomings, and low cost, easy to promote. Summary of the invention
  • the object of the present invention is to design a speed cruise control device for a hybrid electric electric vehicle.
  • the device Under the control of the corresponding control method, the device has the following functions: 1 enables the vehicle to run smoothly at the set speed even under load resistance High-precision speed cruising can still be achieved when the change is severe; 2 Even when the load resistance changes drastically, the engine running state is kept stable, so that the engine always works on the optimal economic running curve to achieve better fuel economy performance; A wider range of cruising speed adjustment and faster adjustment responsiveness; 4 smooth cruise control, simple operation, and good driving performance.
  • the speed cruise control device of the hybrid electric vehicle designed by the present invention comprises an engine, an engine control unit, an engine economy operation control unit, a first motor and a second motor, and a first servo driver for controlling the first motor and the second motor, respectively. And a second servo drive, an energy storage unit, a DC bus, and a bus voltage detection and PID control unit.
  • the first motor is composed of a first rotor and a second rotor.
  • the first rotor is directly connected to the engine output shaft, and the first rotor is mounted with a permanent magnet magnetic pole for establishing a magnetic field of the motor, and the first rotor shaft is mounted with the first rotor.
  • a speed/position sensor a motor winding is mounted on the second rotor of the first motor, the winding is electrically connected to the first servo driver through a coaxially mounted slip ring, and the second rotor output shaft is connected through the output gear To the differential;
  • the second motor stator is mounted on a fixed base, on which is an armature winding, the rotor of the second motor is a third rotor of the device, and the third rotor is mounted with a permanent magnetic pole for establishing a magnetic field of the motor .
  • the third rotor shaft is coaxial with the second rotor, and a second speed/position sensor is mounted on the third rotor shaft.
  • the engine economy operation control unit controls the first servo drive and the first motor to apply a load to the engine according to the requirement of optimal economic operation, and the first motor simultaneously supplies the driving power to the hybrid vehicle together with the second motor.
  • the DC bus connects the energy storage unit, the first and second servo drivers, and the bus voltage detection and PID control unit, and the bus voltage detection and PID control unit is used to control the output torque of the second motor.
  • the cruise control device also includes a cruise control unit, wherein:
  • the cruise control unit When cruise control is performed on the vehicle speed, the cruise control unit directly controls the speed or torque of the second motor through the second servo driver according to the required vehicle speed to achieve cruise control at the required vehicle speed;
  • the energy required by the second motor or the output energy is replenished or absorbed by the energy storage unit through the DC bus in real time to achieve real-time energy demand in the cruise control.
  • the speed cruise control device further includes a main control unit.
  • the main control unit slowly controls the operating point change of the engine through the engine control unit according to the charging power demand signal of the energy storage unit and the driving power demand signal obtained according to the vehicle condition. Thereby the energy requirements of the cruise control are met for a longer period of time.
  • the main control unit maintains a gentle change in engine operating conditions.
  • the speed cruise control device further includes a main control unit, and the main control unit determines whether to perform cruise control according to an external operation; when performing cruise control, the main control unit sends a vehicle speed setting to the cruise control unit according to the external cruise control command, and the busbar is suspended at the same time.
  • the voltage monitoring and PID control unit controls the torque setting of the second servo drive
  • the cruise control unit controls the torque setting of the second servo drive.
  • the main control unit suspends the operation of the cruise control unit according to the external cancel cruise control command, and the bus voltage monitoring and the P I D control unit control the torque setting of the second servo drive.
  • the first motor may also adopt the following structure: a motor winding is mounted on the first rotor, and the winding is electrically connected to the first servo driver through a coaxially mounted slip ring.
  • a first speed/position sensor is mounted on the first rotor shaft; a permanent magnet pole for establishing a magnetic field of the motor is mounted on the second rotor of the first motor.
  • the first servo driver receives a torque setting signal from the engine economy running main control unit and first and second rotor relative position signals from the first motor detected by the first and second speed/position sensors, and then in a torque servo manner Controlling a current vector of the first motor armature winding to implement torque application to the first rotor and applying load torque to the engine through the first rotor; the second servo drive receives a torque setting signal transmitted from the main control unit, according to The third rotor position signal of the second motor detected by the second speed/position sensor drives the third rotor of the second motor to output torque to the outside.
  • the computer unit in the engine economic operation main control unit stores the optimal economic running curve of the engine, and determines the torque setting value sent to the first servo driver based on the engine speed signal sent from the first speed/position sensor.
  • the DC bus and energy storage unit are connected to the first and second servo drives and the bus voltage monitoring and P I D control unit, and are mainly used for storing excess electric energy or transferring stored electric energy to the bus when necessary.
  • the bus voltage monitoring and P I D control unit determines the magnitude of the second servo drive torque setting value in the non-cruising state according to the monitoring result of the bus voltage, and transmits the torque to the second servo driver through the main control unit, and then controls the second motor output torque.
  • the cruise control unit determines the magnitude of the torque setting value of the second servo driver according to the vehicle speed setting signal from the main control unit and the vehicle speed signal detected by the second speed/position sensor, and transmits the torque setting value to the second servo driver through the main control unit, and then Control the output torque of the second motor to realize the closed-loop control of the vehicle speed, that is, the cruise control.
  • the engine control unit receives control signals from the main control unit to control engine rotation to meet energy requirements such as vehicle operation, power generation and energy storage.
  • the main control unit controls the entire vehicle according to the driver's operation.
  • the cruise control command is specifically accepted
  • the vehicle speed setting is sent to the cruise control unit
  • the cruise control unit and the bus voltage monitoring and PID are accepted.
  • the second servo driver torque setting signal sent by the control unit respectively selects cruise control or non-cruise control.
  • the main control unit controls the operating point of the engine through the engine control unit according to the charging power demand signal sent by the energy storage unit and the driving power demand signal obtained according to the vehicle condition.
  • FIG. 1 is a block diagram showing the construction of a speed cruise control apparatus for a hybrid electric vehicle according to the present invention.
  • FIG. 1 A schematic structural view of an embodiment of a speed cruise control device for a hybrid electric vehicle according to the present invention is shown in FIG.
  • the engine 2 is controlled by the engine control unit 1.
  • the first motor may be a two-rotor permanent magnet synchronous motor having a first rotor 5 mounted on the output shaft of the engine 2 and a second rotor 4 mounted on the output shaft for connection to the differential 18 via the output gear train 1Q.
  • the armature winding on the second rotor is connected to the first servo drive 9 via a coaxially mounted slip ring 7.
  • the second motor may be a permanent magnet synchronous motor, and the rotor thereof is the third rotor of the present invention 12.
  • the third rotor 12 is mounted coaxially with the second rotor 4, and the stator 11 of the second motor is mounted on a fixed casing.
  • a first speed/position sensor 3 is mounted on the output shaft of the engine 2 for measuring the engine speed and the first rotor position.
  • a second speed/position sensor 17 is mounted on the common shaft of the second rotor 4 and the third rotor 12, for measuring the output shaft speed (since the speed ratio is fixed, from which the speed can be obtained) and the second rotor 4 and The position of the third rotor 12.
  • the apparatus further includes a first servo driver 9 and a second servo driver 15, which receive torque setting signals from the engine economy operation control unit 6 to respectively control the torques of the first and second motors; and receive from the main control unit 8 The control signal controls the operation of the first and second motor systems.
  • the apparatus further includes a bus voltage monitoring and PID control unit 14, which is connected to the first servo driver 9, the second servo driver 15, the DC bus, and the energy storage unit 13 via a DC bus.
  • the bus voltage monitoring and P ID control unit 14 sends the torque setting value of the second motor system in the non-cruising state to the main control unit 8, and is controlled by the main control unit 8.
  • the DC bus and the energy storage unit 13 can be used to store energy from the DC bus in addition to the internal battery management system, and can also be used to transfer energy from the internal battery to the DC bus according to the DC bus voltage.
  • the charging power demand is presented to the main control unit 8 according to the state of the internal battery management system, so that the operating point of the engine 2 can be changed by the main control unit 8.
  • the device further includes a cruise control unit 16 that receives the vehicle speed signal sent by the second speed/position sensor 17 and the vehicle speed setting signal sent from the main control unit 8, performs PID calculation, and sends the second motor to the main control unit 8.
  • the torque setting of the system realizes the closed-loop control of the vehicle speed, that is, the cruise control, by the main control unit 8, the second servo driver 15, and the second motor.
  • the speed cruise control device of the hybrid electric vehicle according to the present invention can be controlled by the following exemplary control method.
  • the main control unit 8 synthesizes the signal of the driver pressing the accelerator pedal and the charging power demand signal sent by the DC bus and the energy storage unit 13, and controls the operation of the engine 2 through the engine control unit 1. And using the bus voltage monitoring and PID control unit 14 to control the torque setting of the second servo driver 15 by the change of the bus voltage to meet the overall balance of power demand and supply. At the same time, the main control unit 8 outputs the output to the first according to the angle of the accelerator pedal. The torque setting signal size of the two servo drives 1 5 is corrected in real time to meet the requirements of the acceleration dynamic characteristics.
  • the main control unit 8 When the driver operates, for example, the cruise control switch to select the cruise control, the main control unit 8 accepts the external cruise control command and transmits the corresponding vehicle speed setting to the cruise control unit 16 in accordance with the cruise control command. At the same time, the main control unit 8 cuts off the channel set by the bus voltage monitoring and the P I D control unit 14 to control the torque setting of the second servo driver 15 , and then the cruise control unit 16 controls the torque setting of the second servo driver 15 .
  • the cruise control unit 16 utilizes the vehicle speed signal from the main control unit 8 and the vehicle speed signal detected by the second speed/position sensor 17 by controlling the torque setting of the second servo driver 15.
  • the second motor performs speed closed-loop control to achieve vehicle speed cruise control. For example, when the speed of the vehicle changes according to the requirements of the cruise speed setting, or when the load conditions such as the road surface and wind speed of the vehicle change, there may be a deviation between the vehicle speed and the cruise setting speed.
  • the cruise control unit 1 6 eliminates this deviation based on the deviation and pre-stored control strategy (eg P I D control) to control the torque of the second motor system, thereby ensuring the accuracy of the cruise.
  • the energy consumed or recovered by the second motor system for cruise control is replenished or absorbed by the DC bus and the energy storage unit 13 in real time. This avoids the inaccurate adjustment of the lag and the speed of the vehicle during the adjustment of the slow lifting speed of the engine as in the conventional cruise control method, and realizes real-time and accurate speed control.
  • the main control unit 8 is also based on the DC bus and the energy storage unit.
  • the charging power demand signal sent and the driving power demand signal obtained according to the vehicle condition are controlled by the engine control unit 1 to control the operating point of the engine 2, thereby generally satisfying the energy demand of the cruise control.
  • the main control unit 8 causes the operating point of the engine 2 to slowly change along the optimum fuel economy curve. Even in the case of severe load changes, the main control unit 8 maintains a gentle change in engine operating conditions. As a result, emissions do not deteriorate due to sudden changes in the operating point.
  • the engine economy operation control unit 6 always controls the first servo drive 9 and thereby controls the first motor to apply a load to the engine 2 in accordance with the optimum economical operation.
  • the main control unit 8 also controls the start and stop of the engine 2 according to the power demand, the DC bus and the energy storage state of the energy storage unit 13 to obtain economical fuel efficiency.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Abstract

A cruising control device of a hybrid vehicle and the method thereof are provided. The hybrid vehicle comprises an engine, an engine control unit, an engine economic running control unit, a first motor and a second motor, a first servo driver and a second servo driver which control the first motor and the second motor respectively, an energy storage unit, a DC bus and a bus voltage-detecting and PID control unit. The cruising control device comprises a cruising control unit which can control the rotation speed or torque of the second motor by means of the second servo driver according to the vehicle speed required, to achieve a cruising control under the speed required. As the predetermined conditions or loads are sharply changed, the energy required or output by the second motor can be real-timely supplemented or absorbed by the energy unit via the DC bus to achieve a real-time cruising control.

Description

一种油电混合动力电动车的速度巡航控制装置和方法 技术领域  Speed cruise control device and method for hybrid electric vehicle
本发明涉及汽车速度控制领域的一种速度巡航控制装置， 具 体而言涉及一种采用双联电机的油电混合动力电动车的速度巡^ t 控制装置。 本发明还涉及该速度巡航控制装置的巡航控制方法。 技术背景  The present invention relates to a speed cruise control device in the field of vehicle speed control, and in particular to a speed patrol control device for a hybrid electric vehicle using a double motor. The invention also relates to a cruise control method for the speed cruise control device. technical background
为使得汽车具有较好的驾驶舒适性， 人们在汽车控制策略上 设置了巡航功能。 在高速公路上长时间行驶时， 打开该巡航控制 系统的自动操纵开关后， 巡航控制系统将根据行车阻力自动增减 节气门开度， 从而使汽车行驶速度保持一定。 这样可以避免驾驶 员频繁踩油门踏板， 同时保证汽车以预先设定的速度行驶。 汽车 自动在一定条件下恒速行驶， 大大地减轻了驾驶员的驾驶疲劳强 度。 由于巡航控制系统能自动地保持一定车速， 避免了不必要的 油门踏板的人为变动， 进而改善了汽车的燃油经济性和发动机的 排放性。  In order to make the car have better driving comfort, people set the cruise function in the car control strategy. When driving on the highway for a long time, after the automatic control switch of the cruise control system is turned on, the cruise control system will automatically increase or decrease the throttle opening according to the driving resistance, so that the driving speed of the vehicle is kept constant. This prevents the driver from frequently stepping on the accelerator pedal while keeping the car at a pre-set speed. The car automatically travels at a constant speed under certain conditions, greatly reducing the driver's driving fatigue. Since the cruise control system can automatically maintain a certain speed, unnecessary man-made changes in the accelerator pedal are avoided, thereby improving the fuel economy of the vehicle and the emission of the engine.
常规巡航控制系统由传感器、 操作开关、 执行器和巡航控制 ECU 等组成。 .传感器和开关将信号送入巡航控制 ECU , ECU根据这 些信号计算节气门应有的开度， 并给执行器发出信号， 自动调节 节气门开度。  The conventional cruise control system consists of sensors, operating switches, actuators, and cruise control ECUs. The sensors and switches feed the signals to the cruise control ECU, which calculates the opening of the throttle based on these signals and signals the actuator to automatically adjust the throttle opening.
传感器包括车速传感器、 节气门位置传感器、 节气门控制摇 臂传感器， 分别用于测量车速、 节气门位置、 节气门控制摇臂位 置。  The sensor includes a vehicle speed sensor, a throttle position sensor, and a throttle control rocker sensor for measuring the vehicle speed, the throttle position, and the throttle control rocker position.
操作开关主要由驾驶员进行操作， 用于设置巡航车速或将其 重新设置为另一车速， 以及取消巡航控制等。  The operation switch is mainly operated by the driver for setting the cruising speed or resetting it to another vehicle speed, and canceling the cruise control.
巡航控制 BCU 由处理器芯片、 A/D、 D/A 转换 I C 及输出重置 驱动和保护电路等模块组成。 ECU 接收来自各种传感器 （例如车 速传感器） 和各种开关的信号， 按照预先存储的程序进行处理。 当车速偏离设定的巡航车速时， 给执行器一个电信号， 控制执行 器的动作， 使实际车速与设定车速相一致。  The cruise control BCU consists of a processor chip, A/D, D/A conversion I C and output reset drive and protection circuits. The ECU receives signals from various sensors (such as the vehicle speed sensor) and various switches and processes them according to a pre-stored program. When the vehicle speed deviates from the set cruise speed, the actuator is given an electric signal to control the action of the actuator so that the actual vehicle speed is consistent with the set vehicle speed.
执行器将 ECU 输出的电流或电压信号转变为机械运动， 进而 控制节气门的开度， 最终达到控制车速的目的。 目前使用的执行 器有两种类型， 一中是真空驱动型， 另一种是电机驱动型。 前者 由负压操纵节气门， 后者由微电机操纵节气门。 The actuator converts the current or voltage signal output by the ECU into mechanical motion, and Control the opening of the throttle valve and finally achieve the purpose of controlling the speed of the vehicle. There are two types of actuators currently in use, one is vacuum driven and the other is motor driven. The former is operated by a negative pressure throttle, and the latter is operated by a micromotor.
现有的巡航控制方案采用机械执行机构通过改变节气门开度 调节发动机转速， 从而实现巡航功能， 由于机械执行机构的动作 延时和发动机响应的自然延时， 现有的巡航控制在应用中有很多 局限， 例如在路面状况较差、 风速变化较大、 设定巡航速度与实 际车速相差过大时， 巡航功能往往不能实现或者不能改善汽车燃 油经济性。  The existing cruise control scheme uses a mechanical actuator to adjust the engine speed by changing the throttle opening to achieve the cruise function. Due to the mechanical delay of the mechanical actuator and the natural delay of the engine response, the existing cruise control has applications in the application. There are many limitations. For example, when the road surface condition is poor, the wind speed changes greatly, and the set cruise speed is too different from the actual vehicle speed, the cruise function often cannot or cannot improve the fuel economy of the vehicle.
本发明描述的油电混合动力电动车的速度巡 t控制装置和方 法， 利用伺服电机快速响应的伺服特性， 很好地克服了传统方案 中响应速度慢、 定速精度低、 对燃油经济性改进有限的缺点， 并 且成本低廉， 便于推广。 发明内容  The speed patrol control device and method for the hybrid electric vehicle of the present invention utilizes the servo characteristics of the servo motor to quickly respond, and overcomes the slow response speed, low speed precision and improved fuel economy in the conventional scheme. Limited shortcomings, and low cost, easy to promote. Summary of the invention
本发明的目 的是设计一种油电混合动力电动车的速度巡航控 制装置， 在相应控制方法的控制下， 该装置有如下功能： ①能够 让汽车平稳运行在设定速度上， 即使在负载阻力变化剧烈时仍能 实现高精度速度巡航； ②即使在负载阻力变化剧烈时， 仍然保持 发动机运行状态平稳变化， 使发动机一直工作在最佳经济运行曲 线上， 实现更好的燃油经济性能； ③有更宽广的巡航速度调节范 围以及更快速的调节响应性； ④巡航调速平滑、 操作简单， 具有 很好的驾驶性能。  The object of the present invention is to design a speed cruise control device for a hybrid electric electric vehicle. Under the control of the corresponding control method, the device has the following functions: 1 enables the vehicle to run smoothly at the set speed even under load resistance High-precision speed cruising can still be achieved when the change is severe; 2 Even when the load resistance changes drastically, the engine running state is kept stable, so that the engine always works on the optimal economic running curve to achieve better fuel economy performance; A wider range of cruising speed adjustment and faster adjustment responsiveness; 4 smooth cruise control, simple operation, and good driving performance.
本发明设计的油电混合动力电动车的速度巡航控制装置包括 发动机、 发动机控制单元、 发动机经济运行控制单元、 第一电机 和第二电机、 分别控制第一电机和第二电机的第一伺服驱动器和 第二伺服驱动器、 储能单元、 直流母线、 以及母线电压检测及 P I D 控制单元。 该第一电机由第一、 第二两个转子构成， 其第一转子 与发动机输出轴直连， 第一转子上安装有用于建立电机磁场的永 磁磁极， 第一转子轴上安装有第一速度 /位置传感器； 该第一电 机的第二转子上安装有电机绕组， 绕组通过同轴安装的滑环与第 一伺服驱动器实现电气连接， 第二转子输出轴通过输出齿轮连接 到差速器； 该第二电机定子安装在固定的机座上， 其上为电枢绕 组， 第二电机的转子为本装置第三转子， 第三转子安装有用于建 立电机磁场的永磁磁极。 第三转子轴与第二转子同轴， 第三转子 轴上安装有第二速度 /位置传感器。 发动机经济运行控制单元控 制第一伺服驱动器和第一电机按最佳经济运行的要求对发动机施 加负载， 第一电机同时与第二电机一同向混合动力车提供驱动动 力。 直流母线将储能单元、 第一和第二伺服驱动器以及母线电压 检测及 P I D控制单元相连， 该母线电压检测及 P I D控制单元用于 控制第二电机输出轴力矩大小。 巡航控制装置还包括巡航控制单 元， 其中： The speed cruise control device of the hybrid electric vehicle designed by the present invention comprises an engine, an engine control unit, an engine economy operation control unit, a first motor and a second motor, and a first servo driver for controlling the first motor and the second motor, respectively. And a second servo drive, an energy storage unit, a DC bus, and a bus voltage detection and PID control unit. The first motor is composed of a first rotor and a second rotor. The first rotor is directly connected to the engine output shaft, and the first rotor is mounted with a permanent magnet magnetic pole for establishing a magnetic field of the motor, and the first rotor shaft is mounted with the first rotor. a speed/position sensor; a motor winding is mounted on the second rotor of the first motor, the winding is electrically connected to the first servo driver through a coaxially mounted slip ring, and the second rotor output shaft is connected through the output gear To the differential; the second motor stator is mounted on a fixed base, on which is an armature winding, the rotor of the second motor is a third rotor of the device, and the third rotor is mounted with a permanent magnetic pole for establishing a magnetic field of the motor . The third rotor shaft is coaxial with the second rotor, and a second speed/position sensor is mounted on the third rotor shaft. The engine economy operation control unit controls the first servo drive and the first motor to apply a load to the engine according to the requirement of optimal economic operation, and the first motor simultaneously supplies the driving power to the hybrid vehicle together with the second motor. The DC bus connects the energy storage unit, the first and second servo drivers, and the bus voltage detection and PID control unit, and the bus voltage detection and PID control unit is used to control the output torque of the second motor. The cruise control device also includes a cruise control unit, wherein:
当对车速进行巡航控制时， 巡航控制单元直接根据所需车速 通过第二伺服驱动器控制第二电机的转速或者转矩， 以实现所需 车速下的巡航控制； 并且  When cruise control is performed on the vehicle speed, the cruise control unit directly controls the speed or torque of the second motor through the second servo driver according to the required vehicle speed to achieve cruise control at the required vehicle speed;
当设定条件或负载情况急剧变化时， 第二电机所需的能量或 输出的能量实时地由储能单元通过直流母线补给或吸收， 以实现 巡航控制中实时的能量需求。  When the set condition or load condition changes abruptly, the energy required by the second motor or the output energy is replenished or absorbed by the energy storage unit through the DC bus in real time to achieve real-time energy demand in the cruise control.
该速度巡航控制装置还包括主控单元， 当选择巡航控制时， 主控单元根据储能单元的充电功率需求信号以及根据车况获得的 驱动动力需求信号通过发动机控制单元緩慢控制发动机的工作点 变化， 从而在较长时间段内满足巡航控制的能量需求。  The speed cruise control device further includes a main control unit. When the cruise control is selected, the main control unit slowly controls the operating point change of the engine through the engine control unit according to the charging power demand signal of the energy storage unit and the driving power demand signal obtained according to the vehicle condition. Thereby the energy requirements of the cruise control are met for a longer period of time.
即使在负载变化剧烈的情况下， 主控单元仍然保持发动机运 行状态平緩变化。  Even in the case of severe load changes, the main control unit maintains a gentle change in engine operating conditions.
该速度巡航控制装置还包括主控单元， 主控单元根据外部操 作决定是否进行巡航控制； 当进行巡航控制时， 主控单元根据外 部巡航控制指令向巡航控制单元发送车速设定， 同时中止由母线 电压监测及 P I D 控制单元控制第二伺服驱动器的转矩设定， 而由 巡航控制单元控制第二伺服驱动器的转矩设定。  The speed cruise control device further includes a main control unit, and the main control unit determines whether to perform cruise control according to an external operation; when performing cruise control, the main control unit sends a vehicle speed setting to the cruise control unit according to the external cruise control command, and the busbar is suspended at the same time. The voltage monitoring and PID control unit controls the torque setting of the second servo drive, and the cruise control unit controls the torque setting of the second servo drive.
当取消巡航控制时， 主控单元根据外部取消巡航控制指令中 止巡航控制单元的运行， 而由母线电压监测及 P I D 控制单元控制 第二伺服驱动器的转矩设定。  When the cruise control is canceled, the main control unit suspends the operation of the cruise control unit according to the external cancel cruise control command, and the bus voltage monitoring and the P I D control unit control the torque setting of the second servo drive.
上述第一电机也可采用如下结构： 第一转子上安装有电机绕 组， 绕组通过同轴安装的滑环与第一伺服驱动器实现电气连接， 第一转子轴上安装有第一速度 /位置传感器； 第一电机的第二转 子上安装有用于建立电机磁场的永磁磁极。 The first motor may also adopt the following structure: a motor winding is mounted on the first rotor, and the winding is electrically connected to the first servo driver through a coaxially mounted slip ring. A first speed/position sensor is mounted on the first rotor shaft; a permanent magnet pole for establishing a magnetic field of the motor is mounted on the second rotor of the first motor.
第一伺服驱动器接收来自发动机经济运行主控单元的力矩设 定信号以及来自第一、 第二速度 /位置传感器检测的第一电机的 第一、 第二转子相对位置信号， 继而以力矩伺服的方式控制第一 电机电枢绕组的电流矢量， 实现对第一转子的扭矩施加并通过第 一转子对发动机施加负载扭矩； 第二伺服驱动器接受从主控单元 传递过来的扭矩设定信号， 根据来自第二速度 /位置传感器检测 的第二电机的第三转子位置信号， 驱动第二电机的第三转子对外 输出扭矩。  The first servo driver receives a torque setting signal from the engine economy running main control unit and first and second rotor relative position signals from the first motor detected by the first and second speed/position sensors, and then in a torque servo manner Controlling a current vector of the first motor armature winding to implement torque application to the first rotor and applying load torque to the engine through the first rotor; the second servo drive receives a torque setting signal transmitted from the main control unit, according to The third rotor position signal of the second motor detected by the second speed/position sensor drives the third rotor of the second motor to output torque to the outside.
发动机经济运行主控单元内的计算机单元存有发动机的最佳 经济运行曲线， 它根据第一速度 /位置传感器送来的发动机转速 信号决定送入第一伺服驱动器的力矩设定值。  The computer unit in the engine economic operation main control unit stores the optimal economic running curve of the engine, and determines the torque setting value sent to the first servo driver based on the engine speed signal sent from the first speed/position sensor.
直流母线及储能单元与第一、 第二伺服驱动器以及母线电压 监测及 P I D 控制单元连接， 主要用来存储多余的电能或在必要时 向母线输送存储的电能。  The DC bus and energy storage unit are connected to the first and second servo drives and the bus voltage monitoring and P I D control unit, and are mainly used for storing excess electric energy or transferring stored electric energy to the bus when necessary.
母线电压监测及 P I D 控制单元根据母线电压的监测结果决定 非巡航状态下第二伺服驱动器力矩设定值的大小， 并通过主控单 元传递到第二伺服驱动器， 继而控制第二电机输出力矩。  The bus voltage monitoring and P I D control unit determines the magnitude of the second servo drive torque setting value in the non-cruising state according to the monitoring result of the bus voltage, and transmits the torque to the second servo driver through the main control unit, and then controls the second motor output torque.
巡航控制单元根据来自主控单元的车速设定信号和第二速度 / 位置传感器检测的车速信号决定第二伺服驱动器的力矩设定值的 大小， 并通过主控单元传递到第二伺服驱动器， 继而控制第二电 机输出力矩， 实现车速闭环控制即巡航控制。  The cruise control unit determines the magnitude of the torque setting value of the second servo driver according to the vehicle speed setting signal from the main control unit and the vehicle speed signal detected by the second speed/position sensor, and transmits the torque setting value to the second servo driver through the main control unit, and then Control the output torque of the second motor to realize the closed-loop control of the vehicle speed, that is, the cruise control.
发动机控制单元接受来自主控单元的控制信号， 控制发动机 转动， 从而满足整车运行、 发电储能等能量需求。  The engine control unit receives control signals from the main control unit to control engine rotation to meet energy requirements such as vehicle operation, power generation and energy storage.
主控单元根据驾驶者的操作， 对整车的个环节进行控制， 在 本发明中具体而言接受巡航控制指令， 向巡航控制单元发送车速 设定， 接受来自巡航控制单元和母线电压监测及 P I D 控制单元分 别送来的第二伺服驱动器力矩设定信号， 选择巡航控制或非巡航 控制。 同时， 主控单元还根据储能单元送来的充电功率需求信号 以及根据车况获得的驱动动力需求信号通过发动机控制单元控制 发动机的工作点。 008000056 The main control unit controls the entire vehicle according to the driver's operation. In the present invention, the cruise control command is specifically accepted, the vehicle speed setting is sent to the cruise control unit, and the cruise control unit and the bus voltage monitoring and PID are accepted. The second servo driver torque setting signal sent by the control unit respectively selects cruise control or non-cruise control. At the same time, the main control unit controls the operating point of the engine through the engine control unit according to the charging power demand signal sent by the energy storage unit and the driving power demand signal obtained according to the vehicle condition. 008000056
附图说明 DRAWINGS
图 1 为根据本发明的油电混合电动车的速度巡航控制装置实 施例结构示意图。  BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a block diagram showing the construction of a speed cruise control apparatus for a hybrid electric vehicle according to the present invention.
图中标号列表：  List of labels in the figure:
1、 发动机控制单元，  1. Engine control unit,
2、 发动机，  2, the engine,
3、 第一速度 /位置传感器，  3, the first speed / position sensor,
4、 第二转子，  4, the second rotor,
5、 第一转子，  5, the first rotor,
6、 发动机经济运行控制单元，  6. Engine economic operation control unit,
7、 集电环，  7, collector ring,
8、 主控单元，  8, the main control unit,
9、 第一伺服驱动器，  9, the first servo drive,
10、 输出齿轮系，  10. Output gear train,
11、 定子，  11, the stator,
12、 第三转子，  12, the third rotor,
13、 直流母线及储能单元，  13. DC bus and energy storage unit,
14、 母线电压监测及 PID控制单元，  14. Bus voltage monitoring and PID control unit,
15、 第二伺服驱动器，  15, the second servo drive,
16、 巡航控制单元，  16, cruise control unit,
17、 第二速度 /位置传感器， 和  17. Second speed/position sensor, and
18、 差速器。 具体实施方式  18, differential. detailed description
根据本发明的油电混合动力电动车的速度巡航控制装置实施 例结构示意图如图 1 所示。 在该混合动力电动车中， 发动机 2 受 发动机控制单元 1 控制。 第一电机可以为双转子永磁同步电机， 其第一转子 5 安装在发动机 2 的输出轴上， 其第二转子 4 安装在 输出轴上从而通过输出齿轮系 1Q 连接到差速器 18。 第二转子上 的电枢绕组通过同轴安装的集电环 7 与第一伺服驱动器 9 连接。 第二电机可以为永磁同步电机， 其转子为本发明中的第三转子 12, 第三转子 12 与第二转子 4 同轴安装， 第二电机的定子 11 安 装于固定的机壳上。 在发动机 2 的输出轴上安装有第一速度 /位 置传感器 3, 用以测量发动机转速与第一转子位置。 在第二转子 4 和第三转子 12 共同的轴上， 安装有第二速度 /位置传感器 17， 用以测量输出轴转速 （ 因为速比固定， 从此速度可荻得车速） 以 及第二转子 4和第三转子 12的位置。 A schematic structural view of an embodiment of a speed cruise control device for a hybrid electric vehicle according to the present invention is shown in FIG. In the hybrid electric vehicle, the engine 2 is controlled by the engine control unit 1. The first motor may be a two-rotor permanent magnet synchronous motor having a first rotor 5 mounted on the output shaft of the engine 2 and a second rotor 4 mounted on the output shaft for connection to the differential 18 via the output gear train 1Q. The armature winding on the second rotor is connected to the first servo drive 9 via a coaxially mounted slip ring 7. The second motor may be a permanent magnet synchronous motor, and the rotor thereof is the third rotor of the present invention 12. The third rotor 12 is mounted coaxially with the second rotor 4, and the stator 11 of the second motor is mounted on a fixed casing. A first speed/position sensor 3 is mounted on the output shaft of the engine 2 for measuring the engine speed and the first rotor position. On the common shaft of the second rotor 4 and the third rotor 12, a second speed/position sensor 17 is mounted for measuring the output shaft speed (since the speed ratio is fixed, from which the speed can be obtained) and the second rotor 4 and The position of the third rotor 12.
本装置还包括第一伺服驱动器 9 和第二伺服驱动器 15, 它们 接受来自发动机经济运行控制单元 6 的力矩设定信号， 以分别控 制第一、 第二电机的力矩； 以及接受来自主控单元 8的控制信号， 以控制第一、 第二电机系统的运行与否。  The apparatus further includes a first servo driver 9 and a second servo driver 15, which receive torque setting signals from the engine economy operation control unit 6 to respectively control the torques of the first and second motors; and receive from the main control unit 8 The control signal controls the operation of the first and second motor systems.
本装置还包括母线电压监测及 PID控制单元 14, 它通过直流 母线与第一伺服驱动器 9、 第二伺服驱动器 15、 直流母线及储能 单元 13连接。 母线电压监测及 P ID控制单元 14 向主控单元 8发 送非巡航状态下第二电机系统的力矩设定值， 并接受主控单元 8 的控制。 直流母线及储能单元 13 除了在内部蓄电池管理系统认 为必要的情况下从直流母线取用电能向蓄电池储能外， 还可根据 直流母线电压情况必要时从内部蓄电池取用能量输送到直流母线 上， 并且根据内部蓄电池管理系统状态向主控单元 8 提出充电功 率需求， 从而可以通过主控单元 8改变发动机 2的运行工作点。  The apparatus further includes a bus voltage monitoring and PID control unit 14, which is connected to the first servo driver 9, the second servo driver 15, the DC bus, and the energy storage unit 13 via a DC bus. The bus voltage monitoring and P ID control unit 14 sends the torque setting value of the second motor system in the non-cruising state to the main control unit 8, and is controlled by the main control unit 8. The DC bus and the energy storage unit 13 can be used to store energy from the DC bus in addition to the internal battery management system, and can also be used to transfer energy from the internal battery to the DC bus according to the DC bus voltage. And, the charging power demand is presented to the main control unit 8 according to the state of the internal battery management system, so that the operating point of the engine 2 can be changed by the main control unit 8.
本装置还包括巡航控制单元 16, 其接收第二速度 /位置传感 器 17 送来的车速信号以及主控单元 8 送来的车速设定信号， 进 行 PID运算， 并向主控单元 8 送出第二电机系统的力矩设定， 经 主控单元 8、 第二伺服驱动器 15、 第二电机实现车速的闭环控制 即巡航控制。  The device further includes a cruise control unit 16 that receives the vehicle speed signal sent by the second speed/position sensor 17 and the vehicle speed setting signal sent from the main control unit 8, performs PID calculation, and sends the second motor to the main control unit 8. The torque setting of the system realizes the closed-loop control of the vehicle speed, that is, the cruise control, by the main control unit 8, the second servo driver 15, and the second motor.
才 据本发明的油电混合动力电动车的速度巡航控制装置可以 通过以下示例性控制方法进行控制。  The speed cruise control device of the hybrid electric vehicle according to the present invention can be controlled by the following exemplary control method.
当驾驶员未选择巡航或者巡航被取消时， 主控单元 8 综合驾 驶员踩压加速踏板的信号以及直流母线及储能单元 13 送来的充 电功率需求信号， 通过发动机控制单元 1 控制发动机 2 运行， 并 且利用母线电压监测及 PID 控制单元 14 通过母线电压的变化来 控制第二伺服驱动器 15 的力矩设定， 以满足动力需求与供给的 总体平衡。 同时主控单元 8 根据加速踏板的角度变化对输出到第 二伺服驱动器 1 5 的力矩设定信号大小进行实时修正以满足加速 动力特性的需求。 When the driver does not select cruise or the cruise is cancelled, the main control unit 8 synthesizes the signal of the driver pressing the accelerator pedal and the charging power demand signal sent by the DC bus and the energy storage unit 13, and controls the operation of the engine 2 through the engine control unit 1. And using the bus voltage monitoring and PID control unit 14 to control the torque setting of the second servo driver 15 by the change of the bus voltage to meet the overall balance of power demand and supply. At the same time, the main control unit 8 outputs the output to the first according to the angle of the accelerator pedal. The torque setting signal size of the two servo drives 1 5 is corrected in real time to meet the requirements of the acceleration dynamic characteristics.
当驾驶员操作例如巡航控制开关而选择巡航控制时， 主控单 元 8 接受外部巡航控制指令， 并根据此巡航控制指令向巡航控制 单元 1 6 发送相应的车速设定。 同时主控单元 8 切断由母线电压 监测及 P I D控制单元 1 4控制第二伺服驱动器 1 5 的力矩设定的通 道， 转而由巡航控制单元 1 6控制第二伺服驱动器 1 5的力矩设定。  When the driver operates, for example, the cruise control switch to select the cruise control, the main control unit 8 accepts the external cruise control command and transmits the corresponding vehicle speed setting to the cruise control unit 16 in accordance with the cruise control command. At the same time, the main control unit 8 cuts off the channel set by the bus voltage monitoring and the P I D control unit 14 to control the torque setting of the second servo driver 15 , and then the cruise control unit 16 controls the torque setting of the second servo driver 15 .
在此情况下， 巡航控制单元 1 6根据来自主控单元 8的车速设 定信号和第二速度 /位置传感器 1 7 检测到的车速信号， 通过控制 第二伺服驱动器 1 5 的力矩设定而利用第二电机进行速度闭环控 制， 即可实现车速巡航控制。 例如， 当车速根据巡航速度设定的 要求进行改变， 或者车辆所行驶的路面、 风速等负载情况变化时， 车速与巡航设定车速之间可能产生偏差。 巡航控制单元 1 6 根据 该偏差和预存的控制策略 （如 P I D 控制） 控制第二电机系统的力 矩来消除此偏差， 由此保证巡航的精度。 当负载情况急速变化时， 第二电机系统为进行巡航控制而消耗或回收的能量实时地由直流 母线及储能单元 1 3 补给或吸收。 这样就避免了传统巡航控制方 法那样通过发动机緩慢的升降速度进行调节的过程中产生的滞 后、 车速的不精确调节， 并实现了实时、 精确的速度控制。  In this case, the cruise control unit 16 utilizes the vehicle speed signal from the main control unit 8 and the vehicle speed signal detected by the second speed/position sensor 17 by controlling the torque setting of the second servo driver 15. The second motor performs speed closed-loop control to achieve vehicle speed cruise control. For example, when the speed of the vehicle changes according to the requirements of the cruise speed setting, or when the load conditions such as the road surface and wind speed of the vehicle change, there may be a deviation between the vehicle speed and the cruise setting speed. The cruise control unit 1 6 eliminates this deviation based on the deviation and pre-stored control strategy (eg P I D control) to control the torque of the second motor system, thereby ensuring the accuracy of the cruise. When the load condition changes rapidly, the energy consumed or recovered by the second motor system for cruise control is replenished or absorbed by the DC bus and the energy storage unit 13 in real time. This avoids the inaccurate adjustment of the lag and the speed of the vehicle during the adjustment of the slow lifting speed of the engine as in the conventional cruise control method, and realizes real-time and accurate speed control.
当选择巡航控制时， 主控单元 8 还根据直流母线及储能单元 When the cruise control is selected, the main control unit 8 is also based on the DC bus and the energy storage unit.
1 3 送来的充电功率需求信号以及根据车况获得的驱动动力需求信 号， 通过发动机控制单元 1 控制发动机 2 的工作点， 从而在总体 上满足巡航控制的能量需求。 通常， 如果需要发动机 2 的工作点 变化， 主控单元 8 使得发动机 2 的工作点沿着最佳燃油经济性曲 线緩慢变化。 即使在负载变化剧烈的情况下， 主控单元 8 仍然保 持发动机运行状态平缓变化。 从而使得排放不会因工作点突然变 化而恶化。 1 3 The charging power demand signal sent and the driving power demand signal obtained according to the vehicle condition are controlled by the engine control unit 1 to control the operating point of the engine 2, thereby generally satisfying the energy demand of the cruise control. Typically, if a change in the operating point of the engine 2 is required, the main control unit 8 causes the operating point of the engine 2 to slowly change along the optimum fuel economy curve. Even in the case of severe load changes, the main control unit 8 maintains a gentle change in engine operating conditions. As a result, emissions do not deteriorate due to sudden changes in the operating point.
无论是否选择巡航运行， 发动机经济运行控制单元 6 始终控 制第一伺服驱动器 9 并由此控制第一电机按最佳经济运行的要求 对发动机 2 施加负载。 主控单元 8 还根据功率需求的大小、 直流 母线及储能单元 1 3 的电能存储状态等控制发动机 2 的启停， 以 获得经济的燃油效率。  Regardless of whether cruise operation is selected or not, the engine economy operation control unit 6 always controls the first servo drive 9 and thereby controls the first motor to apply a load to the engine 2 in accordance with the optimum economical operation. The main control unit 8 also controls the start and stop of the engine 2 according to the power demand, the DC bus and the energy storage state of the energy storage unit 13 to obtain economical fuel efficiency.

Claims

权 利 要 求 Rights request
1. 一种混合动力车的速度巡航控制装置， 该混合动力车包括 发动机、 发动机控制单元、 发动机经济运行控制单元、 第一电机 和第二电机、 分别控制第一电机和第二电机的第一伺服驱动器和 第二伺服驱动器、 储能单元、 直流母线、 以及母线电压检测及 P I D 控制单元， 该第一电机与发动机输出轴直连， 该发动机经济运行 控制单元控制第一伺服驱动器和第一电机按最佳经济运行的要求 对发动机施加负载， 第一电,机同时还与第二电机一同向混合动力 车提供驱动动力， 该直流母线将储能单元、 第一和第二伺服驱动 器以及母线电压检测及 P I D控制单元相连， 该母线电压检测及 P I D 控制单元用于控制电机输出轴力矩大小， 该巡航控制装置包括巡 航控制单元， 其中： A speed cruise control device for a hybrid vehicle, the hybrid vehicle comprising an engine, an engine control unit, an engine economy operation control unit, a first motor and a second motor, and a first control of the first motor and the second motor, respectively a servo driver and a second servo driver, an energy storage unit, a DC bus, and a bus voltage detection and PID control unit, the first motor is directly connected to the engine output shaft, and the engine economic operation control unit controls the first servo driver and the first motor The load is applied to the engine according to the requirements of the best economic operation. The first electric machine also provides driving power to the hybrid vehicle together with the second electric motor, the DC bus will store the energy storage unit, the first and second servo drives, and the bus voltage. The detection and PID control unit is connected, the bus voltage detection and PID control unit is used for controlling the output shaft torque of the motor, and the cruise control device comprises a cruise control unit, wherein:
当对车速进行巡航控制时， 巡航控制单元直接根据所需车速 通过第二伺服驱动器控制第二电机的转速或者转矩， 以实现所需 车速下的巡航控制； 并且  When cruise control is performed on the vehicle speed, the cruise control unit directly controls the speed or torque of the second motor through the second servo driver according to the required vehicle speed to achieve cruise control at the required vehicle speed;
当设定条件或负载情况急剧变化时， 第二电机所需或输出的 能量实时地由储能单元通过直流母线补给或吸收， 以满足巡航控 制的实时能量需求。  When the set condition or load condition changes abruptly, the energy required or output by the second motor is replenished or absorbed by the energy storage unit through the DC bus in real time to meet the real-time energy demand of the cruise control.
2. 根据权利要求 1所述的速度巡航控制装置， 其特征在于： 该速度巡航控制装置还包括主控单元， 当选择巡航控制时， 主控单元根据储能单元的充电功率需求信号以及根据车况获得的 驱动动力需求信号通过发动机控制单元控制发动机的工作点緩慢 变化， 从而在较长时间段内满足巡航控制的能量需求。  2. The speed cruise control device according to claim 1, wherein: the speed cruise control device further comprises a main control unit, and when the cruise control is selected, the main control unit is based on the charging power demand signal of the energy storage unit and according to the vehicle condition. The obtained driving power demand signal controls the operating point of the engine to slowly change through the engine control unit, thereby meeting the energy demand of the cruise control for a long period of time.
3. 根据权利要求 2所述的速度巡航控制装置， 其特征在于： 即使在负载变化剧烈的情况下， 主控单元仍然保持发动机运 行状态平緩变化。  3. The speed cruise control apparatus according to claim 2, wherein the main control unit maintains a gentle change in the engine operating state even in the case where the load changes drastically.
4. 根据权利要求 1所述的速度巡航控制装置， 其特征在于： 该速度巡航控制装置还包括主控单元， 主控单元根据外部操 作决定是否进行巡航控制； 当进行巡航控制时， 主控单元根据外 部巡航控制指令向巡航控制单元发送车速设定， 同时中止由母线 电压监测及 P I D 控制单元控制第二伺服驱动器的转矩设定， 而由 巡航控制单元控制第二伺服驱动器的转矩设定。 4. The speed cruise control device according to claim 1, wherein: the speed cruise control device further comprises a main control unit, and the main control unit determines whether to perform cruise control according to an external operation; when the cruise control is performed, the main control unit Transmitting the vehicle speed setting to the cruise control unit according to the external cruise control command, and simultaneously stopping the bus voltage monitoring and the PID control unit controlling the torque setting of the second servo driver, The cruise control unit controls the torque setting of the second servo drive.
5. 根据权利要求 4所述的速度巡航控制装置， 其特征在于： 当取消巡航控制时， 主控单元根据外部取消巡航控制指令中 止巡航控制单元的运行， 而由母线电压监测及 P I D 控制单元控制 5 第二祠服驱动器的转矩设定。  5. The speed cruise control apparatus according to claim 4, wherein: when the cruise control is canceled, the main control unit suspends the operation of the cruise control unit according to the external cancel cruise control command, and is controlled by the bus voltage monitoring and the PID control unit. 5 The torque setting of the second servo drive.
6. 一种混合动力车的速度巡航控制方法， 该混合动力车包括 ； 发动机、 发动机控制单元、 发动机经济运行控制单元、 第一电机 和第二电机、 分别控制第一电机和第二电机的第一伺服驱动器和 第二伺服驱动器、 储能单元、 直流母线、 以及母线电压检测及 P I D 0 控制单元， 该第一电机与发动机输出轴直连， 该发动机经济运行 控制单元控制第一伺服驱动器和第一电机按最佳经济运行的要求 对发动机施加负载， 第一电机同时还与第二电机一同向混合动力 车提供驱动动力， 该直流母线将储能单元、 第一和第二伺服驱动 器以及母线电压检测及 P I D控制单元相连， 该母线电压 ^测及 P I D 5 控制单元用于控制电机输出轴力矩大小， 该巡航控制方法包括： 当对车速进行巡航控制时， 直接根据所需车速通过第二伺服 驱动器控制第二电机的转速或者转矩， 以实现所需车速下的巡航 控制； 并且  6. A speed cruise control method for a hybrid vehicle, the hybrid vehicle comprising: an engine, an engine control unit, an engine economy operation control unit, a first motor and a second motor, and a first motor and a second motor respectively a servo driver and a second servo driver, an energy storage unit, a DC bus, and a bus voltage detection and PID 0 control unit, the first motor is directly connected to the engine output shaft, and the engine economic operation control unit controls the first servo driver and the first A motor applies a load to the engine according to the requirements of optimal economic operation, and the first motor simultaneously supplies driving power to the hybrid vehicle together with the second motor, the DC bus will store the energy storage unit, the first and second servo drives, and the bus voltage The detection and PID control unit are connected, the bus voltage measurement and the PID 5 control unit are used for controlling the output shaft torque of the motor. The cruise control method includes: when the cruise control is performed on the vehicle speed, directly passing the second servo drive according to the required vehicle speed. Control the speed or torque of the second motor To achieve cruise control at the required speed; and
当设定条件或负载情况急剧变化时， 使储能单元通过直流母0 线实时地补给或吸收第二电机所需或输出的能量， 以满足巡航控 制的实时能量需求。  When the set conditions or load conditions change drastically, the energy storage unit can replenish or absorb the energy required or output by the second motor in real time through the DC bus 0 line to meet the real-time energy demand of the cruise control.
7. 根据权利要求 6所述的速度巡航控制方法， 特征在于： 当选择巡航控制时， 根据储能单元的充电功率需求信号以及 根椐车况荻得的驱动动力需求信号通过发动机控制单元缓慢控制 5 发动机的工作点变化， 从而在较长时间段内满足巡航控制的能量 需求。  7. The speed cruise control method according to claim 6, wherein: when the cruise control is selected, the driving power demand signal according to the charging power demand signal of the energy storage unit and the driving power demand signal obtained by the vehicle state is slowly controlled by the engine control unit. The operating point of the engine changes to meet the energy requirements of the cruise control over a longer period of time.
8. 根据权利要求 7所述的速度巡航控制方法， 其特征在于： 即使在负载变化剧烈的情况下， 仍然保持发动机运行状态平 緩变化。 8. The speed cruise control method according to claim 7, wherein the engine operating state is maintained evenly changed even when the load changes drastically.
0 9. 根据权利要求 6所述的速度巡航控制方法， 其特征在于： 根据外部操作决定是否进行巡航控制； The speed cruise control method according to claim 6, wherein: determining whether to perform cruise control according to an external operation;
■； 当进行巡航控制时， 根据外部巡航控制指令向巡航控制单元 发送车速设定， 同时中止由母线电压监测及 PID 控制单元控制第 二伺服驱动器的转矩设定， 而由巡航控制单元控制第二伺服驱动 器的转矩设定。 ■; When performing cruise control, according to the external cruise control command to the cruise control unit The vehicle speed setting is sent, and the torque setting of the second servo driver is controlled by the bus voltage monitoring and the PID control unit, and the torque setting of the second servo driver is controlled by the cruise control unit.
10. 根据权利要求 9所迷的速度巡航控制方法， 其特征在于： 当取消巡航控制时， 根据外部取消巡航控制指令中止巡航控 制单元的运行， 而由母线电压监测及 PID 控制单元控制第二伺服 驱动器的转矩设定。  10. The speed cruise control method according to claim 9, wherein: when the cruise control is canceled, the operation of the cruise control unit is suspended according to the external cancel cruise control command, and the second servo is controlled by the bus voltage monitoring and the PID control unit. Drive torque setting.
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