Electromechanical coupling system control method, device, medium and vehicle control system

Abstract

The present invention discloses a control method, device, medium and vehicle control system for an electromechanical coupling system, wherein the method part includes: determining the mode switching duration of a vehicle switching from a parallel hybrid first gear to a parallel hybrid second gear, determining the real-time input torque of an input shaft in the electromechanical coupling system, and controlling the torque of a brake and a clutch according to the mode switching duration and the input torque of the input shaft, wherein the torque change slope of the brake is the same as the torque change slope of the clutch during the mode switching process; in this embodiment, a torque control strategy for switching the brake and the clutch from an HEV1 mode to an HEV2 mode is determined based on the input torque of the input shaft, and since the torque change rate of the brake is the same as the torque change rate of the clutch, during the mode switching process, the output torque of the electromechanical coupling system is independent of the torque exchange of the clutch, and the output torque of the electromechanical coupling system is constant without torque fluctuation, thereby achieving smooth switching from the HEV1 mode to the HEV2 mode.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a control method, device, medium and vehicle control system for an electromechanical coupling system. Background Art

[0002] The electromechanical coupling system of existing hybrid vehicles mainly includes an engine, a generator, a drive motor, two clutches, a brake, and a shaft gear system. During the driving process of a hybrid vehicle, it is usually necessary to switch modes to ensure the good performance of the hybrid vehicle. During the mode switching process of a hybrid vehicle, the states of various structures in the electromechanical coupling system will change, and switching setbacks are likely to occur and be perceived by the user.

[0003] For example, in the electromechanical coupling system of a hybrid vehicle, when the hybrid vehicle needs to switch from the parallel hybrid first gear HEV1 to the parallel hybrid second gear HEV2, the brake needs to switch from the locked state to the open state, and the second clutch needs to switch from the open state to the engaged state. At this time, the state changes of the brake and the second clutch are too large, resulting in an unsmooth mode switching process. Therefore, when the hybrid vehicle switches from the parallel hybrid first gear HEV1 to the parallel hybrid second gear HEV2, the torque of the brake and the second clutch needs to be precisely controlled to improve the smoothness of the mode switching process. Summary of the invention

[0004] The present invention provides an electromechanical coupling system control method, device, medium and vehicle control system to solve the problem that in the existing electromechanical coupling system, when a hybrid vehicle switches from HEV1 mode to HEV2 mode, the mode switching process is not smooth enough.

[0005] A control method for an electromechanical coupling system, comprising:

[0006] Determine the mode switching time for the vehicle to switch from parallel hybrid first gear to parallel hybrid second gear;

[0007] determining a real-time input shaft input torque in the electromechanical coupling system;

[0008] Controlling the torque of the brake according to the mode switching duration and the input torque of the input shaft, and controlling the torque of the clutch according to the mode switching duration and the input torque of the input shaft;

[0009] The torque change slope of the brake during mode switching is the same as the torque change slope of the clutch.

[0010] Further, the controlling the torque of the brake according to the mode switching duration and the input torque of the input shaft includes:

[0011] determining the brake torque at different times according to the mode switching duration, the input shaft input torque and the planetary gear characteristic parameter;

[0012] The brake is controlled according to the brake torque.

[0013] Further, the electromechanical coupling system includes a first clutch and a second clutch, and the torque of the clutch is controlled according to the mode switching duration and the input torque of the input shaft, including:

[0014] controlling the first clutch to be in an engaged state;

[0015] Determining the clutch torque at different times according to the mode switching duration, the input shaft input torque and the planetary gear characteristic parameters;

[0016] The second clutch is controlled according to the clutch torque.

[0017] Furthermore, the brake torque is determined by the following formula:

[0018]

[0019] Among them, T B is the brake torque at time t; T in is the input torque of the input shaft; K is the absolute value of the characteristic parameter of the planetary gear; T is the mode switching duration.

[0020] Further, the clutch torque is determined by the following formula:

[0021]

[0022] Among them, T C1 is the clutch torque at time t; T in is the input torque of the input shaft; K is the absolute value of the characteristic parameter of the planetary gear; T is the mode switching duration.

[0023] A control device for an electromechanical coupling system, comprising:

[0024] A first determination module is used to determine the mode switching time of the vehicle from the parallel hybrid first gear to the parallel hybrid second gear;

[0025] A second determination module, configured to determine an input shaft input torque in the electromechanical coupling system;

[0026] a control module, configured to control the torque of the brake according to the mode switching duration and the input torque of the input shaft, and to control the torque of the clutch according to the mode switching duration and the input torque of the input shaft;

[0027] The torque change slope of the brake during mode switching is the same as the torque change slope of the clutch.

[0028] Further, the controlling the torque of the brake according to the mode switching duration and the input torque of the input shaft includes:

[0029] determining the brake torque at different times according to the mode switching duration, the input shaft input torque and the planetary gear characteristic parameter;

[0030] The brake is controlled according to the brake torque.

[0031] A control device for an electromechanical coupling system comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the electromechanical coupling system control method are implemented.

[0032] A readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the electromechanical coupling system control method are implemented.

[0033] A vehicle comprises an electromechanical coupling system and the electromechanical coupling system control device.

[0034] In one solution provided by the above-mentioned electromechanical coupling system control method, device, medium and vehicle control system, by determining the mode switching time of the vehicle switching from the parallel hybrid first gear to the parallel hybrid second gear, the real-time input shaft input torque in the electromechanical coupling system is determined, the torque of the brake is controlled according to the mode switching time and the input shaft input torque, and the torque of the clutch is controlled according to the mode switching time and the input shaft input torque, wherein the torque change slope of the brake is the same as the torque change slope of the clutch during the mode switching process; in this embodiment, the torque control strategy of the brake and the clutch switching from the HEV1 mode to the HEV2 mode is determined based on the input shaft input torque, because the torque change rate of the brake is the same as the torque change rate of the clutch, during the mode switching process, the output torque of the electromechanical coupling system is independent of the torque exchange of the clutch, the output torque of the electromechanical coupling system is constant, and there is no torque fluctuation, thereby achieving a smooth switch from the HEV1 mode to the HEV2 mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0036] Figure 1 is a structural schematic diagram of a vehicle control system in one embodiment of the present invention;

[0037] Figure 2 is a structural schematic diagram of an electromechanical coupling system in one embodiment of the present invention;

[0038] Figure 3 is a flow chart of a method for controlling an electromechanical coupling system in one embodiment of the present invention;

[0039] Figure 4 is a schematic diagram of torque changes of the brake and the clutch when the mode is switched in one embodiment of the present invention;

[0040] Figure 5 is a structural schematic diagram of a control device for an electromechanical coupling system in one embodiment of the present invention;

[0041] Figure 6 Schematic diagram of another structure of the electromechanical coupling system control device in one embodiment of the present invention.

[0042] Among them, the reference numerals in the figures are:

[0043] 1-engine; 2-first clutch; 3-input shaft; 4-sun gear; 5-planet carrier; 6-ring gear; 7-brake; 8-second clutch; 9-first gear; 10-second gear; 11-generator; 12-intermediate shaft; 13-third gear; 14-fourth gear; 15-fifth gear; 16-drive motor; 17-sixth gear; 18-differential. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] The electromechanical coupling system control method provided by the embodiment of the present invention can be applied to the vehicle control system of a hybrid vehicle, such as Figure 1As shown, the vehicle control system includes an electromechanical coupling system 101 and an electromechanical coupling system control device 102, wherein the electromechanical coupling system 101 and the electromechanical coupling system control device 102 can communicate via a bus.

[0046] Among them, Figure 2 As shown, the hybrid electromechanical coupling system includes an engine 1, a first clutch (C0) 2, an input shaft 3, a planetary gear (including a sun gear 4, a planetary carrier 5 and a ring gear 6), a brake (B) 7, a second clutch (C1) 8, a first gear 9, a second gear 10, a generator 11, an intermediate shaft 12, a third gear 13, a fourth gear 14, a fifth gear 15, a drive motor 16, a sixth gear 17 and a differential 18.

[0047] The engine 1 is connected to the ring gear 6 through the first clutch 2, and the engine 1 is connected to the generator 11 through the first gear 9 and the second gear 10; the drive motor 16 is coupled to the power output of the engine 1 and the generator 11 through the fifth gear 15.

[0048] In this embodiment, the electromechanical coupling system includes a brake 7, a first clutch 2 and a second clutch 8, wherein the brake 7 is used to brake the sun gear 4, the first clutch 2 is used to control whether the engine power is output to achieve switching between pure electric mode and hybrid mode, and the function of the second clutch 8 and the brake 7 is to combine with the planetary gear to achieve two gears of the engine.

[0049] When the brake 7 is engaged, the power of the engine is transmitted to the planetary carrier 5 through the ring gear 6, and then to the third gear 13 through the planetary carrier 5, and then to the intermediate shaft 12, and then to the sixth gear 17 through the fourth gear 14, and finally to the differential 18 and the wheel end of the hybrid vehicle. At this time, it is the first gear of the engine.

[0050] When the second clutch 8 is engaged, the sun gear 4, planet carrier 5 and ring gear 6 of the planetary gear rotate as a whole and are fixedly connected. The speed ratio is 1 and is transmitted to the first gear 11 through the planet carrier 5, and then to the intermediate shaft 10, and then to the fourth gear 15 through the second gear 12, and finally to the differential 16 and the wheel end of the hybrid vehicle. At this time, it is the second gear of the engine.

[0051] The driving motor 16 transmits power to the third gear 13 through the third gear 14, then to the intermediate shaft 12, and then to the sixth gear 17 through the fourth gear 14, and finally to the differential 18 and the wheel end.

[0052] The electromechanical coupling system of this embodiment can switch between multiple working modes. The working modes of the electromechanical coupling system include engine direct drive mode with two gears, single-motor pure electric mode with one gear, dual-motor pure electric mode with two gears, series extended-range mode, two hybrid power drive modes, as well as multiple working modes such as brake energy recovery and parking power generation.

[0053] In the electromechanical coupling system, when the hybrid vehicle is in the parallel hybrid first gear HEV1, the brake 7 is locked, the first clutch 2 is engaged, and the second clutch 8 is open; when the hybrid vehicle is in the parallel hybrid second gear HEV2, the brake 7 is open, the first clutch 2 is engaged, and the second clutch 8 is engaged. When the hybrid vehicle switches from HEV1 mode to HEV2 mode, the state of the brake 7 and the second clutch 8 will change, causing the torque or speed of other structures to change rapidly, thereby affecting the wheel end torque, resulting in an uneven mode switching process. In order to reduce the impact of the fluctuation of the shaft system torque and speed on the wheel end torque during the switching process, it is necessary to accurately control the torque of the clutch and brake during the switching process to improve the smoothness of the mode switching, thereby improving the driving comfort of the hybrid vehicle.

[0054] Among them, the control requirements of each structure in the above-mentioned multiple working modes are as follows:

[0055]

[0056] In this embodiment, by determining the mode switching duration of the hybrid vehicle switching from the parallel hybrid first gear to the parallel hybrid second gear, the real-time input shaft input torque in the electromechanical coupling system is determined, and the torque of the brake and the clutch in the electromechanical coupling system is controlled according to the mode switching duration and the input shaft input torque, so that the torque change slope of the brake is the same as the torque change slope of the clutch during the mode switching process; in this embodiment, the torque control strategy of the brake and the clutch switching from the HEV1 mode to the HEV2 mode is determined based on the input shaft input torque. Since the torque change rate of the brake is the same as the torque change rate of the clutch, during the mode switching process, the output torque of the electromechanical coupling system is independent of the torque exchange of the clutch, and the output torque of the electromechanical coupling system is constant without torque fluctuation, thereby achieving smooth switching from the HEV1 mode to the HEV2 mode.

[0057] In this embodiment, the vehicle control system includes the electromechanical coupling system and the electromechanical coupling system control device for exemplary purposes only. In other embodiments, the vehicle control system may also include other structures, which will not be described in detail here.

[0058] In one embodiment, if Figure 3 As shown, a control method for an electromechanical coupling system is provided, and the method is applied in Figure 1The electromechanical coupling system control device in the embodiment is used as an example to illustrate the method, which includes the following steps:

[0059] S10: Determine a mode switching time for the vehicle to switch from a parallel hybrid first gear to a parallel hybrid second gear.

[0060] During the driving of the hybrid vehicle, if the hybrid vehicle needs to switch the working mode from the parallel hybrid first gear HEV1 to the parallel hybrid second gear HEV2, it is necessary to determine the mode switching time of the hybrid vehicle from the parallel hybrid first gear to the parallel hybrid second gear. The mode switching time is the total time required for the mode switching that is pre-calibrated according to different mode switching requirements.

[0061] S20: Determine the real-time input shaft input torque in the electromechanical coupling system.

[0062] At the same time, it is also necessary to obtain the real-time input shaft input torque of the electromechanical coupling system and obtain the planetary gear characteristic parameters of the electromechanical coupling system in the hybrid vehicle. The real-time input shaft input torque can be obtained by detecting the torque sensor installed on the input shaft.

[0063] S30: Controlling the torque of the brake according to the mode switching duration and the input torque of the input shaft, and controlling the torque of the clutch according to the mode switching duration and the input torque of the input shaft.

[0064] In the process of switching from the parallel hybrid first gear to the parallel hybrid second gear, the torque of the brake is controlled according to the mode switching duration and the input torque of the input shaft, and the torque of the clutch is controlled according to the mode switching duration and the input torque of the input shaft, wherein the torque change slope of the brake is the same as the torque change slope of the clutch during the mode switching process. Since the torque change slope of the brake is the same as the torque change slope of the clutch during the mode switching process, the output torque of the electromechanical coupling system is independent of the torque exchange of the clutch during the mode switching process, and the output torque of the electromechanical coupling system is constant without torque fluctuation, thereby achieving smooth switching from HEV1 mode to HEV2 mode.

[0065] Specifically, in step S30, the torque of the brake is controlled according to the mode switching duration and the input shaft input torque, including: determining the brake torque at different times according to the mode switching duration, the input shaft input torque and the planetary gear characteristic parameters; and then controlling the brake according to the brake torque.

[0066] Specifically, the electromechanical coupling system includes a first clutch and a second clutch. In step S30, the torque of the clutch is controlled according to the mode switching duration and the input torque of the input shaft, including: controlling the first clutch to be in an engaged state; determining the clutch torque at different times according to the mode switching duration, the input torque of the input shaft and the characteristic parameters of the planetary gear; and controlling the second clutch according to the clutch torque.

[0067] Among them, it is necessary to base Figure 2 The power configuration of the electromechanical coupling system is then determined according to the speed and torque relationship of each structure in the electromechanical coupling system in HEV1 mode and HEV2 mode, and the torque control strategy of the brake and clutch is determined.

[0068] The speed relationship and torque relationship of each structure in the electromechanical coupling system under steady-state conditions in HEV1 mode are as follows:

[0069] Speed ​​relationship:

[0070]

[0071] Torque relationship:

[0072]

[0073] The speed relationship and torque relationship of each structure in the electromechanical coupling system under steady-state conditions in HEV2 mode are as follows:

[0074] Speed ​​relationship:

[0075]

[0076] Torque relationship:

[0077]

[0078] Among them, W S is the speed of the sun gear, W R is the speed of the ring gear, W PC is the rotation speed of the planet carrier, T S is the torque of the sun gear, T R is the torque of the ring gear, T PC is the torque of the planet carrier, K is the characteristic parameter of the planetary gear (take a positive value);

[0079] W EM1 is the speed of the generator, W EM2 is the speed of the driving motor, T EM1 is the torque of the generator, T EM2 is the torque of the driving motor, J EM1 is the moment of inertia of the generator, J EM2 is the moment of inertia of the drive motor, α EM1is the angular acceleration of the generator, α EM2 is the angular acceleration of the drive motor, W ICE is the engine speed, T ICE is the torque of the engine;

[0080] i EM1 is the speed ratio from the generator to the input shaft, i EM2 is the speed ratio from the drive motor to the intermediate shaft, i3 is the speed ratio from the planetary carrier to the intermediate shaft, i final Main reduction ratio;

[0081] T B is the brake torque, T C0 is the torque of the first clutch C0, T C1 is the torque of the second clutch C1, T in is the input shaft torque, T whl Output torque to the wheel end.

[0082] From the above relationship between the speed and torque of each structure in the electromechanical coupling system, it can be seen that when the hybrid vehicle switches from the HEV1 mode to the HEV2 mode, the changes in the brake torque and the clutch torque at different times t are as follows: Figure 4 As shown, in Figure 4 In, T B0 is the brake torque in HEV1 mode, T B is the brake torque in HEV2 mode, T C is the clutch torque in HEV1 mode, T C1 is the clutch torque in HEV2 mode, that is T is the mode switching time, K is the characteristic parameter of the planetary gear, T in Enter the torque for the input shaft.

[0083] Depend on Figure 4 It can be seen that during the mode switching process, the decreasing slope of the brake torque is the same as the increasing slope of the clutch torque. C1 and brake T B The torque calculation formula is:

[0084]

[0085]

[0086] That is, the brake torque is determined by the following formula:

[0087]

[0088] And the clutch torque is determined by the following formula:

[0089]

[0090] Among them, T B is the brake torque at time t; T C1 is the clutch torque at time t; T in is the input torque of the input shaft; K is the absolute value of the characteristic parameter of the planetary gear; T is the mode switching time.

[0091] During the mode switching process from HEV1 mode to HEV2 mode, the input torque T in , mode switching time T and planetary gear characteristic parameter K are used to determine the clutch torque and brake torque at different times during the mode switching process, which requires little calculation and is convenient and fast.

[0092] During the mode switching process, the slope r1 of the brake torque change curve is the same as the slope r2 of the clutch torque change curve. The input torque T of the input shaft in the electromechanical coupling system is in and wheel end output torque T whl They are:

[0093] T in =(T ICE -J ICE α ICE )+(T EM1 -J EM1 α EM1 )i EM1 ;

[0094]

[0095] From the above formula, it can be seen that during the mode switching process, the output torque of the electromechanical coupling system (wheel end output torque T whl )for The main reduction ratio i final , Input shaft input torque T in , the speed ratio i3 from the planetary carrier to the intermediate shaft, and the absolute value K of the characteristic parameter of the planetary gear. The output torque of the electromechanical coupling system is independent of the torque exchange of the clutch. The output torque of the electromechanical coupling system is constant without torque fluctuation. There is no need to make torque compensation through the drive motor, which can ensure smooth changes in wheel-side torque during the switching process from HEV1 to HEV2 mode, thereby achieving smooth switching from HEV1 mode to HEV2 mode.

[0096] In this embodiment, the clutch for torque control is the second clutch C1. While controlling the torque of the brake and the clutch, it is also necessary to reasonably control the torque of the engine and the generator. By reasonably controlling the torque distribution of the engine, the generator, the second clutch and the brake, the wheel torque can be smoothly changed during the switching process from HEV1 to HEV2 mode, thereby achieving a smooth switch from HEV1 mode to HEV2 mode, thereby ensuring the smoothness of the mode switching.

[0097] In this embodiment, by determining the mode switching duration of the hybrid vehicle switching from the parallel hybrid first gear to the parallel hybrid second gear, the real-time input shaft input torque in the electromechanical coupling system is determined, the torque of the brake is controlled according to the mode switching duration and the input shaft input torque, and the torque of the clutch is controlled according to the mode switching duration and the input shaft input torque, wherein the torque change slope of the brake is the same as the torque change slope of the clutch during the mode switching process; the torque control strategy of the brake and the clutch switching from the HEV1 mode to the HEV2 mode is determined based on the input shaft input torque, and since the torque change rate of the brake is the same as the torque change rate of the clutch, during the mode switching process, the output torque of the electromechanical coupling system is independent of the torque exchange of the clutch, and the output torque of the electromechanical coupling system is constant without torque fluctuation, thereby achieving smooth switching from the HEV1 mode to the HEV2 mode.

[0098] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0099] In one embodiment, a control device for an electromechanical coupling system is provided, and the control device for the electromechanical coupling system corresponds one-to-one with the control method for the electromechanical coupling system in the above embodiment. Figure 5 As shown, the electromechanical coupling system control device includes a first determination module 501, a second determination module 502 and a control module 503. The functional modules are described in detail as follows:

[0100] A first determining module 501 is used to determine a mode switching time for a vehicle to switch from a parallel hybrid first gear to a parallel hybrid second gear;

[0101] A second determination module 502 is used to determine the input torque of the input shaft in the electromechanical coupling system;

[0102] A control module 503, configured to control the torque of the brake according to the mode switching duration and the input torque of the input shaft, and to control the torque of the clutch according to the mode switching duration and the input torque of the input shaft;

[0103] The torque change slope of the brake during mode switching is the same as the torque change slope of the clutch.

[0104] Furthermore, the control module 503 is further specifically configured to:

[0105] determining the brake torque at different times according to the mode switching duration, the input shaft input torque and the planetary gear characteristic parameter;

[0106] The brake is controlled according to the brake torque.

[0107] Further, the electromechanical coupling system includes a first clutch and a second clutch, and the control module 503 is specifically used for:

[0108] controlling the first clutch to be in an engaged state;

[0109] Determining the clutch torque at different times according to the mode switching duration, the input shaft input torque and the planetary gear characteristic parameters;

[0110] The second clutch is controlled according to the clutch torque.

[0111] Furthermore, the control module 503 is further configured to determine the brake torque according to the following formula:

[0112]

[0113] Among them, T B is the brake torque at time t; T in is the input torque of the input shaft; K is the absolute value of the characteristic parameter of the planetary gear; T is the mode switching duration.

[0114] Furthermore, the control module 503 is further configured to determine the clutch torque according to the following formula:

[0115]

[0116] Among them, T C1 is the clutch torque at time t; T in is the input torque of the input shaft; K is the absolute value of the characteristic parameter of the planetary gear; T is the mode switching duration.

[0117] For the specific definition of the electromechanical coupling system control device, please refer to the definition of the electromechanical coupling system control method above, which will not be repeated here. Each module in the above-mentioned electromechanical coupling system control device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0118] In one embodiment, a mechatronic coupling system control device is provided, and the mechatronic coupling system control device includes a processor and a memory connected through a system bus. The processor of the mechatronic coupling system control device is used to provide computing and control capabilities. The memory of the mechatronic coupling system control device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. When the computer program is executed by the processor, a mechatronic coupling system control method is implemented.

[0119] In one embodiment, Figure 6 As shown, a control device for an electromechanical coupling system is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the following steps are implemented:

[0120] Determine the mode switching time for the vehicle to switch from parallel hybrid first gear to parallel hybrid second gear;

[0121] determining a real-time input shaft input torque in the electromechanical coupling system;

[0122] Controlling the torque of the brake according to the mode switching duration and the input torque of the input shaft, and controlling the torque of the clutch according to the mode switching duration and the input torque of the input shaft;

[0123] The torque change slope of the brake during mode switching is the same as the torque change slope of the clutch.

[0124] In one embodiment, a readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0125] Determine the mode switching time for the vehicle to switch from parallel hybrid first gear to parallel hybrid second gear;

[0126] determining a real-time input shaft input torque in the electromechanical coupling system;

[0127] Controlling the torque of the brake according to the mode switching duration and the input torque of the input shaft, and controlling the torque of the clutch according to the mode switching duration and the input torque of the input shaft;

[0128] The torque change slope of the brake during mode switching is the same as the torque change slope of the clutch.

[0129] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0130] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0131] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A control method for an electromechanical coupling system, characterized in that: include: Determine the mode switching time for the vehicle to switch from parallel hybrid first gear to parallel hybrid second gear; determining a real-time input shaft input torque in the electromechanical coupling system; Controlling the torque of the brake according to the mode switching duration and the input torque of the input shaft, and controlling the torque of the clutch according to the mode switching duration and the input torque of the input shaft; Wherein, during the mode switching process, the torque change slope of the brake is the same as the torque change slope of the clutch; The controlling of the torque of the brake according to the mode switching duration and the input torque of the input shaft comprises: determining the brake torque at different times according to the mode switching duration, the input shaft input torque and the planetary gear characteristic parameter; controlling the brake according to the brake torque; The brake torque is determined by the following formula: Among them, T B is the brake torque at time t; T in is the input torque of the input shaft; K is the absolute value of the characteristic parameter of the planetary gear; T is the mode switching duration.

2. The electromechanical coupling system control method according to claim 1, characterized in that: The electromechanical coupling system includes a first clutch and a second clutch, and the torque of the clutch is controlled according to the mode switching duration and the input torque of the input shaft, including: controlling the first clutch to be in an engaged state; Determining the clutch torque at different times according to the mode switching duration, the input shaft input torque and the planetary gear characteristic parameters; The second clutch is controlled according to the clutch torque.

3. The electromechanical coupling system control method according to claim 2, characterized in that: The clutch torque is determined by the following formula: Among them, T C1 is the clutch torque at time t; T in is the input torque of the input shaft; K is the absolute value of the characteristic parameter of the planetary gear; T is the mode switching duration.

4. A control device for an electromechanical coupling system, characterized in that: include: A first determination module is used to determine the mode switching time of the vehicle from the parallel hybrid first gear to the parallel hybrid second gear; A second determination module, configured to determine an input shaft input torque in the electromechanical coupling system; a control module, configured to control the torque of the brake according to the mode switching duration and the input torque of the input shaft, and to control the torque of the clutch according to the mode switching duration and the input torque of the input shaft; Wherein, during the mode switching process, the torque change slope of the brake is the same as the torque change slope of the clutch; The control module is also used for: determining the brake torque at different times according to the mode switching duration, the input shaft input torque and the planetary gear characteristic parameter; controlling the brake according to the brake torque; The brake torque is determined by the following formula: Among them, T B is the brake torque at time t; T in is the input torque of the input shaft; K is the absolute value of the characteristic parameter of the planetary gear; T is the mode switching duration.

5. A control device for an electromechanical coupling system, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the electromechanical coupling system control method according to any one of claims 1 to 3 are implemented.

6. A readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the electromechanical coupling system control method according to any one of claims 1 to 3 are implemented.

7. A vehicle control system, characterized in that: The vehicle control system includes an electromechanical coupling system and an electromechanical coupling system control device as claimed in claim 4.

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