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CN-115675440-B - Hybrid vehicle driving motor control method, device, medium and hybrid vehicle

CN115675440BCN 115675440 BCN115675440 BCN 115675440BCN-115675440-B

Abstract

The disclosure relates to a method, a device and a medium for controlling a driving motor of a hybrid vehicle and the hybrid vehicle, so as to solve the problem of large fluctuation of torque output of the driving motor of the hybrid vehicle. The method comprises the steps of determining target intervention torque from received intervention torque, determining motor response intervention torque of a driving motor according to the target intervention torque and current motor torque of the driving motor, determining initial motor torque demand of the driving motor according to control state of a hybrid vehicle and whole vehicle demand torque in response to a received control command, determining motor torque demand according to the motor response intervention torque and the initial motor torque demand, and controlling the driving motor to run by taking the motor torque demand as the target motor torque. To reduce drive motor torque output ripple.

Inventors

  • WU JIANQUAN

Assignees

  • 长城汽车股份有限公司

Dates

Publication Date
20260512
Application Date
20210722

Claims (7)

  1. 1. A hybrid vehicle drive motor control method, characterized by comprising: determining a target intervention torque from the received intervention torques; Determining a motor response intervention torque of the driving motor according to the target intervention torque and the current motor torque of the driving motor, and, Responding to the received control command, and determining an initial motor torque requirement of the driving motor according to the control state of the hybrid vehicle and the whole vehicle required torque; Determining a motor torque demand of the driving motor according to the motor response intervention torque and the initial motor torque demand, and controlling the driving motor to run by taking the motor torque demand as a target motor torque; The method comprises the steps of responding to a received control command, determining an initial motor torque demand of the driving motor according to a control state of the hybrid vehicle and the whole vehicle required torque, and determining the initial motor torque demand of the driving motor according to the current motor control state of the driving motor and the whole vehicle required torque, or according to the current provided torque of the driving motor, the motor torque filter factor in the motor control state and the motor torque demand, wherein the response to the received control command comprises the motor control state switching command, the control state of the hybrid vehicle comprises the motor control state of the driving motor The method comprises the steps of responding to a received control command, determining an initial motor torque demand of a driving motor according to a control state of a hybrid vehicle and a whole vehicle demand torque, calculating the motor torque demand of the driving motor in a pure electric mode and the motor torque demand of the driving motor in the hybrid electric mode according to the whole vehicle demand torque in response to a driving mode switching command of the hybrid vehicle, wherein the control command comprises the driving mode switching command, calculating a mode switching factor of the driving motor in real time according to the current driving mode of the hybrid vehicle, and calculating the initial motor torque demand of the driving motor according to the motor torque demand of the driving motor in the pure electric mode, the motor torque demand of the driving motor in the hybrid electric mode and the mode switching factor obtained by real-time calculation in the driving mode switching process, or The method comprises the steps of responding to a received control instruction, determining an initial motor torque requirement of a driving motor according to a control state of the hybrid vehicle and a whole vehicle required torque, and determining a start-stop coordination torque of an engine according to the received start-stop switching instruction of the engine, wherein the control instruction comprises the start-stop switching instruction; The control of the driving motor by taking the motor torque demand as the target motor torque comprises controlling the gradient filtering operation of the driving motor according to a motor filtering gradient and a motor filtering period by taking the current motor torque of the driving motor as an initial value and the motor torque demand as the target motor torque based on the start-stop state of the engine represented by the start-stop switching instruction.
  2. 2. The method of claim 1, wherein calculating the mode switching factor of the drive motor in real time based on the current drive mode of the hybrid vehicle comprises: determining a mode switching factor value of the hybrid vehicle in a current driving mode; Circularly calculating the mode switching factor of the driving motor by taking the mode switching factor value in the driving mode as an initial value and the preset switching step length as a step length until the mode switching factor reaches the mode switching factor extremum corresponding to the target driving mode, and terminating the mode switching factor circulation calculation process; Under the condition that the current driving mode is the pure electric mode, the mode switching factor value in the pure electric mode is taken as an initial value, the preset switching step length is circularly subtracted, the mode switching factor of the driving motor is obtained through calculation, and the mode switching factor circulation calculation process is terminated until the mode switching factor reaches the mode switching factor extreme value corresponding to the hybrid mode; And under the condition that the current driving mode is a hybrid mode, the current mode switching factor value in the hybrid mode is taken as an initial value, a preset switching step length is added circularly, the mode switching factor of the driving motor is obtained through calculation until the mode switching factor reaches the mode switching factor extreme value corresponding to the pure electric mode, and the mode switching factor circulation calculation process is terminated.
  3. 3. The method of claim 1, wherein said determining a motor torque demand for said drive motor from said motor response intervention torque and said initial motor torque demand comprises: Determining the current torque range of the driving motor according to the state of the power system of the hybrid vehicle; Determining whether the motor response intervention torque plus the initial motor torque demand is within the torque range; Determining an extremum of the and closest torque range as the motor torque demand of the drive motor in the event that the torque range is exceeded; Determining a sum of a desired intervention motor torque and the initial motor torque demand as the motor torque demand of the drive motor without exceeding the torque range.
  4. 4. A method according to any one of claims 1-3, wherein said determining a target intervention torque from the received intervention torques comprises: Pre-prioritizing the sources of the intervention torque; When the received intervention torque sources are at least two, determining the intervention torque sent by the source with the highest priority as a target intervention torque; when the received intervention torque source is only one, the intervention torque sent by the source is determined as the target intervention torque.
  5. 5. A hybrid vehicle drive motor control apparatus, characterized by comprising: a first determination module for determining a target intervention torque from the received intervention torques; the second determining module is used for determining the motor response intervention torque of the driving motor according to the target intervention torque and the current motor torque of the driving motor; the third determining module is used for responding to the received control instruction and determining the initial motor torque requirement of the driving motor according to the control state of the hybrid vehicle and the whole vehicle required torque; The control module is used for determining the motor torque requirement of the driving motor according to the motor response intervention torque and the initial motor torque requirement, and controlling the driving motor to run by taking the motor torque requirement as a target motor torque; The third determining module is configured to calculate, in response to a received motor control state switching instruction of the driving motor, a rotational speed control torque of the driving motor in the motor control state according to a current motor control state of the driving motor and the whole vehicle required torque, where the control instruction includes the motor control state switching instruction, and the control state of the hybrid vehicle includes the motor control state of the driving motor, determine an initial motor torque requirement of the driving motor according to a current provided torque of the driving motor, a motor torque filter factor in the motor control state, and the rotational speed control torque, or The third determining module is configured to calculate, in response to a received driving mode switching instruction of the hybrid vehicle, a rotational speed control torque of the driving motor in a pure electric mode and a torque control torque of the driving motor in the pure electric mode according to the whole vehicle required torque, where the control instruction includes the driving mode switching instruction, and calculate, in real time, a mode switching factor of the driving motor according to a current driving mode of the hybrid vehicle, and calculate, in a driving mode switching process, an initial motor torque requirement of the driving motor according to the rotational speed control torque, the torque control torque, and the mode switching factor calculated in real time, or The third determining module is used for responding to a received start-stop switching instruction of the engine, determining start-stop coordination torque of the engine, wherein the control instruction comprises the start-stop switching instruction, and determining an initial motor torque requirement of the driving motor according to the start-stop coordination torque, the control state of the hybrid vehicle and the whole vehicle requirement torque; And the control module is used for controlling the gradient filtering operation of the driving motor according to the motor filtering gradient and the motor filtering period by taking the current motor torque of the driving motor as an initial value and the motor torque requirement as a target motor torque based on the start-stop state of the engine represented by the start-stop switching instruction.
  6. 6. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps of the method according to any one of claims 1-4.
  7. 7. Hybrid vehicle comprising a controller, the controller comprising a memory and a processor, the memory having stored therein a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method according to any of claims 1-4.

Description

Hybrid vehicle driving motor control method, device, medium and hybrid vehicle Technical Field The disclosure relates to the technical field of vehicle engineering, in particular to a method and a device for controlling a driving motor of a hybrid vehicle, a medium and the hybrid vehicle. Background A hybrid vehicle (hereinafter referred to as a hybrid vehicle) is a vehicle equipped with a drive motor and an engine. During running of the vehicle, the intervention torque of other control systems can be received, if the intervention torque is responded by the engine, the torque control precision is lower because the engine is limited by an inherent structure, so that the response torque output is inaccurate, the engine needs to control the rotation speed to change so as to respond to the torque change, the response time is long (the response speed is slow), and the running stability of the vehicle can be lower. In the related art, in order to improve the response speed and the accuracy of the output torque, the response torque of the driving motor and the engine is primarily distributed according to the intervention torque of a vehicle body stability control system (Electronic Stability Program, ESP) so as to meet the torque request of the engine and ensure that the engine works at an optimal working point, and whether the response torque of the primarily distributed motor exceeds the maximum output torque of the driving motor is judged on the basis of the primary distribution, and if the response torque exceeds the maximum output torque of the driving motor, the response arbitrated torque of the engine and the driving motor is controlled. Disclosure of Invention The invention aims to provide a control method and device for a driving motor of a hybrid vehicle, a medium and the hybrid vehicle, so as to solve the problem of large fluctuation of torque output of the driving motor of the hybrid vehicle in the related technology. To achieve the above object, a first aspect of the embodiments of the present disclosure provides a hybrid vehicle drive motor control method, including: determining a target intervention torque from the received intervention torques; Determining the motor response intervention torque of the driving motor according to the target intervention torque and the current motor torque of the driving motor; Responding to the received control command, and determining an initial motor torque requirement of the driving motor according to the control state of the hybrid vehicle and the whole vehicle required torque; And determining the motor torque demand of the driving motor according to the motor response intervention torque and the initial motor torque demand, and controlling the driving motor to run by taking the motor torque demand as a target motor torque. Optionally, the determining, in response to the received control command, an initial motor torque requirement of the driving motor according to the control state of the hybrid vehicle and the vehicle required torque includes: responding to a motor control state switching instruction of the driving motor, calculating a motor torque requirement of the driving motor in the motor control state according to the current motor control state of the driving motor and the whole vehicle required torque, wherein the control instruction comprises the motor control state switching instruction, and the control state of the hybrid vehicle comprises the motor control state of the driving motor; and determining an initial motor torque requirement of the driving motor according to the current provided torque of the driving motor, a motor torque filter factor in a motor control state and the motor torque requirement. Optionally, the determining, in response to the received control command, an initial motor torque requirement of the driving motor according to the control state of the hybrid vehicle and the whole vehicle required torque includes: Responding to a driving mode switching instruction of the hybrid electric vehicle, calculating a motor torque demand of the driving motor in a pure electric mode and a motor torque demand of the driving motor in the pure electric mode according to the whole vehicle demand torque, wherein the control instruction comprises the driving mode switching instruction, and Calculating a mode switching factor of the driving motor in real time according to the current driving mode of the hybrid vehicle; In the driving mode switching process, calculating the initial motor torque demand of the driving motor according to the motor torque demand of the driving motor in the pure electric mode, the motor torque demand of the driving motor in the hybrid electric mode and the mode switching factor obtained by real-time calculation. Optionally, the calculating, in real time, the mode switching factor of the driving motor according to the current driving mode of the hybrid vehicle includes: determining a mode switching factor value of the hybr