Torque control methods, devices, vehicles, and storage media for hybrid vehicles

Abstract

This invention relates to the field of vehicle technology and discloses a torque control method, device, vehicle, and storage medium for hybrid vehicles. The method includes: acquiring operating parameters of a power source, including an engine, a P1 motor, and a P3 motor; if a target power source exists whose operating parameters meet corresponding preset detection conditions, calculating the target true torque of the target power source; acquiring the current output torque of the target power source; obtaining the torque deviation of the target power source at the current operating speed and current output torque based on the difference between the target true torque and the current output torque; storing the torque deviation in a torque accuracy lookup table corresponding to the target power source, the torque accuracy lookup table storing the torque deviation of the target power source at different operating speeds and torques; and controlling the torque of the target power source based on the torque accuracy lookup table. This invention can solve the problem of low torque control accuracy of the power source in P13 configuration hybrid vehicles.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more specifically to a torque control method, device, vehicle, and storage medium for hybrid vehicles. Background Technology

[0002] In P13 hybrid vehicles, the torque of the engine, P1 motor, and P3 motor are crucial components of the overall torque output. By calculating the torque control accuracy of these three motors, the actual power consumption of the battery can be indirectly and accurately determined. This ensures that the battery's actual power consumption remains within its safe power limits, thereby improving battery safety. Therefore, improving the torque control accuracy of the engine, P1 motor, and P3 motor is essential for accurately controlling the battery's state of charge (SOC).

[0003] However, due to factors such as manufacturing errors of the power source, errors in the torque model, and changes in the boundary conditions of the vehicle, the actual torque of the three power sources—engine, P1 motor, and P3 motor—in the vehicle deviates from the theoretical control torque to a certain extent, resulting in lower torque control accuracy of the power source. Summary of the Invention

[0004] In view of this, the present invention provides a torque control method, device, vehicle and storage medium for hybrid vehicles to solve the problem of low torque control accuracy of the power source in P13 configuration hybrid vehicles.

[0005] In a first aspect, the present invention provides a torque control method for a hybrid vehicle, the method comprising:

[0006] Obtain the operating parameters of the power source, which includes an engine, a P1 motor, and a P3 motor;

[0007] If there is a target power source whose operating parameters meet the corresponding preset detection conditions, then calculate the target true torque of the target power source.

[0008] Obtain the current output torque fed back by the target power source;

[0009] Based on the difference between the target actual torque and the current output torque, the torque deviation of the target power source at the current operating speed and the current output torque is obtained;

[0010] The torque deviation is stored in the torque accuracy lookup table corresponding to the target power source. The torque accuracy lookup table is used to store the torque deviation of the target power source under different operating speeds and torques.

[0011] The torque of the target power source is controlled based on the torque accuracy lookup table.

[0012] Based on the aforementioned technical means, when the operating parameters of the power source in a P13 configuration hybrid vehicle meet the corresponding preset detection conditions, the target true torque of the power source is calculated. The torque deviation of the power source at the current operating speed and current output torque is obtained based on the difference between the target true torque and the current output torque fed back. This torque deviation is then stored in the torque accuracy lookup table corresponding to the power source. Therefore, when controlling the torque of the power source, the torque can be corrected based on the torque accuracy lookup table, thereby improving the torque control accuracy of the power source in the P13 configuration hybrid vehicle and enhancing the stability and smoothness of hybrid vehicle driving.

[0013] In one optional implementation, if there exists a target power source whose operating parameters meet the corresponding preset detection conditions, then calculating the target true torque of the target power source includes:

[0014] If the operating parameters of the P3 motor meet the corresponding preset detection conditions and the P1 motor is in an inactive state, then the first output power of the power supply device and the first power consumption of the target electrical appliance are obtained.

[0015] The first motor power of the P3 motor is obtained based on the difference between the first output power and the first power consumption.

[0016] Obtain the first motor efficiency and the first operating speed of the P3 motor;

[0017] The target true torque of the P3 motor is calculated based on the first motor power, the first motor efficiency, and the first operating speed.

[0018] Based on the aforementioned technical means, the first output power of the power supply device and the first power consumption of the target electrical appliance are only acquired when the operating parameters of motor P3 meet the corresponding preset detection conditions and motor P1 is inactive. This allows for the utilization of the power conservation principle and torque balance principle to obtain the target true torque of motor P3. Therefore, the influence of the operating boundary conditions of motor P3 on its target true torque can be avoided, and the influence of torque control errors of motor P1 on motor P3 can be prevented, thereby improving the accuracy of the target true torque of motor P3. This, in turn, improves the accuracy of the corresponding torque deviation of motor P3 in subsequent torque deviation calculations.

[0019] In an optional implementation, the step of calculating the target true torque of the target power source if there is a target power source whose operating parameters meet the corresponding preset detection conditions further includes:

[0020] If the operating parameters of the P1 motor meet the corresponding preset detection conditions, then the second output power of the power supply device and the second power consumption of the target electrical appliance are obtained.

[0021] The total motor power is obtained based on the difference between the second output power and the second power consumption.

[0022] Obtain the second motor power of the P3 motor;

[0023] The third motor power of motor P1 is obtained based on the difference between the total motor power and the second motor power.

[0024] Obtain the second motor efficiency and the second operating speed of the P1 motor;

[0025] The target true torque of motor P1 is calculated based on the power of the third motor, the efficiency of the second motor, and the second operating speed.

[0026] Based on the aforementioned technical means, the second output power of the power supply device and the second power consumption of the target electrical appliance are only obtained when the operating parameters of motor P1 meet the corresponding preset detection conditions. This allows for the utilization of the power conservation principle and torque balance principle to obtain the target true torque of motor P1. Therefore, the influence of the operating boundary conditions of motor P1 on its target true torque can be avoided, thereby improving the accuracy of the target true torque of motor P1. This, in turn, improves the accuracy of the corresponding torque deviation in the subsequent torque deviation calculation process.

[0027] In one optional implementation, obtaining the second motor power of the P3 motor includes:

[0028] Obtain the first output torque fed back by the P3 motor and the third operating speed of the P3 motor;

[0029] Based on the first output torque and the third operating speed, the first torque deviation of the P3 motor is retrieved from the torque accuracy lookup table corresponding to the P3 motor;

[0030] The first true torque of the P3 motor is obtained based on the sum of the first output torque and the first torque deviation.

[0031] Obtain the efficiency of the third motor of the P3 motor;

[0032] The power of the second motor is calculated based on the first actual torque, the third motor efficiency, and the third operating speed.

[0033] According to the aforementioned technical means, after obtaining the first output torque of motor P3, the corresponding first torque deviation is further retrieved from the torque accuracy lookup table corresponding to motor P3 based on the current first output torque and third operating speed of motor P3, in order to correct the first output torque of motor P3. Then, the second motor power of motor P3 is calculated based on the corrected first true torque of motor P3, which is used to calculate the target true torque of motor P1. Therefore, the influence of torque control error of motor P3 on the target true torque of motor P1 can be avoided, thereby further improving the accuracy of the target true torque of motor P1.

[0034] In an optional implementation, the step of calculating the target true torque of the target power source if there is a target power source whose operating parameters meet the corresponding preset detection conditions further includes:

[0035] If the operating parameters of the engine meet the corresponding preset detection conditions, then the second output torque fed back by the P1 motor and the fourth operating speed of the P1 motor are obtained.

[0036] Based on the second output torque and the fourth operating speed, the second torque deviation of the P1 motor is queried from the torque accuracy lookup table corresponding to the P1 motor;

[0037] The second true torque of the P1 motor is obtained based on the sum of the second output torque and the second torque deviation.

[0038] The target true torque of the engine is calculated based on the speed ratio between the P1 motor and the engine and the second true torque.

[0039] Based on the aforementioned technical means, the second output torque and the fourth operating speed of the P1 motor are only obtained when the engine's operating parameters meet the corresponding preset detection conditions. This allows the torque correlation between the P1 motor and the engine to be utilized to obtain the engine's target true torque. Therefore, the influence of the engine's operating boundary conditions on the target true torque can be avoided, improving the accuracy of the engine's target true torque. This, in turn, improves the accuracy of the corresponding torque deviation in subsequent torque deviation calculations.

[0040] In one optional implementation, storing the torque deviation in a torque accuracy lookup table corresponding to the target power source includes:

[0041] Obtain the duration for which the target power source meets the corresponding preset detection conditions;

[0042] When the continuous duration is greater than the target detection duration, the torque deviation is stored in the torque accuracy lookup table corresponding to the target power source.

[0043] According to the above technical means, since the torque deviation is only stored in the torque accuracy lookup table corresponding to the target power source when the continuous duration of the target power source meeting the corresponding preset detection conditions is longer than the target detection duration, the influence of the target power source undergoing a short-term change can be avoided, thereby further ensuring the accuracy of the torque deviation in the torque accuracy lookup table corresponding to the target power source, and thus further improving the torque control accuracy of the target power source.

[0044] In one optional implementation, the preset detection conditions corresponding to the P3 motor include at least one of the following: the operating temperature of the P3 motor is within a first preset temperature range, the voltage of the P3 motor is within a first preset voltage range, the current of the P3 motor is within a first preset current range, the operating speed of the P3 motor is within a first preset speed range, and the output torque fed back by the P3 motor is within a first preset torque range.

[0045] Based on the aforementioned technical means, the preset detection conditions corresponding to the P3 motor limit at least one of the following: the operating temperature, voltage, current, speed, and output torque of the P3 motor. Therefore, it is possible to avoid detecting the torque deviation of the P3 motor under boundary conditions of its operating temperature, voltage, current, speed, or output torque, thereby further improving the accuracy of the P3 motor's torque deviation detection.

[0046] In one optional implementation, the preset detection conditions corresponding to the P1 motor include at least one of the following: the operating temperature of the P1 motor is within a second preset temperature range, the voltage of the P1 motor is within a second preset voltage range, the current of the P1 motor is within a second preset current range, the operating speed of the P1 motor is within a second preset speed range, and the output torque fed back by the P1 motor is within a second preset torque range.

[0047] Based on the aforementioned technical means, since the preset detection conditions corresponding to motor P1 limit at least one of the following: motor operating temperature, motor voltage, motor current, motor operating speed, and output torque fed back by motor P1, it is possible to avoid detecting torque deviation of P1 under boundary conditions of motor operating temperature, voltage, current, operating speed, or output torque, thereby further improving the accuracy of torque deviation detection for motor P1.

[0048] In one optional implementation, the preset detection conditions corresponding to the engine include at least one of the following: the engine operating temperature is within a third preset temperature range, the ignition angle intervention is in an inactive state, the engine is fault-free, the engine operating speed is within a third preset speed range, and the output torque fed back by the engine is within a third preset torque range.

[0049] Based on the aforementioned technical means, the preset detection conditions corresponding to the engine limit at least one of the following: engine operating temperature, ignition angle intervention state, engine fault condition, engine operating speed, and the output torque fed back by the engine. Therefore, it is possible to avoid detecting engine torque deviation under boundary conditions such as engine operating temperature limits, ignition angle intervention, engine fault, operating speed limits, or output torque limits, thereby further improving the accuracy of engine torque deviation detection.

[0050] Secondly, the present invention provides a torque control device for a hybrid vehicle, the device comprising:

[0051] The operating condition parameter acquisition module is used to acquire the operating condition parameters of the power source, which includes an engine, a P1 motor, and a P3 motor.

[0052] The real torque calculation module is used to calculate the target real torque of the target power source if there is a target power source in the power source whose operating parameters meet the corresponding preset detection conditions.

[0053] The output torque acquisition module is used to acquire the current output torque fed back by the target power source;

[0054] The torque deviation calculation module is used to obtain the torque deviation of the target power source at the current operating speed and the current output torque based on the difference between the target true torque and the current output torque.

[0055] A torque deviation storage module is used to store the torque deviation into a torque accuracy lookup table corresponding to the target power source. The torque accuracy lookup table is used to store the torque deviation of the target power source under different operating speeds and torques.

[0056] The target torque control module is used to control the torque of the target power source based on the torque accuracy lookup table.

[0057] In one optional implementation, the real torque calculation module includes:

[0058] The first power acquisition unit is used to acquire the first output power of the power supply device and the first power consumption of the target electrical appliance if the operating parameters of the P3 motor meet the corresponding preset detection conditions and the P1 motor is in an inactive state.

[0059] The first power calculation unit is used to obtain the first motor power of the P3 motor based on the difference between the first output power and the first power consumption.

[0060] The first data acquisition unit is used to acquire the first motor efficiency and the first operating speed of the P3 motor;

[0061] The first torque correction unit is used to calculate the target true torque of the P3 motor based on the first motor power, the first motor efficiency and the first operating speed.

[0062] In one optional implementation, the true torque calculation module further includes:

[0063] The second power acquisition unit is used to acquire the second output power of the power supply device and the second power consumption of the target electrical appliance if the operating parameters of the P1 motor meet the corresponding preset detection conditions.

[0064] The second power calculation unit is used to obtain the total motor power based on the difference between the second output power and the second power consumption;

[0065] The third power calculation unit is used to obtain the second motor power of the P3 motor;

[0066] The fourth power calculation unit is used to obtain the third motor power of the P1 motor based on the difference between the total motor power and the second motor power;

[0067] The second data acquisition unit is used to acquire the second motor efficiency and the second operating speed of the P1 motor;

[0068] The second torque correction unit is used to calculate the target true torque of the P1 motor based on the power of the third motor, the efficiency of the second motor, and the second operating speed.

[0069] In one optional implementation, the third power calculation unit includes:

[0070] The motor data acquisition subunit is used to acquire the first output torque fed back by the P3 motor and the third operating speed of the P3 motor;

[0071] The torque accuracy query subunit is used to query the first torque deviation of the P3 motor from the torque accuracy query table corresponding to the P3 motor based on the first output torque and the third operating speed.

[0072] The true torque calculation subunit is used to obtain the first true torque of the P3 motor based on the sum of the first output torque and the first torque deviation.

[0073] The motor efficiency acquisition subunit is used to acquire the third motor efficiency of the P3 motor.

[0074] The motor power calculation subunit is used to calculate the second motor power based on the first actual torque, the third motor efficiency, and the third operating speed.

[0075] In one optional implementation, the true torque calculation module further includes:

[0076] The third data acquisition unit is used to acquire the second output torque fed back by the P1 motor and the fourth operating speed of the P1 motor if the operating parameters of the engine meet the corresponding preset detection conditions.

[0077] The torque accuracy query unit is used to query the second torque deviation of the P1 motor from the torque accuracy query table corresponding to the P1 motor based on the second output torque and the fourth operating speed.

[0078] The third torque correction unit is used to obtain the second true torque of the P1 motor based on the sum of the second output torque and the second torque deviation.

[0079] The true torque conversion unit is used to calculate the target true torque of the engine based on the speed ratio between the P1 motor and the engine and the second true torque.

[0080] In one optional implementation, the torque deviation storage module includes:

[0081] A continuous duration acquisition unit is used to acquire the continuous duration for which the target power source meets the corresponding preset detection conditions;

[0082] The torque deviation storage unit is used to store the torque deviation in the torque accuracy lookup table corresponding to the target power source when the continuous duration is greater than the target detection duration.

[0083] In one optional implementation, in the real torque calculation module, the preset detection conditions corresponding to the P3 motor include at least one of the following: the operating temperature of the P3 motor is within a first preset temperature range, the voltage of the P3 motor is within a first preset voltage range, the current of the P3 motor is within a first preset current range, the operating speed of the P3 motor is within a first preset speed range, and the output torque fed back by the P3 motor is within a first preset torque range.

[0084] In one optional implementation, in the real torque calculation module, the preset detection conditions corresponding to the P1 motor include at least one of the following: the operating temperature of the P1 motor is within a second preset temperature range, the voltage of the P1 motor is within a second preset voltage range, the current of the P1 motor is within a second preset current range, the operating speed of the P1 motor is within a second preset speed range, and the output torque fed back by the P1 motor is within a second preset torque range.

[0085] In one optional implementation, in the real torque calculation module, the preset detection conditions corresponding to the engine include at least one of the following: the engine operating temperature is within a third preset temperature range, the ignition angle intervention is in an inactive state, the engine is fault-free, the engine operating speed is within a third preset speed range, and the output torque fed back by the engine is within a third preset torque range.

[0086] Thirdly, the present invention provides a hybrid vehicle, comprising:

[0087] An engine for providing driving force to the hybrid vehicle;

[0088] P1 motor, located on the crankshaft of the engine;

[0089] P3 motor is located at the output end of the gearbox;

[0090] A vehicle controller, connected to the engine, the P1 motor and the P3 motor, is used to execute the torque control method for a hybrid vehicle according to the first aspect or any corresponding embodiment described above.

[0091] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the torque control method for a hybrid vehicle according to the first aspect or any corresponding embodiment thereof.

[0092] The beneficial effects of this invention are:

[0093] (1) When the operating parameters of the power source of the P13 configuration hybrid vehicle meet the corresponding preset detection conditions, this invention calculates the target true torque of the power source. Based on the difference between the target true torque of the power source and the current output torque fed back, the torque deviation of the power source at the current operating speed and the current output torque is obtained. The obtained torque deviation is stored in the torque accuracy lookup table corresponding to the power source. Therefore, when controlling the torque of the power source, the torque of the power source can be corrected based on the torque accuracy lookup table corresponding to the power source, thereby improving the torque control accuracy of the power source of the P13 configuration hybrid vehicle and thus improving the stability and smoothness of hybrid vehicle driving.

[0094] (2) This invention acquires the first output power of the power supply device and the first power consumption of the target electrical appliance only when the operating parameters of the P3 motor meet the corresponding preset detection conditions and the P1 motor is in an inactive state. This allows for the use of the power conservation principle and torque balance principle to obtain the target true torque of the P3 motor. Therefore, it avoids the influence of the P3 motor's operating boundary conditions on the target true torque of the P3 motor, and also avoids the influence of the torque control error of the P1 motor on the P3 motor, thereby improving the accuracy of the target true torque of the P3 motor.

[0095] (3) This invention obtains the second output power of the power supply device and the second power consumption of the target electrical appliance only when the operating parameters of the P1 motor meet the corresponding preset detection conditions. This allows the invention to obtain the target true torque of the P1 motor by utilizing the power conservation principle and the torque balance principle. Therefore, it can avoid the target true torque of the P1 motor being affected by the working boundary conditions of the P1 motor, thereby improving the accuracy of the target true torque of the P1 motor.

[0096] (4) This invention acquires the second output torque and the fourth operating speed of the P1 motor only when the engine's operating parameters meet the corresponding preset detection conditions. This allows the torque correlation between the P1 motor and the engine to be used to obtain the engine's target true torque. Therefore, it avoids the engine's target true torque being affected by the engine's operating boundary conditions, thereby improving the accuracy of the engine's target true torque. Attached Figure Description

[0097] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0098] Figure 1 This is a schematic flowchart of a torque control method for a first hybrid vehicle according to an embodiment of the present invention.

[0099] Figure 2 This is a schematic diagram of a torque accuracy lookup table for a P1 motor according to an embodiment of the present invention;

[0100] Figure 3 This is a schematic flowchart of a second torque control method for a hybrid vehicle according to an embodiment of the present invention.

[0101] Figure 4 This is a schematic flowchart of a third torque control method for a hybrid vehicle according to an embodiment of the present invention.

[0102] Figure 5 This is a schematic flowchart of a fourth torque control method for a hybrid vehicle according to an embodiment of the present invention.

[0103] Figure 6 This is a structural block diagram of a torque control device for a hybrid vehicle according to an embodiment of the present invention;

[0104] Figure 7 This is a structural block diagram of a hybrid vehicle according to an embodiment of the present invention;

[0105] Figure 8 This is a structural block diagram of a vehicle controller according to an embodiment of the present invention.

[0106] The reference numerals in the attached drawings are as follows: 1. Engine; 2. Power supply unit; 3. Gearbox; 31. P1 motor; 32. P3 motor; 33. Clutch; 34. Reduction gear; 35. Main reducer; 4. Front wheel; 10. Processor; 20. Memory; 30. Communication interface. Detailed Implementation

[0107] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0108] Currently, in P13 hybrid vehicles, the actual torque of the three power sources—the engine, P1 motor, and P3 motor—often deviates from the theoretical control torque, resulting in lower torque control accuracy of the power sources.

[0109] In related technologies, the following two methods are mainly used to control the torque control accuracy of vehicles. The first method, based on the relationship data between the engine target torque reference point torque accuracy and the engine reference torque accuracy, the relationship data between the engine reference torque accuracy and the motor torque accuracy, and the motor torque accuracy, obtains the torque accuracy of the required torque of the hybrid vehicle under different torque components. This allows for corresponding compensation of the hybrid vehicle's torque based on the torque accuracy, thereby reducing control errors caused by the difference between the indicated torque and the actual torque. The second method, by activating a specific torque accuracy detection command to execute a specific torque detection condition, detects the engine's torque control accuracy based on the torque of the P1 motor.

[0110] However, the first method is only applicable to P2 architecture and hybrid vehicles using dual-clutch control, requiring the use of clutch pressure characteristics to verify and compensate for the torque control accuracy of hybrid vehicles. The second method relies on specific torque accuracy detection commands, requiring specific restrictions on engine operating conditions. Furthermore, this method does not consider the torque control accuracy of the P1 motor when calculating the engine's torque control accuracy; if the P1 motor's torque control accuracy is problematic, it will lead to inaccurate engine torque control.

[0111] Therefore, the two methods mentioned above are not suitable for detecting the torque control accuracy of P13 configuration hybrid vehicles, and the torque control accuracy of hybrid vehicles is relatively low.

[0112] In view of this, according to an embodiment of the present invention, a torque control method embodiment for a hybrid vehicle is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0113] This embodiment provides a torque control method for a hybrid vehicle, which can be used in the aforementioned P13 configuration hybrid vehicle, such as an on-board controller or electronic control unit for a hybrid vehicle. Figure 1 This is a schematic flowchart of a first torque control method for a hybrid vehicle according to an embodiment of the present invention, as shown below. Figure 1 As shown, the process includes the following steps:

[0114] Step S101: Obtain the operating parameters of the power source, which includes the engine, P1 motor and P3 motor.

[0115] Specifically, the engine operating parameters include at least one of the following: engine coolant temperature, engine intake air temperature, engine oil temperature, ignition timing intervention status, engine malfunction status, engine operating speed, and engine output torque.

[0116] Specifically, the operating parameters of the P1 motor include at least one of the following: the P1 motor's electronic control temperature, the P1 motor's rotor temperature, the P1 motor's stator temperature, the P1 motor's operating speed, and the P1 motor's output torque. Furthermore, the operating parameters of the P1 motor may also include its operating mode, such as standby mode.

[0117] Specifically, the operating parameters of the P3 motor include the electronic control temperature, rotor temperature, stator temperature, operating speed, and output torque.

[0118] Step S102: If there is a target power source whose operating parameters meet the corresponding preset detection conditions, then calculate the target true torque of the target power source.

[0119] For example, if motor P3 meets the corresponding preset detection conditions, then motor P3 is used as the target power source, and the target true torque of motor P3 is calculated. If motor P1 meets the corresponding preset detection conditions, then motor P1 is used as the target power source, and the target true torque of motor P1 is calculated. If the engine meets the corresponding preset detection conditions, then the engine is used as the target power source, and the target true torque of the engine is calculated.

[0120] It should be noted that the significance of the above-mentioned preset detection conditions is to minimize the influence of boundary condition factors on the torque deviation of the corresponding power source, thereby making the torque deviation calculation results more accurate.

[0121] Step S103: Obtain the current output torque fed back by the target power source.

[0122] For example, the current output torque fed back by the target power source, i.e., the torque signal value it feeds back.

[0123] In addition, in actual operation, corresponding torque sensors can be installed on the P1 motor, P3 motor and engine to measure the current output torque of the P1 motor, the current output torque of the P3 motor or the current output torque of the engine.

[0124] Step S104: Based on the difference between the target actual torque and the current output torque, obtain the torque deviation of the target power source at the current operating speed and current output torque.

[0125] For example, if the target actual torque of the target power source is 87 Nm and the current output torque is 90 Nm, then the torque deviation at the current operating speed and the current output torque is -3 Nm.

[0126] Understandably, electric motors operate based on the principle of electromagnetic induction. In an electric motor, current flowing through coils generates a magnetic field. This magnetic field interacts with the current in the rotor, producing torque to cause the rotor to rotate. Therefore, when the motor's speed changes, its output torque also changes, resulting in torque deviations that vary depending on the current operating speed and output torque of the target power source.

[0127] Step S105: Store the torque deviation in the torque accuracy lookup table corresponding to the target power source. The torque accuracy lookup table is used to store the torque deviation of the target power source under different operating speeds and torques.

[0128] It should be noted that different power sources have corresponding torque accuracy lookup tables. Specifically, the torque accuracy lookup table is constructed through the following steps: obtaining the commonly used torque range and commonly used speed range of the corresponding power source; using the operating speed and torque of the power source as two sets of variables, dividing the commonly used torque range and commonly used speed range into several grids according to a preset division accuracy, with each grid having a corresponding sequence number. For example, as shown... Figure 2 As shown, taking P1 motor as an example, assuming that the common speed range of P1 motor is from 1000 to 5000 rpm and the common torque range is from -20 Nm to -100 Nm, the common torque range and the common speed range can be divided into 16 grids according to every 1000 rpm and every 20 Nm, and marked as serial numbers 1 to 16 respectively, so as to obtain the torque accuracy lookup table of P1 motor.

[0129] Furthermore, in the torque accuracy lookup table corresponding to each power source, the initial value of the torque deviation stored in each grid is 0. When calculating the current torque deviation corresponding to the current grid, the torque deviation stored in the current grid is updated to the current torque deviation. For example, according to the above steps S101 to S104, the torque deviation of grid 1 in the torque accuracy lookup table of motor P1 is 5Nm, then the torque deviation stored in grid 1 is updated to 5Nm.

[0130] It should be noted that the torque deviation calculation method in this embodiment does not require specific control of the operating speed or torque of the engine, P1 motor, or P3 motor. Instead, it makes real-time judgments based on the operating speed and torque of the engine, P1 motor, or P3 motor during normal driving of the hybrid vehicle. If the engine's operating parameters first meet the corresponding preset detection conditions, the torque deviation of the engine at the current operating speed and torque is calculated first. If the P1 motor's operating parameters first meet the corresponding preset detection conditions, the torque deviation of the P1 motor at the current operating speed and torque is calculated first. If the P3 motor's operating parameters first meet the corresponding preset detection conditions, the torque deviation of the P3 motor at the current operating speed and torque is calculated first. The order in which the torque deviations of the engine, P1 motor, and P3 motor are calculated is not specified here.

[0131] Step S106: Control the torque of the target power source based on the torque accuracy lookup table.

[0132] Specifically, based on the current operating speed of the target power source and the originally allocated torque, the current torque deviation can be retrieved from the corresponding torque accuracy lookup table. The target allocated torque is then obtained based on the sum of the originally allocated torque and the current torque deviation. The target power source is then controlled to adjust its torque to the target allocated torque.

[0133] The torque control method for hybrid vehicles provided in this embodiment calculates the target true torque of the power source when the operating parameters of the power source in a P13 configuration hybrid vehicle meet the corresponding preset detection conditions. Based on the difference between the target true torque and the current output torque fed back, the torque deviation of the power source at the current operating speed and current output torque is obtained. This torque deviation is then stored in the torque accuracy lookup table corresponding to the power source. Therefore, when controlling the torque of the power source, the torque can be corrected based on the torque accuracy lookup table, thereby improving the torque control accuracy of the power source in the P13 configuration hybrid vehicle and enhancing the stability and smoothness of hybrid vehicle driving.

[0134] Figure 3 This is a schematic flowchart of a second torque control method for a hybrid vehicle according to an embodiment of the present invention, as shown below. Figure 3 As shown, the process includes the following steps:

[0135] Step S201: Obtain the operating parameters of the power source, which includes an engine, a P1 motor, and a P3 motor. For details, please refer to step S101 of the above embodiment, which will not be repeated here.

[0136] Step S202: If there is a target power source whose operating parameters meet the corresponding preset detection conditions, then calculate the target true torque of the target power source.

[0137] In some optional implementations, the preset detection conditions corresponding to the P3 motor include at least one of the following: the operating temperature of the P3 motor is within a first preset temperature range, the voltage of the P3 motor is within a first preset voltage range, the current of the P3 motor is within a first preset current range, the operating speed of the P3 motor is within a first preset speed range, and the output torque fed back by the P3 motor is within a first preset torque range.

[0138] For example, the operating temperature of the P3 motor includes the electrical control temperature, rotor temperature, and stator temperature of the P3 motor.

[0139] Optionally, the first preset temperature range is 15℃ to 65℃. It should be noted that in actual operation, the first preset temperature range can be adjusted according to the actual situation of the P3 motor. The value of the first preset temperature range should avoid the torque control accuracy of the P3 motor being affected by the operating temperature, so as to ensure the accuracy of the subsequent calculation of the target true torque of the P3 motor.

[0140] It should be noted that the values ​​of the first preset voltage range and the first preset current range need to be determined with reference to the operating platform of the motor matched with the P3 motor, to avoid the torque control accuracy of the P3 motor being affected by voltage and current. For example, taking a P3 motor with a 320V operating platform, the first preset voltage range should not be lower than 280V. If the voltage of the P3 motor is lower than 280V, the maximum torque and efficiency of the P3 motor will be affected. If the target actual torque of the P3 motor is calculated when the voltage is lower than 280V, the calculated torque deviation will differ significantly from the actual situation. Similarly, the value of the second preset current range should also not exceed the tolerance range of the matched motor.

[0141] Optionally, the first preset speed range is the commonly used speed range of the P3 motor, and the first preset torque range is the commonly used torque range of the P3 motor.

[0142] In some alternative implementations, such as Figure 3 As shown, step S202 above includes:

[0143] Step a1: If the operating parameters of motor P3 meet the corresponding preset detection conditions and motor P1 is in an inactive state, then obtain the first output power of the power supply device and the first power consumption of the target electrical appliance.

[0144] It is worth noting that, to avoid the torque accuracy of motor P1 affecting motor P3, when the operating parameters of motor P3 meet the corresponding preset detection conditions, motor P1 needs to be further deactivated. Specifically, if the output torque of motor P1 is 0 and the operating speed of motor P1 is 0, then motor P1 is determined to be deactivated. Alternatively, if the output torque of motor P1 is 0 and motor P1 is in standby mode, then motor P1 is determined to be deactivated.

[0145] It should be noted that the target electrical appliances are high-voltage electrical appliances, that is, equipment powered by a power supply device other than P1 motor, P3 motor and engine. The power supply device is a battery.

[0146] Step a2: Based on the difference between the first output power and the first power consumption, the first motor power of motor P3 is obtained.

[0147] It is worth noting that since the P1 motor is in an inactive state, the electric power of the entire hybrid vehicle includes the target electrical appliance and the P3 motor. Therefore, the first motor power of the P3 motor can be obtained by subtracting the first electrical power of the target electrical appliance (i.e., non-driving power consumption) from the first output power of the power supply device.

[0148] Step a3: Obtain the first motor efficiency and the first operating speed of motor P3.

[0149] Specifically, the first motor efficiency of the P3 motor can be obtained from the test results of the P3 motor on the test bench.

[0150] Specifically, the first operating speed of the P3 motor can be obtained through a speed measuring instrument, a slip ring on the rotor of the P3 motor, or a vibration sensor.

[0151] Step a4: Calculate the target true torque of motor P3 based on the first motor power, the first motor efficiency, and the first operating speed.

[0152] Specifically, step a4 above includes: obtaining the first mechanical power of motor P3 based on the first motor power and the first motor efficiency; and obtaining the target true torque of motor P3 based on the first mechanical power and the first operating speed.

[0153] For example, assuming that the first motor power of P3 motor is calculated to be 50kW based on the power supply device, the first output power, and the first power consumption of the target appliance, the first operating speed of P3 motor is 5000rpm. Meanwhile, based on the test results of P3 motor on the test bench, the first motor efficiency of P3 motor is 92%. Therefore, the target actual torque of P3 motor is: 50*0.92*9550 / 5000 = 87.86Nm.

[0154] The torque control method for hybrid vehicles provided in this embodiment obtains the first output power of the power supply device and the first power consumption of the target electrical appliance only when the operating parameters of the P3 motor meet the corresponding preset detection conditions and the P1 motor is inactive. This allows for the utilization of the power conservation principle and the torque balance principle to obtain the target true torque of the P3 motor. Therefore, it avoids the influence of the P3 motor's operating boundary conditions on the target true torque, and also avoids the influence of the P1 motor's torque control error on the P3 motor, thereby improving the accuracy of the P3 motor's target true torque. This, in turn, improves the accuracy of the corresponding torque deviation of the P3 motor in subsequent torque deviation calculations.

[0155] In some optional implementations, the preset detection conditions corresponding to the P1 motor include at least one of the following: the operating temperature of the P1 motor is within a second preset temperature range, the voltage of the P1 motor is within a second preset voltage range, the current of the P1 motor is within a second preset current range, the operating speed of the P1 motor is within a second preset speed range, and the output torque fed back by the P1 motor is within a second preset torque range.

[0156] For example, the operating temperature of the P1 motor includes the electrical control temperature, rotor temperature, and stator temperature of the P1 motor.

[0157] Optionally, the second preset temperature range is 15℃ to 65℃. It should be noted that, similar to the first preset temperature range, the second preset temperature range can be adjusted according to the actual situation of the P1 motor. The value of the second preset temperature range should avoid the torque control accuracy of the P1 motor being affected by the operating temperature, so as to ensure the accuracy of the subsequent calculation of the target true torque of the P1 motor.

[0158] It should be noted that, similar to the values ​​of the first preset voltage range and the first preset current range, the values ​​of the second preset voltage range and the second preset current range need to be determined based on the voltage platform and operating current range of the P1 motor, in order to avoid the P1 motor not operating under normal boundary conditions, which would affect the accuracy of subsequent torque deviation detection of the P1 motor.

[0159] Optionally, the second preset speed range is the commonly used speed range of motor P1, and the second preset torque range is the commonly used torque range of motor P1.

[0160] In some alternative implementations, such as Figure 4 As shown, step S202 above further includes:

[0161] Step b1: If the operating parameters of motor P1 meet the corresponding preset detection conditions, then obtain the second output power of the power supply device and the second power consumption of the target electrical appliance.

[0162] Specifically, the second output power of the power supply device can be obtained from the current signal value and voltage signal value of the power supply device.

[0163] Specifically, the second electrical power of the target electrical appliance can be obtained through a power measuring device connected to the target appliance. Alternatively, the second electrical power of the target electrical appliance can be obtained based on the current signal value and voltage signal value of the target appliance.

[0164] Step b2: Based on the difference between the second output power and the second power consumption, the total motor power is obtained.

[0165] It is worth noting that step b2 above assumes that motors P1 and P3 are already activated. At this point, the total motor power of motors P1 and P3 is obtained by subtracting the second power consumption from the second output power.

[0166] Step b3: Obtain the second motor power of motor P3.

[0167] Specifically, the second motor power of the P3 motor can be obtained through a power measuring device connected to the P3 motor. Alternatively, the second motor power of the P3 motor can be obtained by looking up the P3 motor's output torque, current operating speed, and corresponding torque accuracy table.

[0168] As one optional implementation, step b3 includes: obtaining the first output torque fed back by the P3 motor and the third operating speed of the P3 motor; based on the first output torque and the third operating speed, querying the first torque deviation of the P3 motor from the torque accuracy lookup table corresponding to the P3 motor; obtaining the first true torque of the P3 motor based on the sum of the first output torque and the first torque deviation; obtaining the third motor efficiency of the P3 motor; and calculating the power of the second motor based on the first true torque, the third motor efficiency, and the third operating speed.

[0169] For example, assuming the current third operating speed of motor P3 is 5000 rpm and the first output torque is 90 Nm, the torque deviation between 5000 rpm and 90 Nm in the torque accuracy lookup table of motor P1 is 5 Nm, and the third motor efficiency of motor P3 at this time is found to be 92%. Then, the second motor power obtained after correction of motor P3 is: 5000*(90+5) / 9550 / 0.92=54kW.

[0170] Step b4: Based on the difference between the total motor power and the second motor power, obtain the third motor power of motor P1.

[0171] Understandably, since the total motor power is the sum of the current motor power of motors P1 and P3, after obtaining the second motor power of motor P3, the total motor power can be subtracted from the second motor power to obtain the current third motor power of motor P3.

[0172] Step b5: Obtain the second motor efficiency and the second operating speed of motor P1.

[0173] Specifically, the second motor efficiency of P1 motor can be obtained from the test results of P1 motor on the test bench.

[0174] Specifically, the second operating speed of the P1 motor can be obtained through a speed measuring instrument, a slip ring on the rotor of the P1 motor, or a vibration sensor.

[0175] Step b6: Calculate the target true torque of motor P1 based on the power of the third motor, the efficiency of the second motor, and the second operating speed.

[0176] Specifically, step b6 above includes: obtaining the second mechanical power of motor P1 based on the power of the third motor and the efficiency of the second motor; and obtaining the target true torque of motor P1 based on the second mechanical power and the second operating speed. It should be noted that the specific calculation process for the target true torque of motor P1 can refer to the specific calculation process for the target true torque of motor P3, and will not be elaborated further here.

[0177] The torque control method for hybrid vehicles provided in this embodiment obtains the second output power of the power supply device and the second electrical power of the target electrical appliance only when the operating parameters of the P1 motor meet the corresponding preset detection conditions. This allows for the utilization of the power conservation principle and the torque balance principle to obtain the target true torque of the P1 motor. Therefore, it avoids the target true torque of the P1 motor being affected by the operating boundary conditions of the P1 motor, thereby improving the accuracy of the target true torque of the P1 motor. This, in turn, improves the accuracy of the corresponding torque deviation of the P1 motor in the subsequent torque deviation calculation process.

[0178] In some optional implementations, the preset detection conditions corresponding to the engine include at least one of the following: the engine operating temperature is within a third preset temperature range, the ignition angle intervention is in an inactive state, the engine has no faults, the engine operating speed is within a third preset speed range, and the output torque fed back by the engine is within a third preset torque range.

[0179] For example, the engine operating temperature includes the engine coolant temperature, intake air temperature, and engine oil temperature.

[0180] Optionally, the third preset temperature range includes the water temperature range, the intake air temperature range, and the engine oil temperature range.

[0181] Optionally, the water temperature range is 60°C to 120°C, the intake air temperature range is 15°C to 55°C, and the oil temperature range is 40°C to 80°C.

[0182] It should be noted that the values ​​of the first preset voltage range and the first preset current range are similar, while the values ​​of the third preset voltage range and the third preset current range need to be determined according to the engine's voltage platform and operating current range, in order to avoid the engine not operating under normal boundary conditions, which would affect the accuracy of subsequent engine torque deviation detection.

[0183] Optionally, the third preset speed range is the engine's commonly used speed range, and the third preset torque range is the engine's commonly used torque range.

[0184] In some alternative implementations, such as Figure 5 As shown, step S202 above further includes:

[0185] Step c1: If the engine's operating parameters meet the corresponding preset detection conditions, then obtain the second output torque fed back by the P1 motor and the fourth operating speed of the P1 motor.

[0186] Specifically, the second output torque is obtained from the torque signal value fed back by the P1 motor. The fourth operating speed of the P1 motor can be obtained through a speed measuring instrument, slip rings on the rotor of the P1 motor, or a vibration sensor.

[0187] Step c2: Based on the second output torque and the fourth operating speed, look up the second torque deviation of motor P1 from the torque accuracy lookup table corresponding to motor P1.

[0188] Understandably, since the output torque of the P1 motor will deviate from its actual torque, the second torque deviation can be obtained by querying the corresponding grid and the torque deviation in the torque accuracy lookup table for the P1 motor using the current second output torque and fourth operating speed of the P1 motor.

[0189] Step c3: Based on the sum of the second output torque and the second torque deviation, the second true torque of motor P1 is obtained.

[0190] Understandably, since the output torque of the P1 motor will deviate from the actual torque, it is necessary to correct the current output torque of the P1 motor by using the torque deviation obtained above, so as to obtain the actual torque of the current P1 motor and thus ensure the accuracy of the torque of the P1 motor.

[0191] Step c4: Calculate the target true torque of the engine based on the speed ratio between the P1 motor and the engine and the second true torque.

[0192] It's worth noting that in a P13 hybrid vehicle configuration, the engine torque is related to the P1 motor torque, the engine and P1 motor power are equal, and their speeds are related to their speed ratio. Therefore, the target true torque of the engine can be calculated based on the speed ratio between the P1 motor and the engine, as well as the current true torque of the P1 motor.

[0193] For example, assuming the speed ratio between motor P1 and engine is 2:1, then the torque of motor P1 is 1 / 2 of the torque of engine.

[0194] The torque control method for hybrid vehicles provided in this embodiment acquires the second output torque and the fourth operating speed of the P1 motor only when the engine's operating parameters meet the corresponding preset detection conditions. This allows the method to utilize the torque correlation between the P1 motor and the engine to obtain the engine's target true torque. Therefore, it avoids the engine's target true torque being affected by the engine's operating boundary conditions, thus improving the accuracy of the engine's target true torque. This, in turn, improves the accuracy of the corresponding torque deviation in subsequent torque deviation calculations.

[0195] Step S203: Obtain the current output torque fed back by the target power source. For details, please refer to step S103 of the above embodiment, which will not be repeated here.

[0196] Step S204: Based on the difference between the target actual torque and the current output torque, the torque deviation of the target power source at the current operating speed and current output torque is obtained. For details, please refer to step S104 of the above embodiment, which will not be repeated here.

[0197] Step S205: Store the torque deviation in the torque accuracy lookup table corresponding to the target power source. The torque accuracy lookup table is used to store the torque deviation of the target power source under different operating speeds and torques.

[0198] In some optional implementations, step S205 includes: obtaining the continuous duration for which the target power source meets the corresponding preset detection conditions; when the continuous duration is longer than the target detection duration, storing the torque deviation in the torque accuracy lookup table corresponding to the target power source.

[0199] Furthermore, the above-mentioned method of storing the torque deviation in the torque accuracy lookup table corresponding to the target power source when the continuous duration is longer than the target detection duration includes: obtaining the torque deviation to be stored based on the average value of the torque deviation within the continuous duration when the continuous duration is longer than the target detection duration; and storing the torque deviation to be stored in the torque accuracy lookup table corresponding to the target power source.

[0200] Understandably, since the motor power or output torque often varies during the driving process of a hybrid vehicle, the average value of the torque deviation over a certain period of time needs to be taken for actual torque deviation detection. When the continuous duration for which the target power source meets the corresponding preset detection conditions is less than or equal to the target detection duration, the torque deviation obtained in this instance is discarded and not counted in memory.

[0201] Specifically, based on the current operating speed and current output torque of the target power source, the target grid stored in the corresponding torque accuracy lookup table is determined; the torque deviation of the target power source is stored in the target grid. It should be noted that when the target power source repeatedly meets the corresponding preset detection conditions, the torque deviation of the later detection for each grid overwrites the torque deviation of the previous detection.

[0202] The torque control method for hybrid vehicles provided in this embodiment stores the torque deviation in the torque accuracy lookup table corresponding to the target power source only when the continuous duration of the target power source meeting the corresponding preset detection conditions is greater than the target detection duration. Therefore, it can avoid the influence of short-term changes in the target power source, thereby further ensuring the accuracy of the torque deviation in the torque accuracy lookup table corresponding to the target power source and further improving the torque control accuracy of the target power source.

[0203] Step S206: Control the torque of the target power source based on the torque accuracy lookup table.

[0204] Specifically, when the Power Control Unit (PCU) executes the corresponding torque distribution, it needs to add the original allocated torque to the target power source to the current torque deviation found in the corresponding torque accuracy lookup table to obtain the target allocated torque. This ensures that the target allocated torque eliminates the torque deviation, thereby improving the torque control accuracy for the target power source. The current torque deviation needs to be looked up in the target grid of the torque accuracy lookup table corresponding to the target power source, based on the speed range corresponding to the current operating speed of the target power source and the torque range corresponding to the original allocated torque.

[0205] Furthermore, when correcting the torque of the target power source, a smoothing coefficient needs to be set to prevent unnecessary shocks caused by sudden torque changes, so that the torque of the target power source changes at a certain rate. For example, a smoothing coefficient of 10 Nm / s can be used to control the target power source to smoothly change to the target allocated torque.

[0206] Specifically, step S206 includes: obtaining the original allocated torque of the target power source; querying the current torque deviation from the torque accuracy lookup table corresponding to the target power source based on the original allocated torque and the current operating speed; obtaining the target allocated torque based on the sum of the original allocated torque and the current torque deviation; and controlling the target power source to adjust the torque to the target allocated torque.

[0207] Furthermore, the above-mentioned control of the target power source to adjust the torque to the target allocated torque includes: obtaining the historical torque deviation of the original allocated torque corresponding to the previous operating speed; if the difference between the current torque deviation and the historical torque deviation is greater than a first preset threshold, then based on a preset smoothing coefficient, smoothly changing the torque of the target power source to the target allocated torque; if the difference between the current torque deviation and the historical torque deviation is less than or equal to the first preset threshold, then directly adjusting the torque of the target power source to the target allocated torque.

[0208] Furthermore, the above-mentioned control of the target power source to adjust the torque to the target allocated torque also includes: obtaining the current allocated torque of the target power source; if the difference between the current allocated torque and the target allocated torque is greater than a second preset threshold, then based on a preset smoothing coefficient, smoothly changing the torque of the target power source to the target allocated torque; if the difference between the current allocated torque and the target allocated torque is less than or equal to the second preset threshold, then directly adjusting the torque of the target power source to the target allocated torque.

[0209] It is worth noting that, through the torque control method for hybrid vehicles of the present invention, during the normal operation of the hybrid vehicle, when the engine, P1 motor, and P3 motor respectively meet their corresponding preset detection conditions, the torque deviations of the corresponding engine, P1 motor, and P3 motor can be detected and stored in the corresponding torque accuracy lookup table. Therefore, when distributing and controlling the torque of the engine, P1 motor, or P3 motor in a P13 configuration hybrid vehicle, the allocated torque can be corrected according to the corresponding torque accuracy lookup table, thereby improving the torque control accuracy of the engine, P1 motor, and P3 motor, and thus achieving better protection of the power boundary of the power supply device (such as the battery). Simultaneously, it can avoid problems such as battery state-of-charge control deviation or uneven driving performance of the hybrid vehicle caused by low torque control accuracy.

[0210] Furthermore, the torque control method for hybrid vehicles of this invention does not rely on the clutch state. By determining the power flow state in a specified scenario, it achieves the determination of torque deviations between the engine, P1 motor, and P3 motor. Moreover, it does not require specific commands or specific detection conditions; torque deviations between the engine, P1 motor, and P3 motor can be detected under normal driving conditions. Simultaneously, when torque deviations occur in the engine, P1 motor, and P3 motor, it can correct these deviations based on pre-detected torque deviations to ensure that the target torque distribution of the engine, P1 motor, and P3 motor matches the actual torque, thereby avoiding problems such as uneven driving performance and inaccurate battery control caused by low torque control precision.

[0211] This embodiment also provides a torque control device for a hybrid vehicle, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0212] This embodiment provides a torque control device for a hybrid vehicle, such as... Figure 6 As shown, it includes:

[0213] The operating condition parameter acquisition module 301 is used to acquire the operating condition parameters of the power source, which includes the engine, P1 motor and P3 motor.

[0214] The real torque calculation module 302 is used to calculate the target real torque of the target power source if there is a target power source in the power source whose operating parameters meet the corresponding preset detection conditions.

[0215] The output torque acquisition module 303 is used to acquire the current output torque fed back by the target power source.

[0216] The torque deviation calculation module 304 is used to obtain the torque deviation of the target power source at the current operating speed and the current output torque based on the difference between the target true torque and the current output torque.

[0217] The torque deviation storage module 305 is used to store the torque deviation into the torque accuracy lookup table corresponding to the target power source. The torque accuracy lookup table is used to store the torque deviation of the target power source under different operating speeds and torques.

[0218] The target torque control module 306 is used to control the torque of the target power source based on a torque accuracy lookup table.

[0219] In some optional implementations, in the real torque calculation module 302, the preset detection conditions corresponding to the P3 motor include at least one of the following: the operating temperature of the P3 motor is within a first preset temperature range, the voltage of the P3 motor is within a first preset voltage range, the current of the P3 motor is within a first preset current range, the operating speed of the P3 motor is within a first preset speed range, and the output torque fed back by the P3 motor is within a first preset torque range.

[0220] In some alternative implementations, the real torque calculation module 302 includes:

[0221] The first power acquisition unit is used to acquire the first output power of the power supply device and the first power consumption of the target electrical appliance if the operating parameters of the P3 motor meet the corresponding preset detection conditions and the P1 motor is in an inactive state.

[0222] The first power calculation unit is used to obtain the first motor power of motor P3 based on the difference between the first output power and the first power consumption.

[0223] The first data acquisition unit is used to acquire the first motor efficiency and the first operating speed of the P3 motor.

[0224] The first torque correction unit is used to calculate the target true torque of motor P3 based on the first motor power, the first motor efficiency, and the first operating speed.

[0225] In some optional implementations, in the real torque calculation module 302, the preset detection conditions corresponding to motor P1 include at least one of the following: the operating temperature of motor P1 is within a second preset temperature range, the voltage of motor P1 is within a second preset voltage range, the current of motor P1 is within a second preset current range, the operating speed of motor P1 is within a second preset speed range, and the output torque fed back by motor P1 is within a second preset torque range.

[0226] In some alternative implementations, the real torque calculation module 302 further includes:

[0227] The second power acquisition unit is used to acquire the second output power of the power supply device and the second power consumption of the target electrical appliance if the operating parameters of the P1 motor meet the corresponding preset detection conditions.

[0228] The second power calculation unit is used to obtain the total motor power based on the difference between the second output power and the second power consumption;

[0229] The third power calculation unit is used to obtain the second motor power of the P3 motor.

[0230] The fourth power calculation unit is used to obtain the third motor power of motor P1 based on the difference between the total motor power and the second motor power.

[0231] The second data acquisition unit is used to acquire the second motor efficiency and the second operating speed of the P1 motor.

[0232] The second torque correction unit is used to calculate the target true torque of motor P1 based on the power of the third motor, the efficiency of the second motor, and the second operating speed.

[0233] Furthermore, the third power calculation unit includes:

[0234] The motor data acquisition subunit is used to acquire the first output torque and the third operating speed of the P3 motor.

[0235] The torque accuracy query subunit is used to query the first torque deviation of motor P3 from the torque accuracy query table corresponding to motor P3, based on the first output torque and the third operating speed.

[0236] The true torque calculation subunit is used to obtain the first true torque of the P3 motor based on the sum of the first output torque and the first torque deviation.

[0237] The motor efficiency acquisition subunit is used to obtain the third motor efficiency of motor P3.

[0238] The motor power calculation subunit is used to calculate the second motor power based on the first actual torque, the third motor efficiency, and the third operating speed.

[0239] In some optional implementations, in the real torque calculation module 302, the preset detection conditions corresponding to the engine include at least one of the following: the engine operating temperature is within a third preset temperature range, the ignition angle intervention is in an inactive state, the engine has no faults, the engine operating speed is within a third preset speed range, and the output torque fed back by the engine is within a third preset torque range.

[0240] In some alternative implementations, the real torque calculation module 302 further includes:

[0241] The third data acquisition unit is used to acquire the second output torque and the fourth operating speed of the P1 motor if the engine's operating parameters meet the corresponding preset detection conditions.

[0242] The torque accuracy query unit is used to query the second torque deviation of motor P1 from the torque accuracy query table corresponding to motor P1, based on the second output torque and the fourth operating speed.

[0243] The third torque correction unit is used to obtain the second true torque of motor P1 based on the sum of the second output torque and the second torque deviation.

[0244] The true torque conversion unit is used to calculate the target true torque of the engine based on the speed ratio between the P1 motor and the engine and the second true torque.

[0245] In some alternative implementations, the torque deviation storage module 305 includes:

[0246] The continuous duration acquisition unit is used to acquire the continuous duration during which the target power source meets the corresponding preset detection conditions.

[0247] The torque deviation storage unit is used to store the torque deviation in the torque accuracy lookup table corresponding to the target power source when the continuous duration is longer than the target detection duration.

[0248] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0249] In this embodiment, the torque control device of the hybrid vehicle is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0250] This invention also provides a hybrid vehicle, which is a P13 configuration hybrid vehicle.

[0251] like Figure 7As shown, the hybrid vehicle includes an engine 1, a power supply unit 2, a transmission 3, and a vehicle controller (not shown). The transmission 3 includes a P1 motor 31, a P3 motor 32, a clutch 33, a reduction gear 34, and a final drive 35. Specifically, the engine 1 provides driving force to the hybrid vehicle. The power supply unit 2 is connected to the P1 motor 31 and the P3 motor 32, and supplies power to them. The P1 motor 31 is mounted on the crankshaft of the engine 1 and located between the engine 1 and the clutch 33; the P1 motor 31 assists in starting the engine 1. The P3 motor 32 is connected to the reduction gear 34 and located at the output end of the transmission 3; the P3 motor 32 provides torque when the hybrid vehicle is traveling at high speed. The final drive 35 is connected to the clutch 33 via the reduction gear 34 and is located between the two front wheels 4 of the hybrid vehicle.

[0252] It should be noted that in this embodiment, the transmission 3 is a DHT transmission.

[0253] Please see Figure 8 , Figure 8 This is a structural block diagram of a vehicle controller provided in an optional embodiment of the present invention, such as... Figure 8 As shown, the vehicle controller includes one or more processors 10, a memory 20, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the vehicle controller, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple vehicle controllers can be connected, each providing some of the necessary operations (e.g., as a server array, a set of blade servers, or a multiprocessor system). Figure 8 Take a processor 10 as an example.

[0254] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0255] The memory 20 stores instructions executable by at least one processor 10 to cause at least one processor 10 to perform the method shown in the above embodiments.

[0256] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the vehicle controller, etc. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the vehicle controller via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0257] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0258] The vehicle controller also includes a communication interface 30 for communicating with other devices, communication networks, or the cloud.

[0259] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor control devices, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0260] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A torque control method for a hybrid vehicle, characterized in that, The method includes: Obtain the operating parameters of the power source, which includes an engine, a P1 motor, and a P3 motor; If there is a target power source whose operating parameters meet the corresponding preset detection conditions, then calculate the target true torque of the target power source. Obtain the current output torque fed back by the target power source; Based on the difference between the target actual torque and the current output torque, the torque deviation of the target power source at the current operating speed and the current output torque is obtained; The torque deviation is stored in the torque accuracy lookup table corresponding to the target power source. The torque accuracy lookup table is used to store the torque deviation of the target power source under different operating speeds and torques. The torque of the target power source is controlled based on the torque accuracy lookup table; If there is a target power source among the power sources whose operating parameters meet the corresponding preset detection conditions, then the target true torque of the target power source is calculated, including: If the operating parameters of the P3 motor meet the corresponding preset detection conditions and the P1 motor is in an inactive state, then the first output power of the power supply device and the first power consumption of the target electrical appliance are obtained. The first motor power of the P3 motor is obtained based on the difference between the first output power and the first power consumption. Obtain the first motor efficiency and the first operating speed of the P3 motor; The target true torque of the P3 motor is calculated based on the first motor power, the first motor efficiency, and the first operating speed.

2. The torque control method for a hybrid vehicle according to claim 1, characterized in that, If there is a target power source among the power sources whose operating parameters meet the corresponding preset detection conditions, then calculating the target true torque of the target power source further includes: If the operating parameters of the P1 motor meet the corresponding preset detection conditions, then the second output power of the power supply device and the second power consumption of the target electrical appliance are obtained. The total motor power is obtained based on the difference between the second output power and the second power consumption. Obtain the second motor power of the P3 motor; The third motor power of motor P1 is obtained based on the difference between the total motor power and the second motor power. Obtain the second motor efficiency and the second operating speed of the P1 motor; The target true torque of motor P1 is calculated based on the power of the third motor, the efficiency of the second motor, and the second operating speed.

3. The torque control method for a hybrid vehicle according to claim 2, characterized in that, The step of obtaining the second motor power of the P3 motor includes: Obtain the first output torque fed back by the P3 motor and the third operating speed of the P3 motor; Based on the first output torque and the third operating speed, the first torque deviation of the P3 motor is retrieved from the torque accuracy lookup table corresponding to the P3 motor; The first true torque of the P3 motor is obtained based on the sum of the first output torque and the first torque deviation. Obtain the third motor efficiency of the P3 motor; The power of the second motor is calculated based on the first actual torque, the third motor efficiency, and the third operating speed.

4. The torque control method for a hybrid vehicle according to claim 1, characterized in that, If there is a target power source among the power sources whose operating parameters meet the corresponding preset detection conditions, then calculating the target true torque of the target power source further includes: If the operating parameters of the engine meet the corresponding preset detection conditions, then the second output torque fed back by the P1 motor and the fourth operating speed of the P1 motor are obtained. Based on the second output torque and the fourth operating speed, the second torque deviation of the P1 motor is queried from the torque accuracy lookup table corresponding to the P1 motor; The second true torque of the P1 motor is obtained based on the sum of the second output torque and the second torque deviation. The target true torque of the engine is calculated based on the speed ratio between the P1 motor and the engine and the second true torque.

5. The torque control method for a hybrid vehicle according to claim 1, characterized in that, The step of storing the torque deviation in the torque accuracy lookup table corresponding to the target power source includes: Obtain the duration for which the target power source meets the corresponding preset detection conditions; When the continuous duration is greater than the target detection duration, the torque deviation is stored in the torque accuracy lookup table corresponding to the target power source.

6. The torque control method for a hybrid vehicle according to claim 1, characterized in that, The preset detection conditions corresponding to the P3 motor include at least one of the following: the operating temperature of the P3 motor is within a first preset temperature range, the voltage of the P3 motor is within a first preset voltage range, the current of the P3 motor is within a first preset current range, the operating speed of the P3 motor is within a first preset speed range, and the output torque fed back by the P3 motor is within a first preset torque range.

7. The torque control method for a hybrid vehicle according to claim 1, characterized in that, The preset detection conditions corresponding to the P1 motor include at least one of the following: the operating temperature of the P1 motor is within a second preset temperature range, the voltage of the P1 motor is within a second preset voltage range, the current of the P1 motor is within a second preset current range, the operating speed of the P1 motor is within a second preset speed range, and the output torque fed back by the P1 motor is within a second preset torque range.

8. The torque control method for a hybrid vehicle according to claim 1, characterized in that, The preset detection conditions corresponding to the engine include at least one of the following: the engine operating temperature is within a third preset temperature range, the ignition angle intervention is in an inactive state, the engine is fault-free, the engine operating speed is within a third preset speed range, and the output torque fed back by the engine is within a third preset torque range.

9. A torque control device for a hybrid vehicle, characterized in that, The device includes: The operating condition parameter acquisition module is used to acquire the operating condition parameters of the power source, which includes an engine, a P1 motor, and a P3 motor. The real torque calculation module is used to calculate the target real torque of the target power source if there is a target power source in the power source whose operating parameters meet the corresponding preset detection conditions. The output torque acquisition module is used to acquire the current output torque fed back by the target power source; The torque deviation calculation module is used to obtain the torque deviation of the target power source at the current operating speed and the current output torque based on the difference between the target true torque and the current output torque. A torque deviation storage module is used to store the torque deviation into a torque accuracy lookup table corresponding to the target power source. The torque accuracy lookup table is used to store the torque deviation of the target power source under different operating speeds and torques. The target torque control module is used to control the torque of the target power source based on the torque accuracy lookup table; The actual torque calculation module includes: The first power acquisition unit is used to acquire the first output power of the power supply device and the first power consumption of the target electrical appliance if the operating parameters of the P3 motor meet the corresponding preset detection conditions and the P1 motor is in an inactive state. The first power calculation unit is used to obtain the first motor power of the P3 motor based on the difference between the first output power and the first power consumption. The first data acquisition unit is used to acquire the first motor efficiency and the first operating speed of the P3 motor; The first torque correction unit is used to calculate the target true torque of the P3 motor based on the first motor power, the first motor efficiency and the first operating speed.

10. The torque control device for a hybrid vehicle according to claim 9, characterized in that, The actual torque calculation module also includes: The second power acquisition unit is used to acquire the second output power of the power supply device and the second power consumption of the target electrical appliance if the operating parameters of the P1 motor meet the corresponding preset detection conditions. The second power calculation unit is used to obtain the total motor power based on the difference between the second output power and the second power consumption; The third power calculation unit is used to obtain the second motor power of the P3 motor; The fourth power calculation unit is used to obtain the third motor power of the P1 motor based on the difference between the total motor power and the second motor power; The second data acquisition unit is used to acquire the second motor efficiency and the second operating speed of the P1 motor; The second torque correction unit is used to calculate the target true torque of the P1 motor based on the power of the third motor, the efficiency of the second motor, and the second operating speed.

11. The torque control device for a hybrid vehicle according to claim 10, characterized in that, The third power calculation unit includes: The motor data acquisition subunit is used to acquire the first output torque fed back by the P3 motor and the third operating speed of the P3 motor; The torque accuracy query subunit is used to query the first torque deviation of the P3 motor from the torque accuracy query table corresponding to the P3 motor based on the first output torque and the third operating speed. The true torque calculation subunit is used to obtain the first true torque of the P3 motor based on the sum of the first output torque and the first torque deviation. The motor efficiency acquisition subunit is used to acquire the third motor efficiency of the P3 motor. The motor power calculation subunit is used to calculate the second motor power based on the first actual torque, the third motor efficiency, and the third operating speed.

12. The torque control device for a hybrid vehicle according to claim 9, characterized in that, The actual torque calculation module also includes: The third data acquisition unit is used to acquire the second output torque fed back by the P1 motor and the fourth operating speed of the P1 motor if the operating parameters of the engine meet the corresponding preset detection conditions. The torque accuracy query unit is used to query the second torque deviation of the P1 motor from the torque accuracy query table corresponding to the P1 motor based on the second output torque and the fourth operating speed. The third torque correction unit is used to obtain the second true torque of the P1 motor based on the sum of the second output torque and the second torque deviation. The true torque conversion unit is used to calculate the target true torque of the engine based on the speed ratio between the P1 motor and the engine and the second true torque.

13. The torque control device for a hybrid vehicle according to claim 9, characterized in that, The torque deviation storage module includes: A continuous duration acquisition unit is used to acquire the continuous duration for which the target power source meets the corresponding preset detection conditions; The torque deviation storage unit is used to store the torque deviation in the torque accuracy lookup table corresponding to the target power source when the continuous duration is greater than the target detection duration.

14. The torque control device for a hybrid vehicle according to claim 9, characterized in that, In the real torque calculation module, the preset detection conditions corresponding to the P3 motor include at least one of the following: the operating temperature of the P3 motor is within a first preset temperature range, the voltage of the P3 motor is within a first preset voltage range, the current of the P3 motor is within a first preset current range, the operating speed of the P3 motor is within a first preset speed range, and the output torque fed back by the P3 motor is within a first preset torque range.

15. The torque control device for a hybrid vehicle according to claim 9, characterized in that, In the real torque calculation module, the preset detection conditions corresponding to the P1 motor include at least one of the following: the operating temperature of the P1 motor is within a second preset temperature range, the voltage of the P1 motor is within a second preset voltage range, the current of the P1 motor is within a second preset current range, the operating speed of the P1 motor is within a second preset speed range, and the output torque fed back by the P1 motor is within a second preset torque range.

16. The torque control device for a hybrid vehicle according to claim 9, characterized in that, In the real torque calculation module, the preset detection conditions corresponding to the engine include at least one of the following: the engine operating temperature is within a third preset temperature range, the ignition angle intervention is in an inactive state, the engine is fault-free, the engine operating speed is within a third preset speed range, and the output torque fed back by the engine is within a third preset torque range.

17. A hybrid vehicle, characterized in that, include: An engine for providing driving force to the hybrid vehicle; P1 motor, located on the crankshaft of the engine; P3 motor is located at the output end of the gearbox; A vehicle controller, connected to the engine, the P1 motor and the P3 motor, is used to execute the torque control method of the hybrid vehicle according to any one of claims 1 to 8.

18. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing a computer to execute the torque control method of the hybrid vehicle according to any one of claims 1 to 8.

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