Synchronization control method, device and equipment based on hybrid system

Abstract

The application discloses a synchronous control method, device and equipment based on a hybrid power system, and the method comprises the following steps: acquiring a camshaft rotating speed signal; acquiring a current interrupt time when the camshaft rotating speed signal is interrupted; determining whether the current interrupt time is at a characteristic information point of the camshaft rotating speed signal; if yes, determining an initial engine phase of the characteristic information point according to the mechanical position of a camshaft gear disc installation; acquiring a rotary variable signal; sampling the rotary variable signal to acquire an initial rotary variable speed and an initial rotary variable phase; synchronizing subsequent rotary variable phases, engine phases and motor phases according to the initial engine phase and the initial rotary variable phase; determining an engine control trigger point and a motor control trigger point according to the initial rotary variable speed; when the engine control trigger point and the motor control trigger point are reached, triggering engine synchronous control based on the engine phase synchronized with the rotary variable signal, and triggering motor synchronous control based on the motor phase synchronized with the rotary variable signal.

Description

Technical Field

[0001] This invention relates to the field of hybrid power, and more particularly to a synchronous control method, apparatus, and device based on a hybrid power system. Background Technology

[0002] Traditional hybrid power systems use a flywheel, torsional damper, and clutch between the engine and motor to reduce shaft vibration while transmitting torque. In recent years, a new approach has been proposed that replace the engine flywheel with the rotor of an integrated starter-generator (ISG), with the ISG rotor rigidly connected to the rear end of the crankshaft. This approach eliminates the torsional damper and clutch, resulting in a more compact and cost-effective hybrid power system.

[0003] Based on the aforementioned hybrid power systems, some existing solutions fail to synchronize the engine and motor phases, while others do not use an integrated controller to synchronously control the motor and engine, making high-frequency coordinated control between the motor and engine impossible. Engine control still requires a crankshaft speed sensor. Some solutions do not consider the difference between the number of pole pairs in the resolver sensor and the number of pole pairs in the motor, only proposing a method for calculating the engine phase based on the motor control cycle, but this phase cannot be directly used for engine control. This leads to drawbacks such as high cost, system redundancy, and inability to achieve high-frequency synchronous control.

[0004] Therefore, a solution for synchronous control of the motor and engine is needed to overcome the above-mentioned defects. Summary of the Invention

[0005] This invention provides a synchronous control method, device, and equipment based on a hybrid power system, which solves the problems of high control cost of motors and engines, redundant system structure, and inability to achieve high-frequency synchronous control in the prior art.

[0006] A synchronization control method based on a hybrid power system includes:

[0007] Acquire the camshaft speed signal. When the camshaft speed signal is interrupted, acquire the current interruption time. Based on the time interval between two adjacent interruptions, determine whether the current interruption time is at a characteristic information point of the camshaft speed signal.

[0008] If so, determine the engine initial phase of this feature information point based on the mechanical position of the camshaft gear plate.

[0009] Acquire the resolver signal, and sample the resolver signal to obtain the initial resolver phase and initial resolver speed;

[0010] The subsequent resolver phase, engine phase, and motor phase are synchronized based on the initial phase of the engine and the initial phase of the resolver.

[0011] The engine control trigger point and the motor control trigger point are determined based on the initial resolver speed.

[0012] When the engine control trigger point and the motor control trigger point are reached, engine synchronization control is triggered based on the engine phase synchronized with the resolver signal, and motor synchronization control is triggered based on the motor phase synchronized with the resolver signal.

[0013] In one embodiment of the present invention, the step of synchronizing the subsequent resolver phase, engine phase, and motor phase according to the initial phase of the engine and the initial phase of the resolver specifically includes: determining the engine phase at the same moment based on the current resolver phase and determining the motor phase at the same moment based on the current resolver phase, based on the preset synchronization relationship between the resolver phase, engine phase, and motor phase.

[0014] In one embodiment of the present invention, the synchronization relationship between the resolver phase and the simultaneous engine phase is as follows:

[0015] ((φ x,res -φ 0,res )+360*k) / p res =φ x,eng -φ 0,eng

[0016] Where, p res Let k be the number of pole pairs of the resolver sensor, k∈[0,2p]. res ), φ 0,eng The initial phase of the engine, engine phase φ x,eng ∈[0°,360°), φ 0,res The initial phase of the resolver, the resolver phase φ x,res ∈[0°CA,720°CA), where CA is the unit of measurement for crankshaft rotation angle.

[0017] In one embodiment of the present invention, the synchronization relationship between the resolver phase and the synchronous motor phase is as follows:

[0018] (φ x,motor +360*m) / r=φ x,res

[0019] Where m∈[0,r), r=p m / p res ,p m p is the number of pole pairs of the motor. res φ is the number of pole pairs of the resolver sensor. x,res For the spin phase ， Motor phase φ x,motor ∈[0°,360°).

[0020] In one embodiment of the present invention, determining the engine control trigger point based on the initial resolver speed specifically includes: determining the engine control trigger point t according to the following formula. 1,eng :

[0021] t 1,eng =t0+1 / (n 0,res / p res )

[0022] Where t0 is the initial time, n 0,res p is the initial rotational speed of the resolver. res is the number of pole pairs of the resolver sensor.

[0023] In one embodiment of the present invention, determining the motor control trigger point based on the initial resolver speed specifically includes: determining the motor control trigger point t according to the following formula. 1,motor :

[0024] t 1,motor =t0+60 / (s*r*n) 0,res )

[0025] Where t0 is the initial time, n 0,res Let be the initial resolver speed, s be the number of control cycles in one electrical cycle of the motor, and r = p. m / p res ,p m p is the number of pole pairs of the motor. res is the number of pole pairs of the resolver sensor.

[0026] In one embodiment of the present invention, the step of triggering an engine synchronization control program based on the engine phase synchronized with the resolver signal and triggering a motor synchronization control program based on the motor phase synchronized with the resolver signal when the engine control trigger point and the motor control trigger point are reached specifically includes: when the engine control trigger point is reached, sampling the resolver signal to obtain the current resolver phase, determining the current engine phase according to the synchronization relationship between the resolver phase and the engine phase, triggering engine synchronization control, and transmitting the current engine phase to the engine synchronization control program for engine synchronization control; when the motor control trigger point is reached, sampling the resolver signal to obtain the current resolver phase and the current resolver speed, determining the current motor phase according to the synchronization relationship between the resolver phase and the motor phase, determining the current motor speed according to the relationship between the resolver speed and the motor speed, triggering engine synchronization control, and transmitting the current motor phase and the current motor speed to the motor synchronization control program for motor synchronization control.

[0027] A synchronization control device based on a hybrid power system, comprising:

[0028] The camshaft sensor signal processing module is used to acquire the camshaft speed signal. When the camshaft speed signal is interrupted, it acquires the current interruption time and determines whether the current interruption time is at a characteristic information point of the camshaft speed signal based on the time interval between two adjacent interruptions. If so, it determines the engine initial phase of the characteristic information point based on the mechanical position of the camshaft gear plate.

[0029] The resolver sensor signal processing module is used to acquire resolver signals and sample the resolver signals to obtain the initial resolver phase and initial resolver speed;

[0030] A phase synchronization module is used to synchronize the subsequent resolver phase, engine phase, and motor phase based on the initial phase of the engine and the initial phase of the resolver.

[0031] The trigger point calculation module is used to determine the engine control trigger point and the motor control trigger point based on the initial resolver speed.

[0032] The synchronization control module is used to trigger engine synchronization control based on the engine phase synchronized with the resolver signal and to trigger motor synchronization control based on the motor phase synchronized with the resolver signal when the engine control trigger point and the motor control trigger point are reached.

[0033] A synchronization control device based on a hybrid power system, comprising:

[0034] At least one processor; and,

[0035] The memory is communicatively connected to the at least one processor via a bus; wherein,

[0036] The memory stores instructions that can be executed by the at least one processor to implement the method as described in any of the above embodiments.

[0037] A non-volatile storage medium storing computer-executable instructions, which are executed by a processor to implement the method as described in any of the above embodiments.

[0038] This invention provides a synchronization control method, apparatus, and device based on a hybrid power system, which has at least the following beneficial effects:

[0039] (1) Motor control and engine control are integrated into one device, which reduces costs through integration;

[0040] (2) Motor control and engine control are run within a single microcontroller. Information transmission based on the Controller Area Network (CAN) bus is replaced by inter-kernel information transmission, eliminating communication delay and signal asynchrony. At the same time, high-frequency synchronous coordinated control between the motor and engine is achieved through the synchronization of the resolver phase, motor phase and engine phase.

[0041] (3) Engine phase information is generated by resolver signal for engine control, eliminating the crankshaft speed sensor and reducing system cost. Attached Figure Description

[0042] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0043] Figure 1 This is a schematic diagram of the hardware circuit structure provided in an embodiment of the present invention;

[0044] Figure 2 The program control flowchart provided for embodiments of the present invention;

[0045] Figure 3 A schematic diagram illustrating the steps of a synchronization control method based on a hybrid power system provided in an embodiment of the present invention;

[0046] Figure 4 A flowchart illustrating the implementation of the camshaft speed signal interruption processing function provided in this embodiment of the invention;

[0047] Figure 5 The flowchart illustrates the implementation of the engine control trigger point interrupt handling function provided in this embodiment of the invention.

[0048] Figure 6 The flowchart illustrates the implementation of the motor control trigger point interrupt handling function provided in this embodiment of the invention.

[0049] Figure 7 A schematic diagram of a synchronization control device based on a hybrid power system provided in an embodiment of the present invention;

[0050] Figure 8 This is a schematic diagram of a synchronous control device based on a hybrid power system, provided as an embodiment of the present invention. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described clearly and completely below in conjunction with specific embodiments. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0052] It should be noted that those skilled in the art will understand, explicitly and implicitly, that the embodiments described in this invention can be combined with other embodiments without conflict. Unless otherwise defined, the technical or scientific terms used in this invention should be understood in their ordinary sense by those skilled in the art. The terms "a," "an," "an," "the," etc., used in this invention do not indicate quantity limitation and can represent singular or plural. The terms "comprising," "including," "having," and any variations thereof used in this invention are intended to cover non-exclusive inclusion; the terms "first," "second," "third," etc., used in this invention are merely to distinguish similar objects and do not represent a specific ordering of objects.

[0053] The following is an explanation of some of the terms used in this application.

[0054] Motor phase: Electrical angle used for motor control.

[0055] Resolver phase: Electrical angle obtained through a resolver sensor.

[0056] Engine phase: The crankshaft rotation angle within one engine cycle, which can be used to set the zero point at the top dead center of the first cylinder compression stroke.

[0057] Based on an improved hybrid power system, this invention proposes a synchronous control method, device, and equipment for a hybrid power system, which integrates motor control and engine control. Figure 1 This is a schematic diagram of the hardware circuit structure of the present invention, including a communication circuit, a signal processing circuit, a camshaft sensor signal processing circuit, a resolver signal processing circuit, a microcontroller circuit, a general drive circuit, an engine drive circuit, an electric drive circuit, and other circuits.

[0058] The microcontroller circuit receives signals from signal processing circuits, camshaft sensor signal processing circuits, and resolver signal processing circuits, processes them, and sends the processing results to general drive circuits, engine drive circuits, and motor drive circuits for driving or controlling actual machinery; it also communicates bidirectionally with the communication circuit.

[0059] Key programs within the microcontroller include motor and engine synchronization programs, engine synchronization control programs, and motor synchronization control programs. The motor synchronization control program uses a field-oriented control (FOC) algorithm to control the motor's speed and torque. The engine synchronization control program implements fuel injection and ignition control based on engine phase (suitable for engines requiring ignition, such as gas and gasoline engines). Depending on the complexity of the control algorithms, the motor and engine synchronization control programs can run on different kernels of the microcontroller. Figure 2 As shown, the motor and engine synchronization program synchronizes the motor phase, resolver phase, and engine phase based on the camshaft speed signal and resolver signal, and triggers the operation of the motor synchronization control program and the engine synchronization control program according to the phase.

[0060] By integrating engine and motor control into a single device, controller costs are reduced, communication delays are eliminated, and system response is accelerated. Within this device, a synchronization relationship between motor phase, resolver phase, and engine is established based on resolver sensors and camshaft (either valve train camshaft or oil pump camshaft) speed sensors. Motor and engine synchronization control are performed based on the resolver phase, enabling high-frequency coordinated control of the motor and engine and enhancing system smoothness. A detailed explanation follows.

[0061] Figure 3 A schematic diagram illustrating the steps of a synchronization control method based on a hybrid power system provided in this embodiment of the invention may include the following steps:

[0062] S310: The camshaft speed signal is obtained through the camshaft speed sensor. When the camshaft speed signal is interrupted, the current interruption time is obtained. Based on the time interval between two adjacent interruptions, it is determined whether the current interruption time is at the characteristic information point of the camshaft speed signal. If so, the engine initial phase of the characteristic information point is determined based on the mechanical position of the camshaft gear plate.

[0063] S320: Acquires resolver signals through resolver sensors, samples the resolver signals to obtain the initial resolver phase and initial resolver speed.

[0064] S330: Synchronizes subsequent resolver phase, engine phase, and motor phase based on the initial phase of the engine and the initial phase of the resolver.

[0065] S340: Determine the engine control trigger point and the motor control trigger point based on the initial resolver speed.

[0066] Specifically, based on the characteristics of the camshaft gear, a camshaft speed signal characteristic information point (such as the falling edge of a multi-tooth signal) is defined within an engine cycle; the engine phase φ of this characteristic information point is determined based on the mechanical mounting position of the camshaft gear. 0,eng ,φ 0,eng ∈[0°CA, 720°CA), where the crankshaft angle (CA) is the unit of measurement. In the motor and engine synchronization program, an interrupt is set to generate an interrupt at the edge of the camshaft speed signal, and this interrupt is used to trigger the acquisition of the resolver signal.

[0067] like Figure 4 The diagram shows the implementation flowchart of the camshaft speed signal interrupt handling function. In the motor and engine synchronization program, when an interrupt occurs at the edge of the camshaft speed signal, the camshaft speed signal interrupt handling function is called to implement the following steps:

[0068] (1) Obtain the current interruption time t0, and determine whether the current time is at the characteristic information point of the camshaft speed signal based on the time interval between two adjacent interruptions;

[0069] (2) If the engine is at this feature information point, it can be determined that it is currently in the engine initial phase φ. 0,eng ;

[0070] (3) Obtain the initial phase φ of the resolver at the current moment by sampling the resolver signal. 0,res and initial resolver speed n 0,res φ 0,res ∈[0°,360°);

[0071] (4) Synchronize the subsequent resolver phase, engine phase and motor phase according to the pre-established synchronization relationship;

[0072] (5) Based on the initial resolver speed n 0,res At the trigger point, a hardware interrupt and resolver signal acquisition will be triggered.

[0073] In one embodiment of the present invention, the subsequent resolver phase, engine phase and motor phase are synchronized according to the engine initial phase and the resolver initial phase. Specifically, this includes: determining the engine phase at the same moment based on the current resolver phase and determining the motor phase at the same moment based on the current resolver phase, based on the preset synchronization relationship between the resolver phase, engine phase and motor phase.

[0074] In one embodiment of the present invention, the synchronization relationship between the resolver phase and the simultaneous engine phase is as follows:

[0075] ((φ x,res -φ 0,res )+360*k) / p res =φ x,eng-φ 0,eng

[0076] Where, p res Let k be the number of pole pairs of the resolver sensor, k∈[0,2p]. res ), φ 0,eng The initial phase of the engine, engine phase φ x,eng ∈[0°,360°), φ 0,res The initial phase of the resolver, the resolver phase φ x,res ∈[0°CA,720°CA), where CA is the unit of measurement for crankshaft rotation angle.

[0077] In one embodiment of the present invention, the synchronization relationship between the resolver phase and the synchronous motor phase is as follows:

[0078] (φ x,motor +360*m) / r=φ x,res

[0079] Where m∈[0,r), r=p m / p res ,p m p is the number of pole pairs of the motor. res φ is the number of pole pairs of the resolver sensor. x,res For the spin phase ， Motor phase φ x,motor ∈[0°,360°).

[0080] Specifically, in step (4) above, the synchronization relationship between the resolver phase, engine phase, and motor phase, as well as the relationship between the motor speed and the resolver speed at the same moment, are established in the following way:

[0081] 1) Due to the number of pole pairs of the resolver sensor, within one engine cycle (0–720°CA), the resolver signal repeats 2p from 0–360°. res Next, p res The number of pole pairs in the resolver sensor;

[0082] 2) Due to the difference between the number of pole pairs in the motor and the number of pole pairs in the resolver, the motor phase repeats r times within one resolver signal, where r = p m / p res p m This represents the number of pole pairs of the motor.

[0083] 3) Establish the resolver phase obtained through the resolver signal Simultaneous engine phase Synchronization relationship between them:

[0084]

[0085] Where k∈[0,2p] res ),

[0086] 4) Establish motor phase Simultaneous spin phase Synchronization relationship:

[0087]

[0088] Where m∈[0,r),

[0089] 5) Establish the motor speed n x,motor and the rotational speed n at the same time x,res The relationship between them:

[0090] n x,motor =r*n x,res .

[0091] In one embodiment of the present invention, determining the engine control trigger point based on the initial resolver speed specifically includes: determining the engine control trigger point t according to the following formula. 1,eng :

[0092] t 1,eng =t0+1 / (n 0,res / p res )

[0093] Where t0 is the initial time, n 0,res p is the initial rotational speed of the resolver. res is the number of pole pairs of the resolver sensor.

[0094] In one embodiment of the present invention, determining the motor control trigger point based on the initial resolver speed specifically includes: determining the motor control trigger point t according to the following formula. 1,motor :

[0095] t 1,motor =t0+60 / (s*r*n) 0,res )

[0096] Where t0 is the initial time, n 0,res Let be the initial resolver speed, s be the number of control cycles in one electrical cycle of the motor, and r = p. m / p res ,p m p is the number of pole pairs of the motor. res is the number of pole pairs of the resolver sensor.

[0097] Specifically, the trigger point is set in step (5) above as follows:

[0098] Set the engine control trigger point (6°CA):

[0099] t 1,eng=t0+1 / (n 0,res / p res )

[0100] Set the motor control trigger point:

[0101] t 1,motor =t0+60 / (s*r*n) 0,res )

[0102] Where s is the number of control cycles for one electrical cycle of the motor, and r*n 0,res =n 0,motor .

[0103] Based on the rotational speed n 0,res and motor speed n 0,motor It can trigger hardware interrupts and resolver signal acquisition at the trigger point.

[0104] S350: When the engine control trigger point and the motor control trigger point are reached, the engine synchronization control is triggered based on the engine phase synchronized with the resolver signal, and the motor synchronization control is triggered based on the motor phase synchronized with the resolver signal.

[0105] In one embodiment of the present invention, when the engine control trigger point and the motor control trigger point are reached, an engine synchronization control program is triggered based on the engine phase synchronized with the resolver signal, and a motor synchronization control program is triggered based on the motor phase synchronized with the resolver signal. Specifically, this includes: when the engine control trigger point is reached, sampling the resolver signal to obtain the current resolver phase, determining the current engine phase based on the synchronization relationship between the resolver phase and the engine phase, triggering engine synchronization control, and transmitting the current engine phase to the engine synchronization control program for engine synchronization control; when the motor control trigger point is reached, sampling the resolver signal to obtain the current resolver phase and the current resolver speed, determining the current motor phase based on the synchronization relationship between the resolver phase and the motor phase, determining the current motor speed based on the relationship between the resolver speed and the motor speed, triggering engine synchronization control, and transmitting the current motor phase and the current motor speed to the motor synchronization control program for motor synchronization control.

[0106] Specifically, in the engine control trigger point interrupt handling function, the implementation steps are as follows: Figure 5 As shown:

[0107] (1) Obtain the resolver phase by sampling the resolver signal;

[0108] (2) Obtain the current engine phase based on the synchronization relationship between the resolver phase and the engine phase;

[0109] (3) Trigger the engine synchronization control program and transmit the current engine phase to the engine synchronization control program.

[0110] The engine synchronization control program performs engine synchronization control based on the current engine phase, including but not limited to fuel injection control and ignition control.

[0111] In the interrupt handling function of the motor control trigger point, the implementation steps are as follows: Figure 6 As shown:

[0112] (1) Obtain the resolver phase and resolver speed by sampling the resolver signal;

[0113] (2) Obtain the current motor phase based on the relationship between the resolver phase and the motor phase; obtain the current motor speed based on the relationship between the resolver speed and the motor speed;

[0114] (3) Trigger the motor synchronization control program and transmit the current motor phase and motor speed to the motor synchronization control program.

[0115] In the motor synchronization control program, closed-loop control of speed and torque is achieved based on the current motor phase and motor speed.

[0116] In summary, the key points of this invention are:

[0117] 1. Based on the camshaft speed signal and resolver signal, a synchronization relationship between the motor phase, resolver phase and engine phase was established. The engine phase and motor phase can be obtained through the resolver phase.

[0118] 2. Engine phase is obtained through a resolver phase converter for engine synchronization control;

[0119] 3. Obtain the motor phase through a resolver for motor synchronization control;

[0120] 4. Integrating engine control and motor control within a single device, and running motor control algorithms and engine control algorithms in different kernels of the same microcontroller, enables high-frequency synchronous coordinated control of the motor and engine.

[0121] This invention proposes a synchronous control method, device, and equipment based on a hybrid power system. The device integrates motor control and engine control, and runs motor control and engine control algorithms within a single microcontroller. Using a camshaft speed sensor, a synchronization relationship is established between the resolver phase, motor phase, and engine phase. By utilizing the resolver phase, the engine synchronization control program and the motor synchronization control program are triggered, thereby achieving synchronous control of the motor and engine.

[0122] The above describes a synchronization control method based on a hybrid power system provided by an embodiment of the present invention. Based on the same inventive concept, the present invention also provides a corresponding synchronization control device based on a hybrid power system, such as... Figure 7 As shown.

[0123] The camshaft sensor signal processing module 702 is used to acquire the camshaft speed signal. When the camshaft speed signal is interrupted, the current interruption time is acquired. Based on the time interval between two adjacent interruptions, it is determined whether the current interruption time is at a characteristic information point of the camshaft speed signal. If so, the engine initial phase of the characteristic information point is determined based on the mechanical position of the camshaft gear plate.

[0124] The resolver sensor signal processing module 704 is used to acquire resolver signals and sample the resolver signals to obtain the initial phase and initial resolver speed.

[0125] Phase synchronization module 706 is used to synchronize subsequent resolver phase, engine phase and motor phase according to the initial phase of the engine and the initial phase of the resolver;

[0126] The trigger point calculation module 708 is used to determine the engine control trigger point and the motor control trigger point based on the initial resolver speed.

[0127] The synchronization control module 710 is used to trigger engine synchronization control based on the engine phase synchronized with the resolver signal and to trigger motor synchronization control based on the motor phase synchronized with the resolver signal when the engine control trigger point and the motor control trigger point are reached.

[0128] This invention also provides a corresponding synchronization control device based on a hybrid power system, such as... Figure 8 As shown, it includes:

[0129] The system includes at least one processor 802, a communication interface 804, a memory 806, and a communication bus 808; wherein the processor 802, the communication interface 804, and the memory 806 communicate with each other through the communication bus 808; the processor 802 can call the logical instructions stored in the memory 806 to cause at least one processor 802 to execute the steps of the above embodiments.

[0130] Based on the same idea, some embodiments of the present invention also provide media corresponding to the above methods.

[0131] Some embodiments of the present invention provide a storage medium storing computer-executable instructions, which are executed by a processor to implement the steps of the embodiments described above.

[0132] The various embodiments in this invention are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device and medium embodiments are relatively simple in description because they are fundamentally similar to the method embodiments; relevant parts can be referred to the descriptions in the method embodiments.

[0133] The devices, media, and methods provided in the embodiments of the present invention are one-to-one correspondences. Therefore, the devices and media also have similar beneficial technical effects as their corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be repeated here.

[0134] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process method or product that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process method or product. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process method or product that includes that element.

[0135] The above are merely embodiments of the present invention and are not intended to limit the invention. Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A synchronization control method based on a hybrid power system, characterized in that, include: Acquire the camshaft speed signal. When the camshaft speed signal is interrupted, acquire the current interruption time. Based on the time interval between two adjacent interruptions, determine whether the current interruption time is at a characteristic information point of the camshaft speed signal. If so, determine the engine initial phase of this feature information point based on the mechanical position of the camshaft gear plate. Acquire the resolver signal, and sample the resolver signal to obtain the initial resolver phase and initial resolver speed; The subsequent resolver phase, engine phase, and motor phase are synchronized based on the initial phase of the engine and the initial phase of the resolver. The engine control trigger point and the motor control trigger point are determined based on the initial resolver speed. When the engine control trigger point and the motor control trigger point are reached, engine synchronization control is triggered based on the engine phase synchronized with the resolver signal, and motor synchronization control is triggered based on the motor phase synchronized with the resolver signal.

2. The synchronization control method based on a hybrid power system according to claim 1, characterized in that, The synchronization of subsequent resolver phase, engine phase, and motor phase based on the initial phase of the engine and the initial phase of the resolver specifically includes: Based on the preset synchronization relationship between the resolver phase, engine phase, and motor phase, the engine phase at the same moment is determined according to the current resolver phase, and the motor phase at the same moment is determined according to the current resolver phase.

3. The synchronization control method based on a hybrid power system according to claim 2, characterized in that, The synchronization relationship between the resolver phase and the engine phase at the same moment is as follows: ((φ x,res -f 0,res )+360*k) / p res =φ x,eng -f 0,eng Where, p res Let k be the number of pole pairs of the resolver sensor, k∈[0,2p]. res ), φ 0,eng The initial phase of the engine, engine phase φ x,eng ∈[0°,360°), φ 0,res The initial phase of the resolver, the resolver phase φ x,res ∈[0°CA,720°CA), where CA is the unit of measurement for crankshaft rotation angle.

4. The synchronization control method based on a hybrid power system according to claim 2, characterized in that, The synchronization relationship between the resolver phase and the motor phase at the same moment is as follows: (f x,motor +360*m) / r=φ x,res Where m∈[0,r), r=p m / p res ,p m p is the number of pole pairs of the motor. res φ is the number of pole pairs of the resolver sensor. x,res For the spin phase ， Motor phase φ x,motor ∈[0°,360°).

5. The synchronization control method based on a hybrid power system according to claim 1, characterized in that, The step of determining the engine control trigger point based on the initial resolver speed specifically includes: The engine control trigger point t is determined according to the following formula. 1,eng : t 1,eng =t0+1 / (n 0,res / p res ) Where t0 is the initial time, n 0,res p is the initial rotational speed of the resolver. res is the number of pole pairs in the resolver sensor.

6. The synchronization control method based on a hybrid power system according to claim 1, characterized in that, The step of determining the motor control trigger point based on the initial resolver speed specifically includes: The motor control trigger point t is determined using the following formula. 1,motor : t 1,motor =t0+60 / (s*r*n 0,res ) Where t0 is the initial time, n 0,res Let be the initial resolver speed, s be the number of control cycles in one electrical cycle of the motor, and r = p. m / p res ,p m p is the number of pole pairs of the motor. res is the number of pole pairs in the resolver sensor.

7. The synchronization control method based on a hybrid power system according to claim 1, characterized in that, When the engine control trigger point and the motor control trigger point are reached, the engine synchronization control program is triggered based on the engine phase synchronized with the resolver signal, and the motor synchronization control program is triggered based on the motor phase synchronized with the resolver signal. Specifically, this includes: When the engine control trigger point is reached, the resolver signal is sampled to obtain the current resolver phase. Based on the synchronization relationship between the resolver phase and the engine phase, the current engine phase is determined, engine synchronization control is triggered, and the current engine phase is transmitted to the engine synchronization control program for engine synchronization control. When the motor control trigger point is reached, the resolver signal is sampled to obtain the current resolver phase and the current resolver speed. Based on the synchronization relationship between the resolver phase and the motor phase, the current motor phase is determined. Based on the relationship between the resolver speed and the motor speed, the current motor speed is determined. The engine synchronization control is triggered, and the current motor phase and the current motor speed are transmitted to the motor synchronization control program for motor synchronization control.

8. A synchronization control device based on a hybrid power system, characterized in that, include: The camshaft sensor signal processing module is used to acquire the camshaft speed signal. When the camshaft speed signal is interrupted, it acquires the current interruption time and determines whether the current interruption time is at a characteristic information point of the camshaft speed signal based on the time interval between two adjacent interruptions. If so, determine the engine initial phase of this feature information point based on the mechanical position of the camshaft gear plate. The resolver sensor signal processing module is used to acquire resolver signals and sample the resolver signals to obtain the initial resolver phase and initial resolver speed; A phase synchronization module is used to synchronize the subsequent resolver phase, engine phase, and motor phase based on the initial phase of the engine and the initial phase of the resolver. The trigger point calculation module is used to determine the engine control trigger point and the motor control trigger point based on the initial resolver speed. The synchronization control module is used to trigger engine synchronization control based on the engine phase synchronized with the resolver signal and to trigger motor synchronization control based on the motor phase synchronized with the resolver signal when the engine control trigger point and the motor control trigger point are reached.

9. A synchronous control device based on a hybrid power system, characterized in that, include: At least one processor; as well as, The memory is communicatively connected to the at least one processor via a bus; wherein, The memory stores instructions executable by the at least one processor, which are executed to implement the method as described in any one of claims 1-7.

10. A non-volatile storage medium storing computer-executable instructions, characterized in that, The computer-executable instructions are executed by a processor to implement the method as described in any one of claims 1-7.

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