Low-temperature power-limited hybrid system speed control method, device, vehicle and storage medium

Abstract

The present invention discloses a method, device, vehicle, and storage medium for regulating a hybrid power system with limited low-temperature power. The method comprises: upon receiving an activation signal for regulating the hybrid power system with limited low-temperature power, if the current state meets the activation conditions, setting the speed regulation power-limited state to an activated state; after entering the activated state, performing speed regulation control; and upon receiving a speed regulation completion signal, exiting the speed regulation control of the hybrid power system with limited low-temperature power if the completion conditions are met. The speed regulation control includes identifying the speed difference between the clutch driving plate and the driven plate, determining the engine target torque based on the speed difference if the speed difference is within a speed difference range, and adjusting the speed according to the engine target torque. The present invention can implement dynamic speed regulation for the hybrid system, thereby improving the adaptability of hybrid vehicles in low-temperature environments.

Description

Technical Field

[0001] The present invention relates to the technical field of new energy vehicles, and in particular to a speed regulation method, device, vehicle and storage medium for a low-temperature power-limited hybrid power system. Background Art

[0002] With the continuous advancement of technology, hybrid vehicles are becoming increasingly popular among consumers, and drivers are placing higher demands on the environmental adaptability of hybrid systems. In cold regions, the charging and discharging power of power batteries is limited due to low cell temperatures, which can easily lead to driving hazards or power degradation during hybrid vehicle operation. During the series-parallel mode switching process, conventional generator speed control methods can cause overcharging or overdischarging in a short period of time, even shortening the power battery life. This can further lead to the failure of the speed control function, causing the engine to exceed the maximum operating speed, resulting in the failure of the parallel function, and affecting the driving experience. Summary of the Invention

[0003] The present invention provides a method, device, vehicle, and storage medium for controlling the speed of a hybrid power system with limited low-temperature power. Based on a proportional-integral-derivative (PID) controller and hybrid power system constraints, the method can implement dynamic speed control of the hybrid power system, thereby improving the adaptability of hybrid vehicles in low-temperature environments.

[0004] In a first aspect, the present invention provides a method for regulating the speed of a hybrid power system with limited power at low temperatures, wherein the hybrid power system includes a clutch, an engine, a generator, a front drive motor, and a crankshaft, and the method includes:

[0005] After receiving an activation signal for the low-temperature power-limited hybrid system speed regulation, if the current state meets the activation conditions, the speed regulation power-limited state is set to the activated state;

[0006] After entering the activation state, speed control is performed;

[0007] After receiving the speed regulation completion signal, if the completion condition is met, exiting the speed regulation control of the low-temperature power-limited hybrid system;

[0008] The speed control includes identifying the speed difference between the clutch driving plate and the driven plate, and if the speed difference is within the speed difference range, determining the engine target torque based on the speed difference, and adjusting the speed according to the engine target torque.

[0009] Optionally, the activation signal includes the set operating mode and actual operating mode of the hybrid system, the average battery cell temperature, the peak charging power and peak discharging power within 10 seconds, the remaining battery power, the maximum generating / discharging torque of the generator, the actual speed of the generator, the actual torque of the generator, the front drive motor speed, the actual speed of the engine, the engine water temperature, the engine friction torque and the maximum torque of the engine.

[0010] The activation condition is that the following conditions are met at the same time:

[0011] The target system operating mode issued by the HCU mode management module is parallel, the actual system operating mode is series, the average cell temperature is ≤0°C, and the 10s peak charge / discharge power is ≤16kw.

[0012] Through the above technical means, by determining the speed difference range between the clutch active plate and the driven plate, the torque limit of the crankshaft component and the target driving power of the vehicle, the crankshaft target torque, the generator target torque and the engine target torque are analyzed respectively, and the dynamic speed regulation function of the low-temperature power-limited hybrid system is realized, thereby improving the adaptability of hybrid vehicles in low-temperature environments.

[0013] Optionally, the method for identifying the speed difference range includes:

[0014] Obtaining an engine target speed, the engine target speed being calculated based on the actual speed of the front drive motor and a hybrid system speed ratio, the hybrid system speed ratio including the engine transmission speed ratio and the front drive motor transmission speed ratio;

[0015] Get the actual engine speed;

[0016] The speed difference between the clutch driving plate and the driven plate is calculated based on the target engine speed and the actual engine speed.

[0017] The value range of the speed difference between the clutch driving plate and the driven plate is set. Preferably, the value range is [-2000, 2000].

[0018] Through the above technical means, the speed difference between the clutch driving plate and the driven plate can be determined, and the value range of the speed difference can be set, providing a basis for the subsequent analysis of the crankshaft target torque.

[0019] Optionally, in order to identify the speed regulation state of the hybrid power system, the method for identifying the speed difference range further includes: setting a time threshold for speed regulation control according to the value range.

[0020] Optionally, the method for analyzing the crankshaft target torque includes:

[0021] Obtain the speed difference between the clutch driving plate and the driven plate;

[0022] Obtaining proportional-integral-derivative control (PID) control parameters (i.e., PID control parameters);

[0023] The crankshaft target torque is calculated based on the speed difference between the clutch driving plate and the driven plate and the PID control parameters.

[0024] Through the above technical means, the crankshaft target torque can be analyzed, providing a basis for the subsequent analysis of the crankshaft target torque.

[0025] In order to avoid PID control overshoot, which may cause overcharging or over-discharging of the power battery during the speed regulation process, the HCU can parse the crankshaft torque limit value based on the power battery charging / discharging, generator charging / driving and the maximum capacity of the engine; optionally, the method of parsing the crankshaft target torque also includes: limiting the crankshaft target torque to a maximum torque and a minimum torque, and if the crankshaft target torque is between the crankshaft maximum torque limit and the crankshaft minimum torque limit, the engine target torque is obtained by calculating based on the crankshaft target torque and the generator target torque.

[0026] Optionally, the method for analyzing the generator target torque includes:

[0027] Acquiring generator parameters, including charging power and actual speed;

[0028] Obtaining an initial generator target torque according to the generator parameters and an ignition control curve required by the generator under various operating conditions;

[0029] The initial generator target torque is subjected to maximum torque limitation or minimum torque limitation to obtain the generator target torque.

[0030] Optionally, the speed regulation completion signal includes the speed regulation time and the speed difference between the driving disc and the driven disc of the clutch after speed regulation. If the speed difference between the driving disc and the driven disc of the clutch after speed regulation is less than a preset threshold and the speed regulation time is less than a preset time, it is determined that the completion condition is met, and there is a corresponding relationship between the preset time and the speed difference range.

[0031] In a second aspect, the present invention provides a low-temperature power-limited hybrid system speed control device, wherein the hybrid system includes a clutch, an engine, a generator, a front drive motor, and a crankshaft, and the speed control device includes:

[0032] an activation module, configured to receive an activation signal for the low-temperature power-limited hybrid system speed regulation, and set the speed regulation power-limited state to an activated state if the current state meets the activation conditions;

[0033] A speed control module, used to perform speed control after entering the activation state; and

[0034] The exit module is used to exit the speed control of the low-temperature power-limited hybrid system if the completion condition is met after receiving the speed control completion signal.

[0035] The speed control module includes a speed difference unit for identifying the speed difference between the clutch driving plate and the driven plate, an engine target torque determination unit for determining the engine target torque according to the speed difference if the speed difference is within a speed difference range, and a speed control unit for adjusting the speed according to the engine target torque.

[0036] After receiving an activation signal for the low-temperature power-limited hybrid system speed regulation, if the current state meets the activation conditions, the speed regulation power-limited state is set to the activated state;

[0037] After entering the activation state, speed control is performed;

[0038] After receiving the speed regulation completion signal, if the completion condition is met, exiting the speed regulation control of the low-temperature power-limited hybrid system;

[0039] The speed control includes identifying the speed difference between the clutch driving plate and the driven plate. If the speed difference is within the speed difference range, the engine target torque is determined based on the speed difference, and the speed is adjusted according to the engine target torque, thereby realizing the dynamic speed regulation function of the low-temperature power-limited hybrid system and improving the adaptability of hybrid vehicles in low-temperature environments.

[0040] In a third aspect, the present invention provides a vehicle comprising the above-mentioned low-temperature power-limited hybrid power system speed control device.

[0041] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the above-mentioned low-temperature power-limited hybrid power system speed control method.

[0042] The present invention has the following advantages:

[0043] The present invention can judge whether the low-temperature power limitation condition is currently met based on the driving state of the entire vehicle and feedback information from components, determine the speed difference range between the clutch active disc and the driven disc and identify the speed regulation time threshold, and parse the crankshaft target torque based on the PID controller, the system charging and discharging power characteristics, the crankshaft component torque limit and the target driving power of the entire vehicle, and parse the crankshaft target torque, the generator target torque and the engine target torque respectively, thereby realizing the dynamic speed regulation function of the low-temperature power-limited hybrid system, thereby improving the adaptability of hybrid vehicles in low-temperature environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 11 is a flow chart of the speed control method for a hybrid power system with limited low-temperature power according to the present invention;

[0045] Figure 2 1 is a flow chart of the method for identifying the speed difference range according to the present invention;

[0046] Figure 3 1 is a flow chart of the method for analyzing the crankshaft target torque according to the present invention;

[0047] Figure 4 is a flow chart of the method for analyzing the target torque of a generator according to the present invention;

[0048] Figure 5 is a flow chart of the method for determining the target torque of the engine according to the present invention;

[0049] Figure 6 It is a schematic structural block diagram of the low-temperature power-limited hybrid power system speed control device of the present invention. DETAILED DESCRIPTION

[0050] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0051] In this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "includes," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0052] The following describes, with reference to the accompanying drawings, a method, apparatus, vehicle, and storage medium for controlling a hybrid system with limited low-temperature power, according to embodiments of the present application. As mentioned in the background art, in cold climates, the charging and discharging power of power batteries is limited due to low cell temperatures, which can easily lead to driving hazards or power degradation during hybrid vehicle operation. During series-parallel mode switching, conventional generator speed control methods can cause overcharging or overdischarging within a short period of time, shortening the life of the power battery. This can further lead to the failure of the speed control function, causing the engine to exceed its maximum operating speed, resulting in the failure of the parallel function and a negative impact on the driving experience.

[0053] Based on the above reasons, the present invention provides a low-temperature power-limited hybrid system speed control method, such as Figure 1 Shown is a flow chart of a speed control method for a hybrid system with limited low-temperature power.

[0054] In step S100 , after receiving an activation signal for low-temperature power-limited hybrid system speed regulation, if the current state meets the activation conditions, the speed regulation power-limited state is set to the activated state;

[0055] Exemplarily, the activation signal includes the set operating mode and actual operating mode of the hybrid power system, the average battery cell temperature, the peak charging power and peak discharging power within 10 seconds, the remaining battery power, the maximum generating / discharging torque of the generator, the actual speed of the generator, the actual torque of the generator, the speed of the front drive motor, the actual speed of the engine, the engine water temperature, the engine friction torque and the maximum torque of the engine; if the set operating mode is parallel, the actual system operating mode is series, the average battery cell temperature is less than the preset temperature, and the peak charging power or the peak discharging power is less than the preset power, it is determined that the current state meets the activation conditions.

[0056] For example, if the target system operating mode issued by the hybrid vehicle controller (HCU) mode management module is parallel, the actual system operating mode is series, the average battery cell temperature is ≤0°C, and the 10s peak charge / discharge power is ≤16kW, and all of these conditions are met, the HCU sets the speed control power limited state to active.

[0057] In step S200, after entering the active state, speed control is performed. This speed control includes identifying the speed difference range between the clutch driving plate and the driven plate, analyzing the crankshaft target torque, analyzing the generator target torque, and determining the engine target torque. If the speed difference is within the speed difference range, the engine target torque is determined based on the speed difference, and speed adjustment is performed based on the engine target torque.

[0058] In step S300 , after receiving the speed regulation completion signal, if the completion condition is met, exiting the speed regulation control of the low-temperature power-limited hybrid system;

[0059] For example, if the speed difference between the clutch driving and driven discs is less than 50 rpm and the speed regulation time is less than the speed regulation function time threshold determined in step S413, the HCU sets the hybrid system speed regulation status to "successful" and exits speed regulation control. Otherwise, if speed regulation fails, the HCU will jump to step S100 and perform a jump count. If the number of speed regulation failures exceeds three, the HCU will prohibit the hybrid system from entering parallel mode and trigger the fault protection flag.

[0060] In some embodiments, as Figure 2FIG. 1 is a flow chart of a method for identifying a speed difference range according to the present invention, wherein the method for identifying a speed difference range includes:

[0061] In step S410, the target engine speed is obtained;

[0062] For example, the specific acquisition method is as follows:

[0063]

[0064] Where n EngReq is the target engine speed, n FmcuAct is the actual speed of the front drive motor, r Fmcu Transmission speed ratio for the front drive motor, r Eng Transmits the speed ratio for the engine.

[0065] In step S411 , the actual speed of the driving motor is obtained, and the actual speed is obtained by a sensor.

[0066] In step S412, the speed difference between the clutch driving plate and the driven plate is calculated using the target engine speed and the actual speed of the drive motor;

[0067] Exemplarily, the calculation process is as follows:

[0068] n CluDiff =n EngReq -n EngAct

[0069] Where n CluDiff is the speed difference between the clutch driving plate and the driven plate, n EngAct is the actual engine speed.

[0070] In step S413, a range of a speed difference between the clutch driving plate and the driven plate is set.

[0071] For example, the HCU sets the clutch drive disc and driven disc speed difference range to [-2000, 2000]. The clutch drive disc and driven disc speed difference range can be further divided into [-2000, -1000], [-1000, 0], [0, 1000], and [1000, 2000].

[0072] Furthermore, when the speed difference between the clutch active plate and the driven plate is greater than ±2000 rpm, the HCU will prohibit the hybrid system from entering the parallel mode and trigger the fault protection flag.

[0073] In some embodiments, in order to identify the speed regulation state of the hybrid power system, the method for identifying the speed difference range further includes: setting a time threshold for speed regulation control according to the value range.

[0074] For example, as shown in Table 1, the HCU can establish a corresponding relationship between the speed difference range between the clutch driving plate and the driven plate and the speed regulation function time threshold based on bench testing and actual vehicle calibration.

[0075] Table 1 Relationship between speed difference range and speed regulation time threshold

[0076] Speed ​​difference range (rpm) [-2000，-1000] [-1000,0] [0,1000] [1000,2000] Time threshold (s) 4 3 4 5

[0077] In some embodiments, as Figure 3 FIG. 1 is a flow chart of a method for analyzing a crankshaft target torque according to the present invention. The method for analyzing a crankshaft target torque includes:

[0078] In step S420, the speed difference between the clutch driving plate and the driven plate is obtained;

[0079] For example, define the input variable e(k): The HCU sets the clutch driving disc and driven disc speed difference at time k to e(k). The speed difference e(k) of the clutch driving disc and driven disc has a value range of [-2000, 2000] rpm.

[0080] The basic principles are as follows:

[0081] e(k)=n EngHeq (k)-n EngAct (k)

[0082] Where n EngReq (k) is the target engine speed at time k, n EngAct (k) is the actual engine speed at time k, and e(k) is the speed difference between the clutch driving plate and the driven plate at time k.

[0083] Define the output variable Tq CrkSftReq (k): HCU sets the crankshaft target torque at time k to Tq CrkSftReq (k).

[0084] In step S421, PID control parameters are obtained;

[0085] For example, the HCU can obtain the PID control coefficient K by looking up the two-dimensional table according to the engine water temperature and the speed difference between the clutch driving plate and the driven plate. p , K i , K d , to avoid excessive engine water temperature during the low-temperature power-limited speed regulation stage. The above is a two-dimensional table of the relationship between engine water temperature, clutch active and driven disc speed difference, and PID control parameters determined through bench testing and actual vehicle calibration.

[0086] In step S422 , the crankshaft target torque is calculated based on the speed difference between the clutch driving plate and the driven plate and the PID control parameters.

[0087] Exemplarily, the actual crankshaft torque at time k of the crankshaft in the low-temperature power-limited speed regulation stage is calculated according to the PID control parameters.

[0088] The basic principles are as follows:

[0089] The crankshaft target torque at time k is calculated according to the following formula:

[0090] Tq CrkSftReq (k) = K p ·[e(k)-e(k-1)]+k i e(k)+k d [e(k)-2e(k-1)+e(k-2)],

[0091] Where K p is the proportional control coefficient of the PID controller, k i is the integral control coefficient of the PID controller, k d is the differential control coefficient of the PID controller, e(k) is the speed difference between the clutch active disc and the driven disc at time k, e(k-1) is the speed difference between the clutch active disc and the driven disc at time k-1, and e(k-2) is the speed difference between the clutch active disc and the driven disc at time k-2.

[0092] In some embodiments, to avoid PID control overshoot, which may cause overcharging or over-discharging of the power battery during the speed regulation process, the HCU may parse the crankshaft torque limit value based on the power battery charging / discharging, generator charging / driving, and the maximum capacity of the engine; the method for parsing the crankshaft target torque also includes: limiting the crankshaft target torque to a maximum torque and a minimum torque.

[0093] Exemplarily, the specific method of limiting the maximum torque and the minimum torque of the crankshaft target torque is as follows:

[0094] Method 1: When the speed difference between the clutch driving plate and the driven plate is greater than 0 rpm, the HCU can analyze the current maximum crankshaft torque limit based on the 10s peak discharge power, the actual generator speed, the generator's maximum discharge torque, and the engine's maximum torque.

[0095] The basic principles are as follows:

[0096]

[0097] Tq CrksftMax =Tq GcuMax +Tq EngMax

[0098] Where, Tq GcuMax is the maximum torque limit of the generator, P PeakDchrg10s is the peak discharge power of the battery in 10s, nGcuAct is the actual speed of the generator, Tq GcuEleMax is the maximum discharge torque of the generator, Tq CrksftMax is the maximum crankshaft torque limit, Tq EngMax is the maximum engine torque.

[0099] Method 2: When the speed difference between the clutch driving plate and the driven plate is less than 0 rpm, the HCU can analyze the current minimum crankshaft torque limit based on the 10s peak charging power, the actual generator speed, the generator's maximum generating torque, and the engine friction torque.

[0100] The basic principles are as follows:

[0101]

[0102] Tq CrksftMin =Tq GcuMin +Tq EngFric

[0103] Where, Tq GcuMin is the minimum torque limit of the generator, P PeakChrg10s The peak charging power of the battery in 10 seconds, Tq GcuGenMax is the maximum charging torque of the generator, Tq CrksftMin , is the minimum crankshaft torque limit, Tq EngFric Engine friction torque.

[0104] In some embodiments, as Figure 4 FIG. 1 is a flow chart of a method for analyzing a generator target torque according to the present invention. The method for analyzing a generator target torque includes:

[0105] In step S431, the charging power of the generator is obtained;

[0106] Exemplary methods for obtaining the generator charging power are that the HCU obtains the generator charging power based on the target driving power of the entire vehicle and by looking up a one-dimensional table through the difference between the battery target SOC and the actual SOC; a one-dimensional table of the difference between the battery target SOC and the actual SOC and the generator charging power offset value can be determined through bench testing.

[0107] In step S432, the initial generator target torque is obtained according to the actual generator speed and the generator efficiency Map;

[0108] In step S433 , the initial generator target torque is subjected to maximum torque limitation or minimum torque limitation, thereby obtaining the generator target torque.

[0109] Furthermore, the maximum / minimum torque limit of the generator is analyzed using the above-mentioned method 1 and method 2 to obtain the generator target torque.

[0110] In some embodiments, Figure 5 FIG. 1 is a flow chart of a method for determining an engine target torque according to the present invention. The method for determining an engine target torque includes:

[0111] In step S441, after activating the engine fast torque request, proceed to step S442 as follows;

[0112] Exemplarily, the method after activating the engine fast torque request is that the HCU activates the engine fast torque request flag.

[0113] In step S442, the crankshaft target torque and the engine target torque are obtained;

[0114] In step S443 , the engine target torque is calculated from the crankshaft target torque and the engine target torque.

[0115] Exemplarily, the target engine torque is calculated as follows:

[0116] Tq EngReq =tq crkSftReq -Tq GcuAct ×r Gcu

[0117] Where, Tq EngReq is the target engine torque, Tq GcuAct is the actual torque of the generator, r Gcu is the speed ratio between the generator and the engine.

[0118] The embodiment discloses a speed control method for a hybrid system with limited low-temperature power. The method determines whether the low-temperature power limitation condition is currently met based on the vehicle's driving state and component feedback information, determines the speed difference range between the clutch driving plate and the driven plate, and identifies the speed control time threshold. The method also parses the crankshaft target torque, generator target torque, and engine target torque based on a PID controller, system charging and discharging power characteristics, crankshaft component torque limit, and vehicle target drive power, thereby realizing a dynamic speed control function for the hybrid system with limited low-temperature power, thereby improving the adaptability of hybrid vehicles in low-temperature environments.

[0119] In another embodiment of the present invention, Figure 6 FIG2 is a schematic structural block diagram of a low-temperature power-limited hybrid system speed control device according to the present invention; and FIG3 is also provided with a low-temperature power-limited hybrid system speed control device, wherein the hybrid system includes a clutch, an engine, a generator, a front drive motor, and a crankshaft, and the speed control device includes:

[0120] The activation module 200 is configured to receive an activation signal for the low-temperature power-limited hybrid system speed regulation, and if the current state meets the activation conditions, set the speed regulation power-limited state to the activated state;

[0121] The speed regulation module 300 is used to perform speed regulation control after entering the activation state; and

[0122] The exit module 100 is configured to exit the speed regulation control of the low-temperature power-limited hybrid system if a completion condition is met after receiving the speed regulation completion signal.

[0123] The speed control module 300 includes a speed difference unit 301 for identifying the speed difference between the clutch driving plate and the driven plate, an engine target torque determination unit 302 for determining the engine target torque according to the speed difference if the speed difference is within a speed difference range, and a speed control unit 303 for adjusting the speed according to the engine target torque.

[0124] After the low-temperature power-limited hybrid system speed regulating device of this embodiment receives the activation signal for the low-temperature power-limited hybrid system speed regulating, if the current state meets the activation condition, the speed regulating power-limited state is set to the activated state;

[0125] After entering the activation state, speed control is performed;

[0126] After receiving the speed regulation completion signal, if the completion condition is met, exiting the speed regulation control of the low-temperature power-limited hybrid system;

[0127] The speed control includes identifying the speed difference between the clutch driving plate and the driven plate. If the speed difference is within the speed difference range, the engine target torque is determined based on the speed difference, and the speed is adjusted according to the engine target torque, thereby realizing the dynamic speed regulation function of the low-temperature power-limited hybrid system and improving the adaptability of hybrid vehicles in low-temperature environments.

[0128] An embodiment of the present application further provides a vehicle comprising the aforementioned low-temperature power-limited hybrid system speed control device. Upon receiving an activation signal for low-temperature power-limited hybrid system speed control, the device sets the speed control power-limited state to an activated state if the current state meets activation conditions. After entering the activated state, the device performs speed control. Upon receiving a speed control completion signal, the device exits low-temperature power-limited hybrid system speed control if the completion conditions are met. The speed control includes identifying the speed difference range between the clutch driving and driven discs, analyzing the crankshaft target torque, analyzing the generator target torque, and determining the engine target torque. This embodiment, based on a PID controller and hybrid system constraints, enables dynamic speed control of the hybrid system, thereby improving the adaptability of hybrid vehicles in low-temperature environments.

[0129] It should be noted that, in the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0130] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-readable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-readable program code.

[0131] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0132] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0133] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0134] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the program is executed by a processor to implement the above-mentioned low-temperature power-limited hybrid system speed control method.

[0135] If the module / unit integrated into the low-temperature power-limited hybrid system speed control device / terminal equipment is implemented as a software functional unit and sold or used as a standalone product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention can also implement all or part of the process steps in the above-mentioned method embodiments by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium and, when executed by a processor, can implement the steps of each of the above-mentioned method embodiments.

[0136] The computer program includes computer program code, which may be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal, and software distribution medium. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0137] In the several embodiments provided in this application, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is merely a logical functional division. In actual implementation, other division methods may be used, such as combining or integrating multiple units or components into another system, or ignoring or not implementing certain features. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interface, indirect coupling or communication connection between devices or units, and may be electrical, mechanical, or other forms.

[0138] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the objectives of this embodiment based on actual needs.

[0139] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0140] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the essence of the technical solution of the present application or the part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of each embodiment of the present application. The above embodiments are only used to illustrate the technical solution of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the above embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions described in the above embodiments or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solution to deviate from the spirit and scope of the technical solutions of each embodiment of the present application.

[0141] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for regulating the speed of a hybrid power system with limited power at low temperatures, wherein the hybrid power system comprises a clutch, a crankshaft obtained by combining an engine and a generator, and a front drive motor, characterized in that: The method comprises: After receiving an activation signal for the low-temperature power-limited hybrid system speed regulation, if the current state meets the activation conditions, the speed regulation power-limited state is set to the activated state; After entering the activation state, speed control is performed; After receiving the speed regulation completion signal, if the completion condition is met, exiting the speed regulation control of the low-temperature power-limited hybrid system; The speed control includes identifying the speed difference between the clutch driving plate and the driven plate, determining the engine target torque based on the speed difference if the speed difference is within a speed difference range, and adjusting the speed according to the engine target torque; The activation signal includes the set operating mode and actual operating mode of the hybrid power system, the average battery cell temperature, the peak charging power and peak discharging power within 10 seconds, the remaining battery power, the maximum generating / discharging torque of the generator, the actual speed of the generator, the actual torque of the generator, the speed of the front drive motor, the actual speed of the engine, the engine water temperature, the engine friction torque and the maximum torque of the engine; if the set operating mode is parallel, the actual system operating mode is series, the average battery cell temperature is less than the preset temperature, and the peak charging power or the peak discharging power is less than the preset power, it is determined that the current state meets the activation conditions.

2. The low-temperature power-limited hybrid system speed control method according to claim 1, characterized in that: The identifying of the speed difference between the clutch driving disc and the driven disc includes: Obtaining an engine target speed, the engine target speed being calculated based on the actual speed of the front drive motor and a hybrid system speed ratio, the hybrid system speed ratio including the engine transmission speed ratio and the front drive motor transmission speed ratio; obtaining an engine actual speed; The speed difference between the clutch driving plate and the driven plate is calculated based on the target engine speed and the actual engine speed.

3. The method according to claim 1 or 2, characterized in that Determining the target engine torque according to the speed difference includes: Get PID control parameters; Calculating the speed difference according to the PID control parameter to obtain a crankshaft target torque; If the crankshaft target torque is between the crankshaft maximum torque limit and the crankshaft minimum torque limit, the engine target torque is obtained by calculation based on the crankshaft target torque and the generator target torque.

4. The method according to claim 3, characterized in that The calculation formula for obtaining the crankshaft target torque by calculating the speed difference according to the PID control parameter is: Tq CrkSftReq (k)=K p ·[e(k)-e(k-1)]+k i ·e(k)+k d ·[e(k)-2e(k-1)+e(k-2)] Among them, K p is the proportional control coefficient of the PID controller, k i is the integral control coefficient of the PID controller, k d is the differential control coefficient of the PID controller, e(k) is the speed difference between the clutch active disc and the driven disc at time k, e(k-1) is the speed difference between the clutch active disc and the driven disc at time k_1, and e(k-2) is the speed difference between the clutch active disc and the driven disc at time k_2; The calculation formula of the maximum torque of the generator is: Among them, Tq GcuMax is the maximum torque limit of the generator, P PeakDchrg10s is the 10-second peak discharge power, n GcuAct is the actual speed of the generator, Tq GcuEleMax is the maximum discharge torque of the generator, Tq EngMax is the maximum torque of the engine; the calculation formula for the minimum torque of the generator is: Where, Tq GcuMin is the minimum torque limit of the generator, P PeakChrg10s is the peak charging power for 10 seconds, Tq GcuGenMax is the maximum charging torque of the generator, Tq EngFric Engine friction torque.

5. The low-temperature power-limited hybrid system speed control method according to claim 3, characterized in that: The generator target torque is obtained by: Acquiring generator parameters, including charging power and actual speed; An initial generator target torque is obtained according to the generator parameters and an ignition control curve required by the generator under various operating conditions; and a maximum torque limit or a minimum torque limit is applied to the initial generator target torque to obtain a generator target torque.

6. The low-temperature power-limited hybrid system speed control method according to claim 1, characterized in that: The speed regulation completion signal includes the speed regulation duration and the speed difference between the driving disc and the driven disc of the clutch after the speed regulation. If the speed difference between the driving disc and the driven disc of the clutch after the speed regulation is less than a preset threshold and the speed regulation duration is less than a preset duration, it is determined that the completion condition is met. There is a corresponding relationship between the preset duration and the speed difference range.

7. A low-temperature power-limited hybrid system speed control device, the hybrid system comprising a clutch, an engine, a generator, a front drive motor and a crankshaft, characterized in that: The speed regulating device includes: an activation module, configured to receive an activation signal for the low-temperature power-limited hybrid system speed regulation, and set the speed regulation power-limited state to an activated state if the current state meets the activation conditions; A speed control module, used to perform speed control after entering the activation state; and an exit module, configured to exit the speed control of the low-temperature power-limited hybrid system if a completion condition is met after receiving the speed control completion signal; The speed control module includes a speed difference unit for identifying a speed difference between a clutch driving plate and a driven plate, an engine target torque determination unit for determining an engine target torque based on the speed difference if the speed difference is within a speed difference range, and a speed control unit for adjusting the speed according to the engine target torque; The activation signal includes the set operating mode and actual operating mode of the hybrid power system, the average battery cell temperature, the peak charging power and peak discharging power within 10 seconds, the remaining battery power, the maximum generating / discharging torque of the generator, the actual speed of the generator, the actual torque of the generator, the speed of the front drive motor, the actual speed of the engine, the engine water temperature, the engine friction torque and the maximum torque of the engine; if the set operating mode is parallel, the actual system operating mode is series, the average battery cell temperature is less than the preset temperature, and the peak charging power or the peak discharging power is less than the preset power, it is determined that the current state meets the activation conditions.

8. A vehicle, characterized in that: include: The low-temperature power-limited hybrid system speed control device as claimed in claim 7.

Images