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CN108454615B - A kind of planet parallel-serial hybrid power driver demand torque estimation method - Google Patents

A kind of planet parallel-serial hybrid power driver demand torque estimation method Download PDF

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Publication number
CN108454615B
CN108454615B CN201810269234.4A CN201810269234A CN108454615B CN 108454615 B CN108454615 B CN 108454615B CN 201810269234 A CN201810269234 A CN 201810269234A CN 108454615 B CN108454615 B CN 108454615B
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torque
speed
crawling
brk
max
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CN108454615A (en
Inventor
曾小华
崔皓勇
宋大凤
杨南南
刘通
孙可华
王振伟
黄海瑞
崔臣
雷宗坤
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Jilin University
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Jilin University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • 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
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/24—Energy storage means
    • B60W2510/242—Energy storage means for electrical energy
    • B60W2510/244—Charge state
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/16—Ratio selector position
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Hybrid Electric Vehicles (AREA)

Abstract

The invention discloses a kind of planet parallel-serial hybrid power driver demand torque estimation methods, this method comprehensively considers three kinds of driving, braking, crawling different driving status of planet parallel-serial hybrid power automobile, and corresponding driving demand torque, the torque of crawling demand, braking requirement torque are uniformly attributed to operator demand's torque.By speed signal table look-up dynamical system driving, braking, crawling external characteristics torque, with reference to bar position, respectively obtain dynamical system driving, crawling, braking moment, according to driver pedal signal, bar position, Vehicular status signal, and consider the interaction between three kinds of torques, synthesis is modified to above-mentioned three kinds of torques, limits and is filtered by slope, finally obtain operator demand's torque.It lays the foundation for the model selection of subsequent planet parallel-serial hybrid power automobile and power source torque distribution, further improves the dynamic property and economy of planet mixed connection vehicle, promote the driving experience of driver.

Description

A kind of planet parallel-serial hybrid power driver demand torque estimation method
Technical field
The present invention relates to Development of HEV Technology field, in particular to a kind of planet parallel-serial hybrid power driver Demand torque estimation method.
Background technique
With contradictory aggravation between the growing and Global Oil resource increasingly scarcity of energy demand, energy saving and new energy The emphasis that source automobile becomes major Automobile Enterprises and national governments pay close attention to.As the Typical Representative of energy conservation and new-energy automobile, row Star parallel-serial hybrid power automobile is led due to its good dynamic property and economic sex expression in passenger car, commercial vehicle, engineering machinery etc. Domain has been more and more widely used.Compared to serial configured or the hybrid vehicle of parallel architecture, planet mixed connection mixing is dynamic Power automobile includes engine, three generator, motor power sources, passes through single row or multiple rows planetary gear machine between each power source Structure is coupled, and structure is complicated, and control difficulty is big.Operator demand's torque estimation it is accurate whether will be to hybrid power vapour The dynamic property, economy of vehicle especially planet parallel-serial hybrid power automobile have a direct impact.
In actual vehicle normal driving process, it will it works alternatively under three kinds of driving, braking, crawling different conditions, it is right It should be driving torque, braking moment, crawling torque respectively in three kinds of driver different demand torques.In the prior art, it mixes The estimation majority of power vehicle operator demand's torque is individually carried out for driving torque, braking moment or crawling torque, few Part is estimated for the synthesis torque of three kinds of torque combination of two, and three does not unite and comprehensively considers, and Driver's real demand torque in non-critical meaning.Such as Chinese issued patents CN106828483A, date of publication 2017- 06-13, discloses a kind of planet Series-Parallel HEV operator demand torque calculation method, and this method is mixed to planet dynamic The driving torque total at full capacity of system and driver drive demand torque to calculate, but do not consider that braking moment and crawling turn Square；For another example Chinese issued patents CN106427989A, date of publication 2017-02-22 are disclosed a kind of for plug-in mixing The Mode integrating of power vehicle optimizes energy hole implementation method, and this method has comprehensively considered driving relevant to driver's operation Demand torque and braking requirement torque, but do not count and operate unrelated crawling demand torque with driver；For another example China announces special Benefit CN106627253A, date of publication 2017-05-10, disclose a kind of automobile crawling control method and system, this method are comprehensive The coordinated control considered between braking requirement torque and crawling demand torque is closed, but does not account for driver and demand is driven to turn Square.To sum up, at this stage hybrid vehicle driver demand torque calculation method to the estimation of driver's real demand torque and Calculate not comprehensively, while also not in view of hybrid vehicle three kinds of different working conditions of driving, braking, crawling between and Influencing each other between corresponding three kinds different operator demand's torques.
Deficiency in view of the above technology, the present invention propose that a kind of planet parallel-serial hybrid power driver demand torque is estimated Meter method comprehensively considers planet parallel-serial hybrid power Automobile drive, braking, the influence between three kinds of different working conditions of crawling, It drives demand torque, braking requirement torque, crawling demand torque to synthesize corresponding driver, obtains real-time driver Real demand torque lays the foundation for the model selection of subsequent planet parallel-serial hybrid power automobile and power source torque distribution, The dynamic property and economy for further improving planet mixed connection vehicle, promote the driving experience of driver.
Summary of the invention
To solve the shortcomings of the prior art, the present invention provides a kind of planet parallel-serial hybrid power drivers to need Torque estimation method is sought, before integrated vehicle control tactics select specific works mode, drives demand torque, crawling to need driver It asks torque, braking requirement torque to be synthesized, is uniformly attributed to real-time operator demand's torque.According to speed, accelerator pedal Aperture, brake pedal aperture, bar position, battery or super capacitor state-of-charge SOC etc., in the way of tabling look-up, are asked respectively Demand torque, the torque of crawling demand, braking requirement torque are driven out, while considering bar position, brake troubles state, braking The factors such as electricity condition, are modified and synthesize to three of the above torque above and below anti-lock braking system ABS working condition, vehicle high-voltage, Finally acquire really and accurately operator demand's torque.
To achieve the above object, a kind of planet parallel-serial hybrid power driver's demand according to an embodiment of the present invention turns Moment estimation method, comprising the following steps:
Step 1, the torque of driving demand is solved；According to the difference of vehicle gear, drives demand torque to be divided into forward drive and turn Square and retreat two kinds of driving torque, speed is positive when definition is advanced, and speed is negative when retrogressing, is distinguished by the absolute value of current vehicle speed Table look-up speed-dynamical system forward drive torque external characteristic curve V-TDrv_Fwd_ExtAnd speed-dynamical system retreats driving torque External characteristic curve V-TDrv_Rvs_Ext, obtain the maximum forward drive torque that dynamical system under current vehicle speed absolute value can be output TDrv_Fwd_MaxDriving torque T is retreated with maximumDrv_Rvs_Max；
Accelerator pedal aperture coefficient k is obtained according to driver's accelerator opening angle signalpos_acc；To cope with vehicle travel process The improper driving situation of middle driver while bend the throttle and brake pedal, driving demand torque calculation introduce in the process Brake pedal related coefficient krel_brk；Whether when brake pedal fails, driving demand torque should be 0, failed according to brake pedal Obtain brake pedal coefficient of efficiency kval_brk；Effectively it is by accelerator pedal aperture coefficient, brake pedal related coefficient and brake pedal Number is multiplied, and obtains driving driver pedal coefficient of performance kdrv_ped, as shown in formula (1)；
kdrv_ped=kpos_acc·krel_brk·kval_brk (1)
According to bar position, when it is forward gear that gear, which is in D gear, maximum forward drive torque T is selectedDrv_Fwd_MaxAs Maximum driving torque TDrv_Max, when it is reverse drive gear that gear, which is in R gear, select maximum retrogressing driving torque TDrv_Rvs_MaxAs most Big driving torque TDrv_Max；When gear is in P gear or N is kept off, maximum driving torque TDrv_MaxIt is 0；Maximum driving torque TDrv_Max With driving driver pedal coefficient of performance kdrv_pedIt is multiplied, obtains driving demand under current vehicle speed, bar and pedal operation state Torque TDrv, as shown in formula (2)；
TDrv=TDrv_Max·kdrv_ped (2)
Step 2, the torque of crawling demand is solved；Defining driver's accelerator opening angle signal is 0, and when speed is smaller, vehicle Be in crawling state, according to the difference of vehicle gear, crawling demand torque be divided into advance crawling torque and retreat crawling torque It two kinds, is tabled look-up respectively speed-dynamical system advance crawling torque external characteristic curve V-T by the absolute value of current vehicle speedCrp_Fwd_Ext, Crawling torque external characteristic curve V-T is retreated with speed-dynamical systemCrp_Rvs_Ext, obtain dynamical system institute under current vehicle speed absolute value The maximum advance crawling torque T that can be exportedCrp_Fwd_MaxCrawling torque T is retreated with maximumCrp_Rvs_Max；
Introduce brake pedal switch coefficient kswi_brk, under crawling state when driver's brake pedal, crawling demand turns Square should be 0；Introduce brake pedal coefficient of efficiency kval_brk, when brake pedal fails, the torque of crawling demand should be set to 0；Braking is stepped on Switching plate coefficient kswi_brkAnd brake pedal coefficient of efficiency kval_brkIt is multiplied, obtains crawling driver pedal coefficient of performance kcrp_ped, As shown in formula (3)；
kcrp_ped=kswi_brk·kval_brk (3)
According to bar position, when it is forward gear that gear, which is in D gear, maximum advance crawling torque T is selectedCrp_Fwd_MaxAs Maximum crawling torque TCrp_Max, when it is reverse drive gear that gear, which is in R gear, select maximum retrogressing crawling torque TCrp_Rvs_MaxAs most Big crawling torque TCrp_Max；When gear is in P gear or N is kept off, maximum crawling torque TCrp_MaxIt is 0；Maximum crawling torque TCrp_Max With crawling driver pedal coefficient of performance kcrp_pedIt is multiplied, obtains crawling demand under current vehicle speed, bar and pedal operation state Torque TCrp, as shown in formula (4)；
TCrp=TCrp_Max·kcrp_ped (4)
Step 3, braking requirement torque is solved；Planet parallel-serial hybrid power automobile brake torque be divided into mechanical braking torque and Regenerative brake torque two parts, because mechanical braking level of torque is directly controlled by operation brake pedal through mechanical device by driver System, control strategy is uncontrollable, therefore regenerative brake torque caused by motor is refered in particular in the braking requirement torque that the present invention solves；Nothing By under which kind of gear, braking moment should all be parsed reliably, therefore braking requirement torque is unrelated with vehicle gear, only with vehicle It is fast related, it is tabled look-up speed-dynamical system braking moment external characteristic curve V-T by current vehicle speedBrk_Ext, obtain power under current vehicle speed The maximum braking torque T that system can be outputBrk_Max；
Brake pedal aperture coefficient k is obtained according to operator brake pedal opening amount signalpos_brk, to cope with vehicle travel process The improper driving situation of middle driver while bend the throttle and brake pedal, braking requirement torque calculation introduce in the process Accelerator pedal switching coefficient kswi_acc, brake pedal aperture coefficient is multiplied with accelerator pedal switching coefficient, braking is obtained and drives Member's pedal operation coefficient kbrk_ped, as shown in formula (5)；
kbrk_ped=kpos_brk·kswi_acc (5)
When ABS system work, the considerations of in terms of braking safety, the regenerative brake torque of shielded motor；When When battery or super capacitor are close to Full Power State, that is, SOC close to 100%, the electric energy that motor regenerative braking generates nowhere is deposited Storage, regenerative braking capability are restricted；Whether worked to obtain ABS switching coefficient k according to ABS systemABS, according to battery or super electricity Hold SOC and obtains SOC related coefficient kSOC, ABS switching coefficient is multiplied with SOC related coefficient, obtains vehicle-state coefficient kveh_sta, such as Shown in formula (6)；
kveh_sta=kABS·kSOC (6)
Maximum braking torque TBrk_MaxWith Brake Driver's pedal operation coefficient kbrk_pedAnd vehicle-state coefficient kveh_staPhase Multiply, obtains braking requirement torque T under current vehicle speed, bar and pedal operation state, vehicle-stateBrk, as shown in formula (7)；
TBrk=TBrk_Max·kbrk_ped·kveh_sta (7)
Step 4, operator demand's torque is synthesized；The driving demand torque T that step 1 is acquiredDrv, crawling that step 2 acquires Demand torque TCrpIt is added, obtains driver's broad sense driving demand torque TBro, as shown in formula (8)；
TBro=TDrv+TCrp (8)
When gear is in D gear, driver's broad sense drives demand torque TBroKeeping initial value to drive as driver's decision needs Seek torque Tdec, when gear is in R gear, driver's broad sense drives demand torque TBroIt is needed multiplied by -1 as the driving of driver's decision Seek torque Tdec；When gear is in P gear or N is kept off, driver's decision drives demand torque TdecIt is 0；The driving of driver's decision needs The braking requirement torque T for asking torque and step 3 to acquireBrkIt is added, obtains driver's original demands torque TOri, as shown in formula (9)；
TOri=Tdec+TBrk (9)
When dynamical system, which is in high pressure, powers on success status, operator demand's torque is just significant, introduces high pressure and powers on Related coefficient ksup, driver's original demands torque TOriRelated coefficient k is powered on high pressuresupIt is multiplied, obtains driver and correct demand turn Square TFix, as shown in formula (10)；
TFix=TOri·ksup (10)
Demand torque finally is corrected to driver and carries out slope limitation and filtering processing, it is final to obtain operator demand's torque TAct。
A kind of planet parallel-serial hybrid power driver demand torque estimation method according to the present invention as a result, passes through The factors such as careful, to comprehensively consider driver mode of operation, travel condition of vehicle, find out respectively driver drive demand torque, The torque of crawling demand, braking requirement torque further consider influencing each other between three, need to driving demand torque, crawling It asks torque, braking requirement torque to be synthesized, real-time operator demand's torque is used as after amendment, the estimation method is careful complete Face, accurately and reliably.
In addition, can also have following additional technical feature according to that above embodiment of the present invention:
According to one embodiment of present invention, speed-dynamical system forward drive torque external characteristic curve in the step 1 V-TDrv_Fwd_ExtIt is calculated by the rotational speed and torque relationship between each component of planet row, single planetary row parallel-serial hybrid power automobile Engine, motor, generator are connected with the planet carrier of planet row, gear ring, sun gear respectively, and the rotation speed relation between each component is such as Shown in formula (11), shown in the torque relationship such as formula (12), formula (13) between each component；
In formula, ωEngFor engine speed, unit rpm；ωMG1For generator speed, unit rpm；ωMG2For motor Revolving speed, unit rpm；K is the characteristic parameter of planet row；TEngFor engine output torque, unit Nm；TMG1Turn for generator Square, unit Nm；TRFor planet row gear ring output torque, unit Nm；
There is mechanical connection between the driving wheel and planet row gear ring of planet parallel-serial hybrid power automobile, each vehicle velocity V is equal Corresponding unique gear ring revolving speed namely motor speed ωMG2, according to formula (11), each motor speed ωMG2Lower correspondence is several Group engine speed combines [ω with generator speedEng,ωMG1], by engine speed ωEngIt tables look-up engine test bench characteristic curve Or optimal operation line obtains current rotating speed ωEngLower engine maximum output torque TEng_Max, by generator speed ωMG1It tables look-up Generator external characteristic curve obtains current rotating speed ωMG1Lower generator torque capacity TMG1_Max, i.e., each motor speed ωMG2Under Corresponding several groups engine maximum output torque combines [T with generator torque capacityEng_Max,TMG1_Max], according to formula (12), if Engine maximum output torque T in every group of torque combinationEng_MaxGreater than (1+k) TMG1_Max, then with (1+k) TMG1_MaxAs Engine maximum capacity output torque TEng_AbleIf engine maximum output torque T in torque combinationEng_MaxLess than (1+k) TMG1_Max, then with TEng_MaxAs engine maximum capacity output torque TEng_Able；Each motor speed ωMG2If lower drying hair Motivation maximum capacity output torque TEng_AbleIt is maximized, is current motor speed ωMG2The lower maximum allowable output of engine Torque TEng_Alw；According to formula (13), by each motor speed ωMG2The lower maximum allowable output torque T of engineEng_AlwIt can obtain capable Star toothrow circle maximum output torque TR_Max, with the maximum electronic torque T of motor under current motor speedMG2_Max_MotIt is added, and Multiplied by main reducing gear reduction ratio, dynamical system forward drive external characteristics torque is obtained, as shown in formula (14)；
TDrv_Fwd_Ext=(TR_Max+TMG2_Max_Mot)·i0 (14)
In formula, i0For speed ratio of main reducer；Because each vehicle velocity V corresponds to unique motor speed ωMG2, it is through conversion Speed-dynamical system forward drive torque external characteristic curve V-T can be obtainedDrv_Fwd_Ext。
According to one embodiment of present invention, speed-dynamical system retreats driving torque external characteristic curve in the step 1 V-TDrv_Rvs_ExtIt converts to obtain by motor external characteristic curve；Due in planet parallel-serial hybrid power automobile dynamic system it is general not Reverse gear is set, and engine can not provide reverse-drive power when retreating driving, idling can only be maintained, after providing using motor Driving force is moved back, the maximum electronic torque T of motor under each motor speedMG2_Max_MotMultiplied by main reducing gear reduction ratio, power is obtained System retreats driving external characteristics torque, as shown in formula (15)；
TDrv_Rvs_Ext=TMG2_Max_Mot·i0 (15)
Speed-dynamical system, which can be obtained, through the conversion between motor speed and speed retreats driving torque external characteristic curve TDrv_Rvs_Max。
According to one embodiment of present invention, accelerator pedal aperture coefficient k in the step 1pos_accIt is opened with accelerator pedal Degree corresponds, k when zero aperture of accelerator pedalpos_accEqual to 0, k when accelerator pedal full gatepos_accEqual to 1, intermediate gentle mistake It crosses；Brake pedal related coefficient k when brake pedal is not stepped onrel_brkEqual to 1, k when brake pedal is stepped onrel_brkEqual to 0.3；Braking When pedal fault-free, brake pedal coefficient of efficiency kval_brkEqual to 1, when the faulty failure of brake pedal, brake pedal is effectively Number kval_brkEqual to 0.
According to one embodiment of present invention, speed-dynamical system advance crawling torque external characteristic curve in the step 2 It is calculated according to advance acceleration from rest, advance crawling stabilizing speed etc.；Vehicle rolling resistance when calculating zero speed advances Vehicle acceleration resistance under acceleration is walked, the two is added, and multiplied by radius of wheel, main reducing gear reduction ratio, must advance starting vehicle Dynamical system advance crawling external characteristics torque when running resistance square, as zero speed；Calculate vehicle under advance crawling stabilizing speed The sum of rolling resistance and air drag obtain vehicle row under advance crawling stabilizing speed multiplied by radius of wheel, main reducing gear reduction ratio The moment of resistance is sailed, dynamical system advance crawling external characteristics torque as under the speed；It is put down by zero speed advance crawling external characteristics torque It is slow to transit to advance crawling stabilizing speed external characteristics torque, and vehicle is obtained to max. speed according to the variation tendency gentle transition Speed-dynamical system advance crawling torque characteristic curve V-TCrp_Fwd_Ext。
According to one embodiment of present invention, speed-dynamical system retreats crawling torque external characteristic curve in the step 2 Method for solving it is similar with speed-method for solving of dynamical system advance crawling torque external characteristics torque curve, also according to rear It moves back acceleration from rest, retrogressing crawling stabilizing speed etc. to calculate and obtain, for the considerations of retreating driving safety, same speed is absolute Under value, it is small compared with dynamical system advance crawling external characteristics torque that dynamical system retreats the torque of crawling external characteristics.
According to one embodiment of present invention, brake pedal switch coefficient k in the step 2swi_brkWith brake pedal shape State is related, brake pedal switch coefficient k when brake pedal is not stepped onswi_brkEqual to 1, k when brake pedal is stepped onswi_brkEqual to 0；System When dynamic pedal fault-free, brake pedal coefficient of efficiency kval_brkEqual to 1, when the faulty failure of brake pedal, brake pedal is effective Coefficient kval_brkEqual to 0.
According to one embodiment of present invention, speed-dynamical system braking moment external characteristic curve V- in the step 3 TBrk_ExtIt is obtained by the conversion of motor external characteristic curve, amendment；Motor maximum generation torque under each motor speed TMG2_Max_GenMultiplied by main reducing gear reduction ratio, dynamical system braking external characteristics torque is obtained, as shown in formula (16)；
TBrk_Ext=TMG2_Max_Gen·i0 (16)
Speed-dynamical system braking moment external characteristic curve V- can be obtained through the conversion between motor speed and speed TBrk_Ext, then to V-TBrk_ExtCurve is modified, and it is big that low speed motor regenerative brake torque accurately controls difficulty, Yi Fa Raw locking situation, and regenerative braking efficiency is lower, therefore dynamical system braking external characteristics torque setting when speed absolute value is smaller It is 0, dynamical system brakes external characteristics torque according to V-T when speed absolute value is largerBrk_ExtCurvilinear motion；
According to one embodiment of present invention, brake pedal aperture coefficient k in the step 3pos_brkIt is opened with brake pedal Degree corresponds, k when zero aperture of brake pedalpos_brkEqual to 0, k when brake pedal full gatepos_brkEqual to 1, intermediate gentle mistake It crosses；Accelerator pedal switching coefficient k when accelerator pedal is not stepped onswi_accEqual to 1, k when accelerator pedal is stepped onswi_accEqual to 0；ABS system When work, ABS switching coefficient kABSEqual to 0, when ABS system does not work, ABS switching coefficient kABSEqual to 1；SOC related coefficient kSOC It is corresponded with SOC value, when battery or super capacitor SOC are 0, SOC related coefficient kSOCEqual to 1, when battery or super capacitor When SOC is 100%, SOC related coefficient kSOCEqual to 0, intermediate gentle transition；
According to one embodiment of present invention, step 4 mesohigh powers on related coefficient ksupHave with high-pressure system state It closes, when high-pressure system is in ready state, ksupValue is 1, when high-pressure system is not in ready state, ksupValue is 0.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage combination following accompanying drawings of the invention will be to will become bright in the description of embodiment It shows and is readily appreciated that, in which:
Fig. 1 is a kind of planet parallel-serial hybrid power driver demand torque estimation method according to the embodiment of the present invention Flow chart；
Fig. 2 is the engine test bench characteristic curve and optimal operation line figure according to the embodiment of the present invention；
Fig. 3 is the generator external characteristic curve figure according to the embodiment of the present invention；
Fig. 4 is the motor external characteristic curve figure according to the embodiment of the present invention；
Fig. 5 is the dynamical system forward drive torque external characteristic curve according to the embodiment of the present invention；
Fig. 6 is to retreat driving torque external characteristic curve according to the dynamical system of the embodiment of the present invention；
Fig. 7 is the accelerator pedal aperture coefficient curve according to the embodiment of the present invention；
Fig. 8 is the dynamical system advance crawling torque external characteristic curve according to the embodiment of the present invention
Fig. 9 is to retreat crawling torque external characteristic curve according to the dynamical system of the embodiment of the present invention；
Figure 10 is the dynamical system braking moment external characteristic curve according to the embodiment of the present invention；
Figure 11 is the brake pedal aperture coefficient curve according to the embodiment of the present invention；
Figure 12 is the SOC related coefficient curve according to the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " coefficient " " turns Fast range ", " stabilizing speed " etc. shall be understood in a broad sense, for example, it may be some definite value constant, with correlative factor real-time change Variable, be also possible to can scalar quantity can understand above-mentioned art as the case may be for the ordinary skill in the art The concrete meaning of language.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " connected " " connects Connect " it shall be understood in a broad sense, for example, it may be being fixedly connected, it is integrally connected, may be a detachable connection；It can be machinery Connection, the connection being also possible to inside two elements；It can be directly connected, it can also be right indirectly connected through an intermediary For those skilled in the art, the concrete meaning of above-mentioned term can be understood as the case may be.
It is noted by the basic structure of planet parallel-serial hybrid power automobile and planet row by those skilled in the art, because Details are not described herein for this.
Below with reference to the accompanying drawings turn to describe planet parallel-serial hybrid power driver's demand according to an embodiment of the present invention Moment estimation method, however, the present invention is not limited to these examples.
As shown in Figure 1, speed is positive when definition is advanced, speed is negative when retrogressing, is tabled look-up first by current vehicle speed absolute value Dynamical system forward drive torque external characteristic curve and retreat driving torque external characteristic curve, and according to vehicle be in forward gear or Retreating gear obtains dynamical system maximum driving torque TDrv_Max；It is tabled look-up dynamical system advance crawling torque by current vehicle speed absolute value External characteristic curve and retrogressing crawling torque external characteristic curve, and forward gear or retreating gear are according to vehicle, obtain dynamical system most Big crawling torque TCrp_Max；It is tabled look-up dynamical system braking moment external characteristic curve by current vehicle speed, obtains the braking of dynamical system maximum Torque TBrk_Max；According to the corresponding pedal operation of driver and vehicle state in which, to three of the above torque capacity respectively into Row amendment, obtains driving demand torque TDrv, crawling demand torque TCrp, braking requirement torque TBrk；The torque of driving demand and crawling need It asks torque to be added, and introduces vehicle current shift and judged, obtain driver's decision driving demand torque TDec；Decision driving Demand torque is added with braking requirement torque, and is modified according to electricity condition above and below high pressure, at slope limitation and filtering Reason, finally obtains operator demand's torque TAct。
As shown in Fig. 2, for corresponding torque capacity and optimum torque, i.e. engine test bench characteristic curve under each revolving speed of engine With engine optimum working curve；As shown in figure 3, for corresponding torque capacity, i.e. generator external characteristics under each revolving speed of generator Curve (is shown here only first quartile generator torque capacity, remaining quadrant torque capacity can be closed by first quartile torque capacity It is obtained in speed shaft, torque axis, origin symmetry)；As shown in figure 4, for corresponding torque capacity under each revolving speed of motor, i.e., it is electronic Machine external characteristic curve (remaining quadrant torque capacity equally can be by symmetrically obtaining).
The engine of single planetary row parallel-serial hybrid power automobile, motor, generator respectively with the planet carrier of planet row, tooth Circle, sun gear are connected.As shown in Figure 4, under forward travel state, motor speed range is 0~5000rpm, discrete in the range Motor speed under each motor speed, corresponds to several groups engine according to each component speed relational expression (11) of planet row Revolving speed combines [ω with generator speedEng,ωMG1], engine speed range is 800~3200rpm as shown in Figure 2, can by Fig. 3 Know, generator speed range is -7000~7000rpm (generator speed range is about torque axial symmetry).In most cases, electric When motivation revolving speed is fixed, when engine speed is located at 800~3200rpm range, position is answered by the generator speed that formula (11) calculate In within the scope of -7000~7000rpm, referred to as effective speed combination, when calculated generator speed beyond -7000~ When 7000rpm, it is invalid speed combination, gives up.It is tabled look-up according to the engine speed of each effective speed combination special outside engine Linearity curve or optimal operation line obtain engine maximum output torque TEng_Max, turned according to the generator of each effective speed combination Zoom table generator external characteristic curve obtains generator torque capacity TMG1_Max, with reference to formula (12), when engine maximum output turns When square is greater than (1+k) times of generator torque capacity, with (1+k) TMG1_MaxAs engine maximum capacity under the speed combination Output torque TEng_Able, when engine maximum output torque is less than (1+k) times of generator torque capacity, with TEng_MaxAs Engine maximum capacity output torque under the speed combination.To the engine of effective speed combinations all under each motor speed Maximum capacity output torque is maximized, and obtains the maximum allowable output torque T of engine under the motor speedEng_Alw.According to T under formula (13) each motor speedEng_AlwK/ (1+k) will be exported by planet row gear ring, in addition electric under the motor speed The maximum electronic torque T of motivationMG2_Max_Mot, multiplied by main reducing gear reduction ratio, and pass through the conversion between motor speed and speed, Dynamical system forward drive torque external characteristic curve is obtained, as shown in Figure 5.
As shown in fig. 6, according to Fig. 4 motor external characteristic curve, by the conversion between motor speed and speed Driving torque external characteristic curve is retreated to dynamical system.
By the absolute value of current vehicle speed, after dynamical system of tabling look-up respectively forward drive torque external characteristic curve and dynamical system Driving torque external characteristic curve is moved back, dynamical system maximum forward drive torque T is obtainedDrv_Fwd_MaxDriving torque is retreated with maximum TDrv_Rvs_Max, when bar is in D gear, using maximum forward drive torque as maximum driving torque TDrv_Max, bar be in R gear When, using maximum retrogressing driving torque as maximum driving torque, when bar is in P gear or N gear, maximum driving torque 0.
Introduce accelerator pedal aperture coefficient kpos_acc, brake pedal related coefficient krel_brk, brake pedal coefficient of efficiency kval_brk, maximum driving torque is modified, to obtain driving demand torque.As shown in fig. 7, for accelerator pedal aperture and adding Speed pedal aperture coefficient kpos_accRelation curve, when accelerator pedal is not stepped on, kpos_accIt is 0, when accelerator pedal is floored, kpos_accIt is 1, increases k with accelerator pedal aperturepos_accIt is gradually increased.In view of actual travel is in the process it is possible that accelerate The improper driving situation that pedal and brake pedal are stepped on simultaneously introduces brake pedal related coefficient krel_brk, brake pedal is not K when stepping onrel_brkValue is 1, k when brake pedal is stepped onrel_brkValue is 0.3, i.e. driving demand torque is reduced to the 0.3 of normal value, to produce Raw a degree of braking effect.In view of brake pedal it is possible that failure and fail, introduce brake pedal coefficient of efficiency kval_brk, k when brake pedal is effectiveval_brkIt is 1, k when brake pedal failsval_brkValue is 0, i.e., driving demand torque is not at this time Output.kpos_acc、krel_brk、kval_brkIt is multiplied, driver pedal coefficient of performance k must be drivendrv_ped.Drive driver pedal behaviour Make coefficient to be multiplied with maximum driving torque, obtains driving demand torque TDrv。
As shown in figure 8, being dynamical system advance crawling torque external characteristic curve, by advance acceleration from rest, advance crawling Stabilizing speed etc. is calculated.Suitable vehicle start is selected according to planet parallel-serial hybrid power vehicle dynamic quality demand to accelerate Degree calculates full load vehicle start acceleration resistance, calculates the rolling of full load vehicle start according to rolling resistance of wheel coefficient when starting Dynamic resistance；Starting acceleration resistance is added with starting rolling resistance, multiplied by radius of wheel, speed ratio of main reducer, must be advanced when starting to walk Dynamical system advance crawling external characteristics torque when vehicle travel resistance square, as zero speed.Assuming that planet parallel-serial hybrid power vapour Chinese herbaceous peony is 10km/h into crawling stabilizing speed, calculates vehicle under 10km/h and is fully loaded with the sum of rolling resistance and air drag, multiplied by vehicle Radius, main reducing gear reduction ratio are taken turns, vehicle travel resistance square under advance crawling stabilizing speed, as advance crawling stabilizing speed are obtained Lower dynamical system advance crawling external characteristics torque；Stablized by zero speed advance crawling external characteristics torque gentle transition to advance crawling Speed external characteristics torque, and according to the variation tendency gentle transition to max. speed, it is outer special to obtain dynamical system advance crawling torque Linearity curve.According to the advance crawling torque external characteristic curve, when being lower than advance crawling stabilizing speed, dynamical system will generate advance Driving force, so that vehicle accelerates to crawling stabilizing speed, and when being higher than advance crawling stabilizing speed, vehicle will be hindered in traveling Crawling stabilizing speed is decelerated under power and dynamical system resistance (negative forward drive power) effect.
As shown in figure 9, for dynamical system retrogressing crawling torque external characteristic curve, outside method for solving and advance crawling torque Characteristic method for solving is similar, and obtains according to the calculating such as acceleration from rest, retrogressing crawling stabilizing speed are retreated, for The considerations of retreating driving safety under same speed absolute value, retreats the torque of crawling external characteristics compared with advance crawling external characteristics torque It is small, acceleration from rest and the retrogressing lesser control effect of crawling stabilizing speed are retreated to reach.
By the absolute value of current vehicle speed, after dynamical system of tabling look-up respectively advance crawling torque external characteristic curve and dynamical system Crawling torque external characteristic curve is moved back, dynamical system maximum advance crawling torque T is obtainedCrp_Fwd_MaxCrawling torque is retreated with maximum TCrp_Rvs_Max, when bar is in D gear, using maximum advance crawling torque as maximum crawling torque TCrp_Max, bar be in R gear When, crawling torque is retreated as maximum crawling torque using maximum, when bar is in P gear or N gear, maximum crawling torque is 0.
Introduce brake pedal switch coefficient kswi_brk, brake pedal coefficient of efficiency kval_brk, maximum crawling torque is repaired Just, to obtain crawling demand torque.When vehicle is in crawling state, brake pedal switch coefficient k is introducedswi_brk, braking steps on K when plate is stepped onswi_brkValue is 0, k when brake pedal is not stepped onswi_brkEqual to 1.In view of brake pedal may go out under crawling state Show failure and fail, introduces brake pedal coefficient of efficiency kval_brk, k when brake pedal is effectiveval_brkIt is 1, when brake pedal fails kval_brkValue is 0, i.e. crawling demand torque does not export at this time.kswi_brk、kval_brkIt is multiplied, obtains the operation of crawling driver pedal Coefficient kcrp_ped.Crawling driver pedal coefficient of performance is multiplied with maximum crawling torque, obtains crawling demand torque TCrp。
As shown in Figure 10, it is dynamical system braking moment external characteristic curve, is corrected by the conversion of motor external characteristic curve It arrives.First by motor maximum generation torque T under each motor speedMG2_Max_GenMultiplied by speed ratio of main reducer, process is electronic Conversion between machine revolving speed and speed obtains the original braking moment external characteristic curve of dynamical system.Then the curve is modified, It is big accurately to control difficulty for motor regenerative brake torque when due to low speed, situations such as locking, and regenerative braking efficiency easily occurs It is lower, thus speed absolute value be less than 3km/h when dynamical system braking external characteristics torque be set as 0, be greater than 10km/h when power The torque of Braking system external characteristics changes according to original braking moment external characteristic curve, and 3km/h to 10km/h brakes external characteristics torque Original external characteristics torque value is progressively increased to by 0.By current vehicle speed table look-up dynamical system braking external characteristics torque curve, obtain currently The maximum braking torque T that dynamical system can be output under speedBrk_Max。
Introduce brake pedal aperture coefficient kpos_brk, accelerator pedal switching coefficient kswi_acc, ABS switching coefficient kABS, SOC phase Close coefficient kSOC, maximum braking torque is modified, to obtain braking requirement torque.It as shown in figure 11, is brake pedal aperture With brake pedal aperture coefficient kpos_brkRelation curve, when brake pedal is not stepped on, kpos_brkIt is 0, brake pedal is floored When, kpos_brkIt is 1, increases k with brake pedal aperturepos_brkIt is gradually increased.Be likely to occur during actual travel accelerator pedal with The situation that brake pedal is stepped on simultaneously introduces accelerator pedal switching coefficient kswi_acc, k when accelerator pedal is not stepped onswi_accValue is 1, is added K when speed pedal is stepped onswi_accValue is 0.kpos_brk、kswi_accIt is multiplied, obtains Brake Driver's pedal operation coefficient kbrk_ped.ABS system Unite work when, the considerations of in terms of braking safety, should shielded motor regenerative brake torque, introduce ABS open relation Number kABS, k when ABS system worksABSValue is 0, k when ABS system does not workABSValue is 1.When battery or the close full electricity of super capacitor When amount state, that is, SOC is close to 100%, the electric energy that motor regenerative braking generates nowhere is stored, and regenerative braking capability is restricted, Introduce SOC related coefficient kSOC, when battery or super capacitor SOC are 0, kSOCEqual to 1, when battery or super capacitor SOC are When 100%, kSOCEqual to 0, kSOCSize and SOC value correspond, with battery or the increase k of super capacitor SOCSOCGradually subtract It is small, as shown in figure 12.kABS、kSOCIt is multiplied, obtains vehicle-state coefficient kveh_sta.Brake Driver's pedal operation coefficient, vehicle shape State coefficient is multiplied with maximum braking torque, obtains braking requirement torque TBrk。
By the above-mentioned driving demand torque T acquiredDrv, crawling demand torque TCrpIt is added, obtains driver's broad sense driving demand Torque TBro.When bar is in D gear, driver's broad sense drives demand torque that initial value is kept to turn as driver's decision driving demand Square Tdec, when bar is in R gear, driver's broad sense drives demand torque to drive demand torque as driver's decision multiplied by -1；Gear When bar is in P gear or N gear, it is 0 that driver's decision, which drives demand torque,；Braking driver's decision driving demand torque and acquired Demand torque TBrkIt is added, obtains driver's original demands torque TOri。
When dynamical system, which is in high pressure, powers on success status, operator demand's torque of calculating is just significant, introduces high Pressure powers on related coefficient ksup, when high-pressure system is in ready state, ksupValue is 1, when high-pressure system is not in ready state, ksupValue is 0, driver's original demands torque TOriRelated coefficient k is powered on high pressuresupIt is multiplied, obtains driver and correct demand torque TFix.Demand torque is corrected to driver and carries out slope limitation and filtering processing, it is final to obtain driver's real demand torque TAct。
The part that do not address in the present invention uses or uses for reference prior art and can be realized.
In the description of this specification, the description of reference term " one embodiment " etc. means to combine the embodiment or example Specific features, structure, step, method or the feature of description are included at least one embodiment or example of the invention.? In this specification, schematic expression of the above terms be may not refer to the same embodiment or example.Moreover, the tool of description Body characteristics, structure, step, method or feature can in any one or more of the embodiments or examples in an appropriate manner In conjunction with.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this The range of invention is defined by the claims and their equivalents.

Claims (10)

1. a kind of planet parallel-serial hybrid power driver demand torque estimation method, it is characterised in that: the following steps are included:
Step 1, the torque of driving demand is solved；According to the difference of vehicle gear, drive demand torque be divided into forward drive torque and Two kinds of driving torque are retreated, speed is positive when definition is advanced, and speed is negative when retrogressing, is tabled look-up respectively by the absolute value of current vehicle speed Speed-dynamical system forward drive torque external characteristic curve V-TDrv_Fwd_ExtAnd speed-dynamical system retreats the outer spy of driving torque Linearity curve V-TDrv_Rvs_Ext, obtain the maximum forward drive torque that dynamical system under current vehicle speed absolute value can be output TDrv_Fwd_MaxDriving torque T is retreated with maximumDrv_Rvs_Max；
Accelerator pedal aperture coefficient k is obtained according to driver's accelerator opening angle signalpos_acc；To be driven in reply vehicle travel process The improper driving situation of the person of sailing while bend the throttle and brake pedal, driving demand torque calculation introduce braking in the process Pedal related coefficient krel_brk；Whether when brake pedal fails, driving demand torque should be 0, failed to obtain according to brake pedal and be made Dynamic pedal coefficient of efficiency kval_brk；By accelerator pedal aperture coefficient, brake pedal related coefficient and brake pedal coefficient of efficiency phase Multiply, obtains driving driver pedal coefficient of performance kdrv_ped, as shown in formula (1)；
kdrv_ped=kpos_acc·krel_brk·kval_brk (1)
According to bar position, when it is forward gear that gear, which is in D gear, maximum forward drive torque T is selectedDrv_Fwd_MaxAs maximum Driving torque TDrv_Max, when it is reverse drive gear that gear, which is in R gear, select maximum retrogressing driving torque TDrv_Rvs_MaxIt is driven as maximum Dynamic torque TDrv_Max；When gear is in P gear or N is kept off, maximum driving torque TDrv_MaxIt is 0；Maximum driving torque TDrv_MaxWith drive Dynamic driver pedal coefficient of performance kdrv_pedIt is multiplied, obtains driving demand torque under current vehicle speed, gear and pedal operation state TDrv, as shown in formula (2)；
TDrv=TDrv_Max·kdrv_ped (2)
Step 2, the torque of crawling demand is solved；Defining driver's accelerator opening angle signal is 0, and when speed is smaller, at vehicle In crawling state, according to the difference of vehicle gear, crawling demand torque is divided into two kinds of crawling torque of advance crawling torque and retrogressing, It is tabled look-up respectively speed-dynamical system advance crawling torque external characteristic curve V-T by the absolute value of current vehicle speedCrp_Fwd_ExtAnd vehicle Speed-dynamical system retreats crawling torque external characteristic curve V-TCrp_Rvs_Ext, it is defeated to obtain dynamical system institute energy under current vehicle speed absolute value Maximum advance crawling torque T outCrp_Fwd_MaxCrawling torque T is retreated with maximumCrp_Rvs_Max；
Introduce brake pedal switch coefficient kswi_brk, under crawling state when driver's brake pedal, crawling demand torque be should be 0；Introduce brake pedal coefficient of efficiency kval_brk, when brake pedal fails, the torque of crawling demand should be set to 0；Brake pedal switch Coefficient kswi_brkAnd brake pedal coefficient of efficiency kval_brkIt is multiplied, obtains crawling driver pedal coefficient of performance kcrp_ped, such as formula (3) shown in；
kcrp_ped=kswi_brk·kval_brk (3)
According to bar position, when it is forward gear that gear, which is in D gear, maximum advance crawling torque T is selectedCrp_Fwd_MaxAs maximum Crawling torque TCrp_Max, when it is reverse drive gear that gear, which is in R gear, select maximum retrogressing crawling torque TCrp_Rvs_MaxAs maximum compacted Row torque TCrp_Max；When gear is in P gear or N is kept off, maximum crawling torque TCrp_MaxIt is 0；Maximum crawling torque TCrp_MaxWith it is compacted Row driver pedal coefficient of performance kcrp_pedIt is multiplied, obtains crawling demand torque under current vehicle speed, gear and pedal operation state TCrp, as shown in formula (4)；
TCrp=TCrp_Max·kcrp_ped (4)
Step 3, braking requirement torque is solved；The braking requirement torque is regenerative brake torque caused by motor, by working as Front truck zoom table speed-dynamical system braking moment external characteristic curve V-TBrk_Ext, it is defeated to obtain dynamical system institute energy under current vehicle speed Maximum braking torque T outBrk_Max；
Brake pedal aperture coefficient k is obtained according to operator brake pedal opening amount signalpos_brk, to be driven in reply vehicle travel process The improper driving situation of the person of sailing while bend the throttle and brake pedal, braking requirement torque calculation introduce acceleration in the process Pedal switch coefficient kswi_acc, brake pedal aperture coefficient is multiplied with accelerator pedal switching coefficient, Brake Driver is obtained and steps on Plate coefficient of performance kbrk_ped, as shown in formula (5)；
kbrk_ped=kpos_brk·kswi_acc (5)
When ABS system work, the regenerative brake torque of shielded motor；Whether worked to obtain ABS switching coefficient according to ABS system kABS, SOC related coefficient k is obtained according to battery or super capacitor SOCSOC, ABS switching coefficient is multiplied with SOC related coefficient, obtains vehicle Coefficient of regime kveh_sta, as shown in formula (6)；
kveh_sta=kABS·kSOC (6)
Maximum braking torque TBrk_MaxWith Brake Driver's pedal operation coefficient kbrk_pedAnd vehicle-state coefficient kveh_staIt is multiplied, Obtain braking requirement torque T under current vehicle speed, gear and pedal operation state, vehicle-stateBrk, as shown in formula (7)；
TBrk=TBrk_Max·kbrk_ped·kveh_sta (7)
Step 4, operator demand's torque is synthesized；The driving demand torque T that step 1 is acquiredDrv, crawling demand that step 2 acquires Torque TCrpIt is added, obtains driver's broad sense driving demand torque TBro, as shown in formula (8)；
TBro=TDrv+TCrp (8)
When gear is in D gear, driver's broad sense drives demand torque TBroInitial value is kept to turn as driver's decision driving demand Square Tdec, when gear is in R gear, driver's broad sense drives demand torque TBroTurn multiplied by -1 as driver's decision driving demand Square Tdec；When gear is in P gear or N is kept off, driver's decision drives demand torque TdecIt is 0；Driver's decision drives demand to turn The braking requirement torque T that square and step 3 acquireBrkIt is added, obtains driver's original demands torque TOri, as shown in formula (9)；
TOri=Tdec+TBrk (9)
When dynamical system, which is in high pressure, powers on success status, operator demand's torque is just significant, introduces high pressure and powers on correlation Coefficient ksup, driver's original demands torque TOriRelated coefficient k is powered on high pressuresupIt is multiplied, obtains driver and correct demand torque TFix, as shown in formula (10)；
TFix=TOri·ksup (10)
Demand torque finally is corrected to driver and carries out slope limitation and filtering processing, it is final to obtain operator demand's torque TAct。
2. a kind of planet parallel-serial hybrid power driver demand torque estimation method according to claim 1, special Sign is: speed-dynamical system forward drive torque external characteristic curve V-T in the step 1Drv_Fwd_ExtBy each component of planet row Between rotational speed and torque relationship be calculated, the engine of single planetary row parallel-serial hybrid power automobile, motor, generator difference It is connected with the planet carrier of planet row, gear ring, sun gear, shown in such as formula of the rotation speed relation between each component (11), turns between each component Shown in square relationship such as formula (12), formula (13)；
In formula, ωEngFor engine speed, unit rpm；ωMG1For generator speed, unit rpm；ωMG2Turn for motor Speed, unit rpm；K is the characteristic parameter of planet row；TEngFor engine output torque, unit Nm；TMG1Turn for generator Square, unit Nm；TRFor planet row gear ring output torque, unit Nm；
There is mechanical connection between the driving wheel and planet row gear ring of planet parallel-serial hybrid power automobile, each vehicle velocity V is corresponding Unique gear ring revolving speed namely motor speed ωMG2, according to formula (11), each motor speed ωMG2Lower corresponding several groups hair Motivation revolving speed combines [ω with generator speedEng,ωMG1], by engine speed ωEngIt tables look-up engine test bench characteristic curve or most Excellent working curve obtains current rotating speed ωEngLower engine maximum output torque TEng_Max, by generator speed ωMG1It tables look-up power generation Machine external characteristic curve obtains current rotating speed ωMG1Lower generator torque capacity TMG1_Max, i.e., each motor speed ωMG2Lower correspondence Several groups engine maximum output torque combines [T with generator torque capacityEng_Max,TMG1_Max], according to formula (12), if every group Engine maximum output torque T in torque combinationEng_MaxGreater than (1+k) TMG1_Max, then with (1+k) TMG1_MaxAs starting Machine maximum capacity output torque TEng_AbleIf engine maximum output torque T in torque combinationEng_MaxLess than (1+k) TMG1_Max, then with TEng_MaxAs engine maximum capacity output torque TEng_Able；Each motor speed ωMG2If lower drying hair Motivation maximum capacity output torque TEng_AbleIt is maximized, is current motor speed ωMG2The lower maximum allowable output of engine Torque TEng_Alw；According to formula (13), by each motor speed ωMG2The lower maximum allowable output torque T of engineEng_AlwIt can obtain capable Star toothrow circle maximum output torque TR_Max, with the maximum electronic torque T of motor under current motor speedMG2_Max_MotIt is added, and Multiplied by main reducing gear reduction ratio, dynamical system forward drive external characteristics torque is obtained, as shown in formula (14)；
TDrv_Fwd_Ext=(TR_Max+TMG2_Max_Mot)·i0 (14)
In formula, i0For speed ratio of main reducer；Because each vehicle velocity V corresponds to unique motor speed ωMG2, vehicle can be obtained through conversion Speed-dynamical system forward drive torque external characteristic curve V-TDrv_Fwd_Ext。
3. a kind of planet parallel-serial hybrid power driver demand torque estimation method according to claim 1, special Sign is: speed-dynamical system retreats driving torque external characteristic curve V-T in the step 1Drv_Rvs_ExtBy motor external characteristics Curve converts to obtain；It is provided using motor and retreats driving force, the maximum electronic torque of motor under each motor speed TMG2_Max_MotMultiplied by main reducing gear reduction ratio, obtains dynamical system and retreat driving external characteristics torque, as shown in formula (15)；
TDrv_Rvs_Ext=TMG2_Max_Mot·i0 (15)
Speed-dynamical system, which can be obtained, through the conversion between motor speed and speed retreats driving torque external characteristic curve TDrv_Rvs_Max。
4. a kind of planet parallel-serial hybrid power driver demand torque estimation method according to claim 1, special Sign is: accelerator pedal aperture coefficient k in the step 1pos_accIt is corresponded with accelerator pedal aperture, zero aperture of accelerator pedal When kpos_accEqual to 0, k when accelerator pedal full gatepos_accEqual to 1, intermediate gentle transition；Brake pedal when brake pedal is not stepped on Related coefficient krel_brkEqual to 1, k when brake pedal is stepped onrel_brkEqual to 0.3；When brake pedal fault-free, brake pedal is effective Coefficient kval_brkEqual to 1, when the faulty failure of brake pedal, brake pedal coefficient of efficiency kval_brkEqual to 0.
5. a kind of planet parallel-serial hybrid power driver demand torque estimation method according to claim 1, special Sign is: speed-dynamical system advance crawling torque external characteristic curve is according to advance acceleration from rest, advance in the step 2 Crawling stabilizing speed etc. is calculated；Calculate the vehicle rolling resistance under zero speed of full load, the vehicle under advance acceleration from rest Acceleration resistance, the two are added, and multiplied by radius of wheel, main reducing gear reduction ratio, and must advance vehicle travel resistance square of starting to walk, i.e., Dynamical system advance crawling external characteristics torque when being zero speed；The vehicle calculated under full load advance crawling stabilizing speed rolls The sum of resistance and air drag obtain the vehicle driving under advance crawling stabilizing speed multiplied by radius of wheel, main reducing gear reduction ratio The moment of resistance, the dynamical system advance crawling external characteristics torque as under the speed；It is put down by zero speed advance crawling external characteristics torque It is slow to transit to advance crawling stabilizing speed external characteristics torque, and vehicle is obtained to max. speed according to the variation tendency gentle transition Speed-dynamical system advance crawling torque characteristic curve V-TCrp_Fwd_Ext。
6. a kind of planet parallel-serial hybrid power driver demand torque estimation method according to claim 1, special Sign is: speed-dynamical system retreats crawling torque external characteristic curve V-T in the step 2Crp_Rvs_ExtAdd according to starting is retreated Speed, retrogressing crawling stabilizing speed etc. are calculated；Vehicle rolling resistance, retrogressing acceleration from rest when fully loaded zero speed is corresponding Vehicle acceleration resistance be added, multiplied by radius of wheel, main reducing gear reduction ratio, must retreat vehicle travel resistance square of starting to walk, namely Zero speed retreats the torque of crawling external characteristics；The sum of the fully loaded vehicle rolling resistance retreated under crawling stabilizing speed and air drag, Multiplied by radius of wheel, main reducing gear reduction ratio, the vehicle travel resistance square under crawling stabilizing speed must be retreated, i.e., under the speed Retreat the torque of crawling external characteristics；Zero speed retreats crawling external characteristics torque gentle transition and turns to crawling stabilizing speed external characteristics is retreated Square, and according to the trend gentle transition to max. speed is retreated, it obtains speed-dynamical system and retreats crawling torque external characteristics song Line；For the considerations of retreating driving safety, under same speed absolute value, dynamical system retreats the torque of crawling external characteristics compared with power System advance crawling external characteristics torque is small.
7. a kind of planet parallel-serial hybrid power driver demand torque estimation method according to claim 1, special Sign is: brake pedal switch coefficient k in the step 2swi_brkIt is related with brake pedal status, braking when brake pedal is not stepped on Pedal switch coefficient kswi_brkEqual to 1, k when brake pedal is stepped onswi_brkEqual to 0；When brake pedal fault-free, brake pedal has Imitate coefficient kval_brkEqual to 1, when the faulty failure of brake pedal, brake pedal coefficient of efficiency kval_brkEqual to 0.
8. a kind of planet parallel-serial hybrid power driver demand torque estimation method according to claim 1, special Sign is: speed-dynamical system braking moment external characteristic curve V-T in the step 3Brk_ExtTurned by motor external characteristic curve Change, amendment obtains；Motor maximum generation torque T under each motor speedMG2_Max_GenMultiplied by main reducing gear reduction ratio, obtain Force system brakes external characteristics torque, as shown in formula (16)；
TBrk_Ext=TMG2_Max_Gen·i0 (16)
Speed-dynamical system braking moment external characteristic curve V-T can be obtained through the conversion between motor speed and speedBrk_Ext, Then to V-TBrk_ExtCurve is modified, and dynamical system braking external characteristics torque is set as when speed absolute value is less than 3km/h 0, dynamical system braking external characteristics torque is according to V-T when speed absolute value is greater than 10km/hBrk_ExtCurvilinear motion, 3km/h is extremely 10km/h brakes external characteristics torque and progressively increases to V-T by 0Brk_ExtExternal characteristic curve torque value.
9. a kind of planet parallel-serial hybrid power driver demand torque estimation method according to claim 1, special Sign is: brake pedal aperture coefficient k in the step 3pos_brkIt is corresponded with brake pedal aperture, zero aperture of brake pedal When kpos_brkEqual to 0, k when brake pedal full gatepos_brkEqual to 1, intermediate gentle transition；Accelerator pedal when accelerator pedal is not stepped on Switching coefficient kswi_accEqual to 1, k when accelerator pedal is stepped onswi_accEqual to 0；When ABS system works, ABS switching coefficient kABSIt is equal to 0, when ABS system does not work, ABS switching coefficient kABSEqual to 1；SOC related coefficient kSOCCorresponded with SOC value, when battery or When super capacitor SOC is 0, SOC related coefficient kSOCEqual to 1, when battery or super capacitor SOC are 100%, SOC related coefficient kSOCEqual to 0, intermediate gentle transition.
10. a kind of planet parallel-serial hybrid power driver demand torque estimation method according to claim 1, special Sign is: step 4 mesohigh powers on related coefficient ksupRelated with high-pressure system state, high-pressure system is in ready state When, ksupValue is 1, when high-pressure system is not in ready state, ksupValue is 0.
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