Power system control method and system, storage medium and vehicle

Abstract

The invention provides a control method and system of a power system, a storage medium and a vehicle, and belongs to the technical field of vehicles, and the control method of the power system comprises the steps that a torque reduction stage starting signal of the power system in the working mode switching process is responded, and the current expected output rotating speed of a motor is obtained; regulating and controlling the actual output rotating speed of the motor by taking the current expected output rotating speed as a regulation and control target; and in the regulation and control process, based on the size relation between the actual output torque of the engine and the preset torque, the clutch is controlled to be kept in the state of being connected with the power transmission path or switched to be in the state of being disconnected from the power transmission path. The torque reduction stage and the speed regulation stage are combined, so that the actual output rotating speed and the output torque of the motor both reach expected values after the clutch is disconnected, the time consumed by the motor in the speed regulation stage is shortened, and finally the technical effect of shortening the time consumed by switching the working modes of the hybrid vehicle is achieved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular, to a control method, system, storage medium and vehicle of a power system. Background Art

[0002] The power system of a hybrid vehicle includes multiple working modes, such as direct drive mode, series mode and parallel mode. When the power system needs to switch from series mode to direct drive mode, the motor needs to first go through a torque reduction stage, during which the output torque is adjusted to the desired value, thereby controlling the clutch to disconnect the power transmission path between the motor and the engine.

[0003] In the related art, after the motor has gone through the torque reduction stage, it is also necessary to adjust the output speed to the desired value, so that the gearbox can complete the shifting. However, controlling the motor to reduce the torque first and then adjust the speed will result in a longer time spent on the working mode switching. Summary of the invention

[0004] Based on this, the present application provides a control method, system, storage medium and vehicle of a power system to solve the problem of how to shorten the time taken for a hybrid vehicle to switch operating modes.

[0005] In a first aspect of an embodiment of the present application, a control method for a power system is provided, wherein the power system includes a motor and an engine, wherein the motor and the engine are connected via a clutch, and the clutch is used to connect or disconnect a power transmission path between the motor and the engine, and the method includes: In response to a torque reduction phase start signal of the power system during the working mode switching process, obtaining a current expected output speed of the motor; Taking the current expected output speed as the control target, the actual output speed of the motor is controlled; During the regulation process, based on the magnitude relationship between the actual output torque of the engine and the preset torque, the clutch is controlled to maintain a state of connecting the power transmission path, or to switch to a state of disconnecting the power transmission path.

[0006] In some exemplary embodiments, controlling the working state of the clutch based on the magnitude relationship between the actual output torque of the engine and the preset torque includes: Determining whether to interrupt the regulation based on the magnitude relationship between the actual output torque of the engine and the preset torque; When the regulation is interrupted or completed, controlling the clutch to switch to a state of disconnecting the power transmission path; When the regulation is not interrupted and completed, the clutch is controlled to maintain the state of connecting the power transmission path.

[0007] This embodiment can ensure that the gap between the actual output speed of the motor and the current expected output torque is greatly shortened before the end of the torque reduction stage, thereby reducing the time spent in the speed regulation stage and further shortening the time spent in switching the operating mode of the hybrid vehicle.

[0008] In some exemplary embodiments, before determining whether to interrupt the regulation based on the magnitude relationship between the actual output torque of the engine and the preset torque, the method further includes: Determine whether the time spent on the control is greater than a preset time; The determining whether to interrupt the regulation based on the magnitude relationship between the actual output torque of the engine and the preset torque includes: When the time duration of the regulation is less than or equal to the preset time duration, determining whether to interrupt the regulation based on the magnitude relationship between the actual output torque of the engine and the preset torque; The method further comprises: When the time taken for the regulation is longer than the preset time, the clutch is controlled to switch to a state of disconnecting the power transmission path.

[0009] This embodiment determines whether the clutch has a problem of slow disconnection of the power transmission path by judging whether the time spent on regulation is greater than a preset time. If this problem occurs, the clutch is controlled to disconnect the power transmission path to eliminate the problem. If this problem does not occur, regulation is continued to ultimately prevent the problem of slow disconnection of the power transmission path from occurring.

[0010] In some exemplary embodiments, the controlling the actual output speed of the motor with the current expected output speed as the control target includes: Acquire a feedback control algorithm, wherein the input of the feedback control algorithm is a speed deviation between a desired output speed of the motor and an actual output speed, and the output of the feedback control algorithm is a torque deviation between a desired output torque of the motor and an actual output torque; Inputting the speed deviation between the current expected output speed of the motor and the current actual output speed into the feedback control algorithm to obtain the torque deviation output by the feedback control algorithm; Based on the torque deviation output by the feedback control algorithm, the actual output speed of the motor is regulated.

[0011] This embodiment adjusts the actual output speed of the motor through a feedback control algorithm, thereby achieving precise control of the motor, thereby improving the stability and response speed of the motor.

[0012] In some exemplary embodiments, regulating the actual output speed of the motor based on the torque deviation output by the feedback control algorithm includes: Based on a preset constraint set, constraining the torque deviation output by the feedback control algorithm to obtain a constrained torque deviation; Based on the constrained torque deviation, the actual output speed of the motor is regulated.

[0013] After obtaining the torque deviation output by the feedback control algorithm, this embodiment first constrains the torque deviation output by the feedback control algorithm through a preset constraint set, and then controls the actual output speed of the motor based on the constrained torque deviation, thereby avoiding the problem of excessive control amplitude and improving the stability of the motor operation.

[0014] In some exemplary embodiments, the step of determining the preset constraint set includes: Obtaining the maximum output torque of the motor and the maximum torque that can be transmitted by the clutch; The preset constraint set is determined based on the maximum output torque of the motor and the maximum torque transmittable by the clutch.

[0015] This embodiment determines the preset constraint set through the maximum output torque of the motor and the maximum torque that the clutch can transmit, which can effectively avoid overloading of the motor during the regulation process or slippage of the clutch during the regulation process, thereby ensuring the normal operation of the motor and the clutch.

[0016] In some exemplary embodiments, the mode switching signal is used to instruct the power system to switch to a direct drive mode. After controlling the working state of the clutch, the method further includes: When the working state of the clutch is to disconnect the power transmission path, obtaining the actual output speed of the motor after the clutch disconnects the power transmission path; When the difference between the actual output speed after the clutch disconnects the power transmission path and the current desired output speed is greater than a preset difference, the motor is controlled to output the current desired output speed so that the power system switches to the direct drive mode.

[0017] In this embodiment, when the mode switching signal is used to instruct the power system to switch to the direct drive mode, after the clutch disconnects the power transmission path, the actual output speed of the motor continues to be regulated so that the motor outputs the current expected output speed, thereby ensuring that the power system can successfully switch to the direct drive mode.

[0018] In a second aspect of an embodiment of the present application, a control system of a power system is provided, wherein the power system includes a motor and an engine, wherein the motor and the engine are connected via a clutch, and the clutch is used to connect or disconnect a power transmission path between the motor and the engine, and the control system includes: an acquisition module, configured to acquire a current expected output speed of the motor in response to a torque reduction phase start signal of the power system during a working mode switching process; A control module, used to control the actual output speed of the motor with the current expected output speed as the control target; The control module is used to control the clutch to maintain the state of connecting the power transmission path or switch to the state of disconnecting the power transmission path based on the magnitude relationship between the actual output torque of the engine and the preset torque during the regulation process.

[0019] According to a third aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the steps of the control method of the power system described in the second aspect of the present application are implemented.

[0020] According to a fourth aspect of an embodiment of the present application, a vehicle is provided, comprising the control system of the power system described in the second aspect of the embodiment of the present application, or comprising a control module, wherein the control module is used to implement the steps of the power system control method described in the first aspect of the embodiment of the application.

[0021] The present application provides a control method, system, storage medium and vehicle for a power system, the method comprising: obtaining a current desired output speed of the motor in response to a start signal of a torque reduction phase during a working mode switching process of the power system; regulating the actual output speed of the motor with the current desired output speed as a control target; during the regulation process, based on the relationship between the actual output torque of the engine and a preset torque, controlling the clutch to maintain a state of being connected to the power transmission path, or switching to a state of being disconnected from the power transmission path.

[0022] The present application responds to the start signal of the torque reduction phase during the working mode switching process of the power system, and first uses the current expected output speed of the motor as the control target to control the actual output speed of the motor. Afterwards, during the control process, the working state of the clutch is controlled based on the size relationship between the actual output torque of the engine and the preset torque. On the one hand, the present application makes the actual output speed of the motor approach the current expected output speed through the advancement of control. On the other hand, during the control process, the working state of the clutch is controlled by the actual output torque of the engine monitored in real time, so as to realize the control of the motor speed in the torque reduction phase of the motor, merge the torque reduction phase of the motor with the speed regulation phase, and then make the actual output speed and output torque of the motor reach their respective corresponding expected values ​​after the clutch is disconnected, so as to shorten the time spent by the motor in the speed regulation phase, and finally achieve the technical effect of shortening the time spent by the hybrid vehicle switching working mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0024] Figure 1 It is a structural schematic diagram of a power system provided in an embodiment of the present application; Figure 2 It is a graph showing the changing trends of various operating parameters of a power system during a mode switching process provided by an embodiment of the present application; Figure 3 It is a step diagram of a control method of a power system provided in an embodiment of the present application; Figure 4 It is a step diagram of a method for controlling the working state of a clutch provided in an embodiment of the present application; Figure 5 This is a step diagram of a method for controlling the actual output speed of a motor provided in an embodiment of the present application; Figure 6 It is a step diagram of a method for regulating the actual output speed of a motor based on a torque deviation provided in an embodiment of the present application; Figure 7 It is a step diagram of a method for determining a constraint set provided by an embodiment of the present application; Figure 8 It is a step diagram of a control method of a motor in a speed regulation stage provided by an embodiment of the present application; Fig. 9 is a flow chart of a control method of a power system provided in an embodiment of the present application; Fig.10 is a graph showing the changing trends of various operating parameters of another power system during mode switching provided by an embodiment of the present application; Fig.11 It is a structural schematic diagram of a control system of a power system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0026] The power system of hybrid vehicles includes multiple working modes, such as direct drive mode, series mode and parallel mode. Among them, direct drive mode refers to the mode in which the energy output by the engine is directly transmitted to the wheel end without energy conversion; series mode refers to the mode in which the energy output by the engine is converted by the motor and then transmitted to the wheel end; parallel mode refers to the mode in which the engine and the motor transmit energy to the wheel end separately.

[0027] refer to Figure 1 The schematic diagram of the structure of a power system shown in FIG. 1 shows that the output shaft of the motor is connected to the output shaft of the engine through a clutch. At the same time, the output shaft of the motor is also connected to the sliding sleeve of the gearbox to adjust the speed of the sliding sleeve.

[0028] refer to Figure 2 The figure shows the changing trend of various operating parameters of a power system during the mode switching process. Figure 2 It shows the changing trend of various working condition parameters of the power system in the process of mode switching in the related art. In the related art, when the power system switches from the series mode to the direct drive mode, the power system needs to go through the torque reduction stage, the speed regulation stage and the torque recovery stage in sequence. In the torque reduction stage, the motor adjusts the actual output torque to the corresponding expected output torque, thereby controlling the clutch to disconnect the power transmission path between the motor and the engine to enter the speed regulation stage. After that, the motor adjusts the actual output speed to the expected output speed corresponding to the required speed of the sliding sleeve in the speed regulation stage, so as to facilitate the engagement of the sliding sleeve with the gear gear of the first gear, so that the gearbox is in the first gear, and finally the actual mode is switched to the direct drive mode. After the power system switches to the direct drive mode, it will enter the torque recovery stage, so that the motor and the engine will restore the actual output torque to the torque value during normal driving in the torque recovery stage.

[0029] Therefore, in the related art, when switching from the series mode to the direct drive mode, the power system needs to go through the steps of torque reduction, clutch disconnection, speed regulation, and sleeve shifting. However, the motor first reduces the torque and then regulates the speed, which will cause the power system to take a long time to switch the working mode.

[0030] Based on this, in order to solve the problem of how to shorten the time spent on hybrid vehicles switching working modes, the present application provides a control method, system, storage medium and vehicle for a power system. In response to the start signal of the torque reduction phase during the working mode switching process of the power system, the actual output speed of the motor is first regulated with the current expected output speed of the motor as the regulation target. Afterwards, in the process of regulation, the working state of the clutch is controlled based on the size relationship between the actual output torque of the engine and the preset torque. On the one hand, the present application makes the actual output speed of the motor approach the current expected output speed through the advancement of regulation. On the other hand, in the process of regulation, the working state of the clutch is controlled by the actual output torque of the engine monitored in real time, so as to realize the regulation of the motor speed in the torque reduction phase of the motor, merge the torque reduction phase of the motor with the speed regulation phase, and then make the actual output speed and output torque of the motor reach their respective corresponding expected values ​​after the clutch is disconnected, so as to shorten the time spent by the motor in the speed regulation phase, and finally achieve the technical effect of shortening the time spent by the hybrid vehicle switching working mode. The specific method is as follows: The first aspect of the present application proposes an embodiment, such as Figure 3 As shown in the step diagram of a control method for a power system, the method is applied to a vehicle, specifically to an on-board controller of a vehicle. The power system of the vehicle includes a motor and an engine, the motor and the engine are connected through a clutch, and the clutch is used to connect or disconnect the power transmission path between the motor and the engine. The main steps include: Step S101, in response to a torque reduction phase start signal during a working mode switching process of the power system, obtaining a current expected output speed of the motor.

[0031] The working mode switching process of the power system may be a process of switching from a series mode to a direct drive mode. The torque reduction phase start signal may be automatically triggered by the vehicle based on the current working condition parameters.

[0032] refer to Figure 1 A schematic diagram of the structure of a power system is shown in FIG. Figure 1 The motor is connected to the sleeve in the gearbox and can be used to adjust the speed of the sleeve. The sleeve is mounted on the input shaft of the gearbox and rotates synchronously with the input shaft of the gearbox. At the same time, the sleeve can also slide along the axial direction of the input shaft to engage or disengage with the gear gear.

[0033] When the vehicle is in series mode, the sleeve is separated from the gear gears on both sides, the gearbox is in neutral, and the rotation between the input shaft of the gearbox and the output shaft of the gearbox is separated. When the vehicle is in direct drive mode, the sleeve is engaged with one of the gear gears, the gearbox is in gear, and the output shaft of the gearbox rotates with the rotation of the input shaft. Therefore, in order for the vehicle to complete the switching of the working mode, the sleeve needs to adjust the speed to the speed corresponding to the gear gear, so as to complete the gear. Therefore, in an optional embodiment, the current expected output speed of the motor can specifically be a speed corresponding to the required speed of the sleeve.

[0034] Step S102, taking the current expected output speed as a control target, regulating the actual output speed of the motor.

[0035] Taking the current expected output speed as the control target, regulating the actual output speed of the motor refers to performing a control action on the actual output speed of the motor, and the control action should enable the motor to actually output the current expected output speed after the control action is completed.

[0036] In an optional implementation, the actual output speed of the motor can be regulated by changing the input voltage of the motor. Specifically, the expected input voltage corresponding to the current expected output speed is first determined, and then the expected input voltage corresponding to the current expected output speed is input to the motor, thereby achieving the regulation of the output speed.

[0037] Step S103, during the regulation process, based on the magnitude relationship between the actual output torque of the engine and the preset torque, the clutch is controlled to maintain a state of connecting to the power transmission path, or to switch to a state of disconnecting the power transmission path.

[0038] The clutch can have two working states, one is disconnecting the power transmission path, and the other is connecting the power transmission path. When the clutch disconnects the power transmission path, the motor and the engine cannot transmit power. When the clutch connects the power transmission path, power can be transmitted. The clutch is in the working state of connecting the power transmission path before the regulation begins. During the regulation process, it may be in the working state of connecting the power transmission path or in the working state of disconnecting the power transmission path.

[0039] Generally speaking, the action of regulating the actual output speed of the motor has a certain continuity in time and takes a certain amount of time to complete, which makes the actual output speed of the motor gradually change during the regulation process. Since the actual output torque and the actual output speed of the motor interact and influence each other, the actual output torque of the motor will also change gradually during regulation, thereby driving the actual output torque of the engine connected to the motor to also change gradually.

[0040] Therefore, during the regulation process, on the one hand, the actual output speed of the motor can be brought closer to the current expected output speed through the advancement of regulation, and on the other hand, the actual output torque of the engine can be monitored in real time, so as to judge whether the actual output torque of the motor has reached the level that can disengage the clutch through the relationship between the actual output torque of the engine and the preset torque, thereby finally achieving control of the working state of the clutch.

[0041] In an optional implementation, the preset torque may be 0 N·m.

[0042] In response to the start signal of the torque reduction phase during the working mode switching process of the power system, this embodiment first uses the current expected output speed of the motor as the control target to control the actual output speed of the motor. After that, during the control process, the working state of the clutch is controlled based on the size relationship between the actual output torque of the engine and the preset torque. On the one hand, this embodiment makes the actual output speed of the motor approach the current expected output speed through the advancement of control. On the other hand, during the control process, the working state of the clutch is controlled by the actual output torque of the engine monitored in real time, so as to realize the control of the motor speed in the torque reduction phase of the motor, merge the torque reduction phase of the motor with the speed regulation phase, and then make the actual output speed and output torque of the motor reach their respective corresponding expected values ​​after the clutch is disconnected, so as to shorten the time spent by the motor in the speed regulation phase, and finally achieve the technical effect of shortening the time spent by the hybrid vehicle switching working mode.

[0043] In some exemplary embodiments, reference Figure 4 A method step diagram of controlling the working state of a clutch is shown, wherein the working state of the clutch is controlled based on the magnitude relationship between the actual output torque of the engine and the preset torque in step S103, specifically comprising the following steps: Step S11, determining whether to interrupt the regulation based on the magnitude relationship between the actual output torque of the engine and the preset torque.

[0044] When the control is interrupted or completed, go to step S12; when the control is not interrupted and not completed, go to step S13.

[0045] Step S12, controlling the clutch to switch to a state of disconnecting the power transmission path.

[0046] Step S13, controlling the clutch to maintain the state of being connected to the power transmission path.

[0047] When the actual output torque of the engine is greater than the preset torque, it indicates that the torque transmitted by the clutch is still relatively large. If the clutch disconnects the power transmission path at this time, the load on the engine will suddenly disappear, which will cause the engine to spin fast and cause engine damage. When the actual output torque of the engine is less than or equal to the preset torque, it indicates that the torque transmitted by the clutch is relatively small. If the clutch disconnects the power transmission path at this time, it will not cause the engine to spin fast and the engine can operate normally.

[0048] According to the analysis and explanation of step S103 in the above embodiment, the actual output torque of the engine will gradually change as the regulation progresses during the regulation process. It can be considered that when the regulation is completed, the actual output torque of the engine has reached the condition that the clutch can be controlled to disconnect the power transmission path; when the regulation is not completed, the actual output torque of the engine has not reached the condition that the clutch can be controlled to disconnect the power transmission path. Therefore, the clutch can be controlled to disconnect the power transmission path when the regulation is interrupted or completed, and the clutch can be controlled to connect the power transmission path when the regulation is not interrupted and not completed.

[0049] When the regulation is interrupted, although the actual output speed of the motor has not yet reached the current expected output speed, the gap between the actual output speed and the current expected output speed has been greatly shortened compared to before the regulation. When the regulation is completed, the actual output speed of the motor has reached the current expected output speed. Therefore, this embodiment can ensure that the gap between the actual output speed of the motor and the current expected output torque is greatly shortened before the end of the torque reduction stage, thereby reducing the time spent in the speed regulation stage and further shortening the time spent in switching the working mode of the hybrid vehicle.

[0050] In some exemplary embodiments, before determining whether to interrupt the regulation based on the magnitude relationship between the actual output torque of the engine and the preset torque in step S11, the method further includes the following steps: Step S14, determining whether the time consumed by the regulation is greater than a preset time.

[0051] When the time spent on the regulation is less than or equal to the preset time, the process goes to step S11; when the time spent on the regulation is greater than the preset time, the clutch is controlled to switch to a state of disconnecting the power transmission path.

[0052] The time spent on regulation refers to the length of the period from the moment when regulation starts to the moment when step S14 is executed. The longer the time spent on regulation, the longer the time required for clutch opening. Since the present application reduces the actual output torque of the engine by regulating the actual output speed of the motor during the torque reduction stage, it is possible that the actual output torque of the engine cannot be reduced or is reduced too slowly during the process of regulating the actual output speed of the motor.

[0053] Therefore, in order to avoid the problem of the clutch disconnecting the power transmission path slowly because the actual output torque of the engine cannot be reduced or the reduction speed is too slow, before executing step S11, it can be determined whether the time spent on regulation is greater than the preset time.

[0054] If the time taken for regulation is longer than the preset time, it indicates that the clutch has already caused a problem of slow disconnection of the power transmission path, so the clutch should be controlled to disconnect the power transmission path to eliminate the problem. If the time taken for regulation is less than or equal to the preset time, it indicates that the clutch has not caused a problem of slow disconnection of the power transmission path, so step S11 can be continued.

[0055] In an optional implementation, the preset duration may be 2 seconds, or 1.5 seconds.

[0056] Before executing step S11, this embodiment first determines whether the clutch has a problem of slow disconnection of the power transmission path by judging whether the time consumed by the regulation is greater than the preset time. If this problem occurs, the clutch is controlled to disconnect the power transmission path to eliminate the problem. If this problem does not occur, the method described in this application is continued to ultimately prevent the problem of slow disconnection of the power transmission path from occurring.

[0057] In some exemplary embodiments, reference Figure 5 The method step diagram of regulating the actual output speed of a motor is shown, wherein the actual output speed of the motor is regulated by taking the current expected output speed as the regulation target in step S102, and specifically comprises the following steps: Step S21, obtaining a feedback control algorithm.

[0058] The input of the feedback control algorithm is the speed deviation between the desired output speed of the motor and the actual output speed, and the output of the feedback control algorithm is the torque deviation between the desired output torque of the motor and the actual output torque.

[0059] Step S22, inputting the speed deviation between the current expected output speed of the motor and the current actual output speed into the feedback control algorithm to obtain the torque deviation output by the feedback control algorithm.

[0060] Step S23, adjusting the actual output speed of the motor based on the torque deviation output by the feedback control algorithm.

[0061] The feedback control algorithm can be pre-stored in the on-board controller. The feedback control algorithm can specifically be a PI (Proportional-Integral) control algorithm. The PI control algorithm is a feedback control algorithm that combines proportional and integral. The control parameters of the PI control algorithm include proportional gain and integral gain. By adjusting the values ​​of the proportional gain and integral gain, the dynamic performance and steady-state performance of the PI control algorithm can be changed. In an optional embodiment, the proportional gain and integral gain of the PI control algorithm can be pre-calibrated values.

[0062] The input of the feedback control algorithm is the speed deviation between the expected output speed of the motor and the actual output speed, and the output is the torque deviation between the expected output torque of the motor and the actual output torque. Therefore, when the speed deviation between the current expected output speed of the motor and the current actual output speed is known, the torque deviation between the current expected output torque of the motor and the current actual output torque can be calculated by the feedback control algorithm. Among them, the torque deviation between the current expected output torque of the motor and the current actual output torque is the torque deviation output by the feedback control algorithm obtained in step S22.

[0063] After obtaining the torque deviation between the current expected output torque of the motor and the current actual output torque, the current expected output torque of the motor can be determined based on the torque deviation and the current actual output torque of the motor, so that the actual output torque of the motor can be adjusted according to the current expected output torque, and finally the actual output speed of the motor can be controlled.

[0064] This embodiment adjusts the actual output speed of the motor through a feedback control algorithm, thereby achieving precise control of the motor, thereby improving the stability and response speed of the motor.

[0065] In some exemplary embodiments, reference Figure 6 A method step diagram for regulating the actual output speed of a motor based on a torque deviation is shown, wherein the actual output speed of the motor is regulated based on the torque deviation output by the feedback control algorithm in step S23, specifically comprising the following steps: Step S31 : constraining the torque deviation output by the feedback control algorithm based on a preset constraint set to obtain a constrained torque deviation.

[0066] Step S32: regulating the actual output speed of the motor based on the constrained torque deviation.

[0067] When the actual output speed of the motor is regulated by the feedback control algorithm, the regulation amplitude may be too large, which will reduce the stability of the motor. Therefore, after obtaining the torque deviation output by the feedback control algorithm, the torque deviation output by the feedback control algorithm can be constrained by a preset constraint set, so that the constrained torque deviation is within the preset constraint set, thereby preventing the problem of excessive regulation amplitude.

[0068] Taking the preset constraint set of [-10N·m, 10N·m] as an example, if the torque deviation output by the feedback control algorithm is 15N·m, after constraining the torque deviation output by the feedback control algorithm by the preset constraint set, the constrained torque deviation should be 10N·m, or a value within [-10N·m, 10N·m].

[0069] After obtaining the torque deviation output by the feedback control algorithm, this embodiment first constrains the torque deviation output by the feedback control algorithm through a preset constraint set, and then controls the actual output speed of the motor based on the constrained torque deviation, thereby avoiding the problem of excessive control amplitude and improving the stability of the motor operation.

[0070] In some exemplary embodiments, reference Figure 7 A method step diagram for determining a constraint set is shown, and the steps of determining a preset constraint set specifically include the following steps: Step S41, obtaining the maximum output torque of the motor and the maximum torque that can be transmitted by the clutch.

[0071] Step S42: determining the preset constraint set based on the maximum output torque of the motor and the maximum torque transmittable by the clutch.

[0072] The working capacity of the motor is limited by the maximum output torque of the motor. In the process of controlling the motor, it should be avoided that the actual output torque of the motor is greater than the maximum output torque that the motor can output after the torque deviation output by the feedback control algorithm is adjusted, so as to prevent the problem of motor overload.

[0073] At the same time, the actual torque transmitted by the clutch during operation should be less than the maximum torque that the clutch can transmit, so as to avoid slippage of the clutch. Therefore, when limiting the torque deviation, the maximum torque that the clutch can transmit should also be considered.

[0074] In an optional implementation, the smaller one may be determined from the maximum output torque of the motor and the maximum torque that can be transmitted by the clutch, and the preset constraint set may be determined based on the smaller one.

[0075] This embodiment determines the preset constraint set through the maximum output torque of the motor and the maximum torque that the clutch can transmit, which can effectively avoid overloading of the motor during the regulation process or slippage of the clutch during the regulation process, thereby ensuring the normal operation of the motor and the clutch.

[0076] In some exemplary embodiments, the mode switching signal is used to instruct the power system to switch to the direct drive mode. Figure 8 The step diagram of a control method for a motor in a speed regulation stage is shown. After controlling the working state of the clutch in step S103, the method further includes: Step S104, when the working state of the clutch is to disconnect the power transmission path, obtaining the actual output speed of the motor after the clutch disconnects the power transmission path.

[0077] Step S105, when the difference between the actual output speed after the clutch disconnects the power transmission path and the current expected output speed is greater than a preset difference, control the motor to output the current expected output speed so that the power system switches to the direct drive mode.

[0078] When the mode switching signal is used to instruct the power system to switch to the direct drive mode, after the clutch disconnects the power transmission path, the sleeve connected to the motor needs to complete the shifting action to switch the power system to the direct drive mode. Since the clutch may disconnect the power transmission path when the motor regulation is not completed, in order for the power system to be successfully switched to the direct drive mode, the actual output speed of the motor after the clutch disconnects the power transmission path should be further obtained.

[0079] When the difference between the actual output speed of the motor after the clutch disconnects the power transmission path and the current expected output speed is less than or equal to the preset difference, the sleeve is controlled to shift into gear so that the power system switches to the direct drive mode.

[0080] When the difference between the actual output speed of the motor after the clutch disconnects the power transmission path and the current expected output speed is greater than the preset difference, the motor should be controlled to output the current expected output speed first, and then the sleeve should be controlled to shift gears so that the power system switches to direct drive mode.

[0081] In an optional implementation, the preset difference may be 5 r / min.

[0082] In this embodiment, when the mode switching signal is used to instruct the power system to switch to the direct drive mode, after the clutch disconnects the power transmission path, the actual output speed of the motor continues to be regulated so that the motor outputs the current expected output speed, thereby ensuring that the power system can successfully switch to the direct drive mode.

[0083] Based on the above embodiments, reference Figure 1 as well as Fig. 9 A flow chart of a control method of a power system is shown, and the control method of the power system described in this application will be exemplarily described below: The control method of the power system described in the present application is applied to a vehicle, and specifically to an on-board controller of the vehicle, wherein a feedback control algorithm is pre-stored in the on-board controller. The power system includes a motor and an engine, wherein the motor and the engine are connected via a clutch, and the clutch is used to connect or disconnect the power transmission path between the motor and the engine.

[0084] The specific steps include: When the power system is in series mode, the method described in the present application is started in response to a mode switching signal indicating that the power system is switched to a direct drive mode. After the method is started, the current expected output speed of the motor is first obtained. Thereafter, a pre-stored feedback control algorithm is obtained from the on-board controller, and the speed deviation between the current expected output speed of the motor and the current actual output speed is input into the feedback control algorithm, and the torque deviation output by the feedback control algorithm is obtained.

[0085] After obtaining the torque deviation output by the feedback control algorithm, the torque deviation output by the feedback control algorithm is constrained based on a preset constraint set to obtain a constrained torque deviation. Further, based on the constrained torque deviation, the actual output speed of the motor is regulated.

[0086] When the regulation is completed, the clutch is controlled to disconnect the power transmission path.

[0087] When the control is not completed, during the control process, it is determined whether the time spent on the control is greater than the preset time. When the time spent on the control is greater than the preset time, the clutch is controlled to disconnect the power transmission path.

[0088] When the time spent on the regulation is less than or equal to the preset time, it is determined whether to interrupt the regulation based on the magnitude relationship between the actual output torque of the engine and the preset torque. When the regulation is interrupted, the clutch is controlled to disconnect the power transmission path. When the regulation is not interrupted, the clutch is controlled to connect the power transmission path.

[0089] When the clutch is controlled to disconnect the power transmission path, the actual output speed of the motor after the clutch disconnects the power transmission path is obtained. When the difference between the actual output speed after the clutch disconnects the power transmission path and the current expected output speed is greater than a preset difference, the motor is controlled to output the current expected output speed so that the power system switches to the direct drive mode.

[0090] When the clutch is controlled to connect the power transmission path, the desired output speed of the motor at this moment is obtained again, and based on the desired output speed of the motor at this moment, the action of regulating the actual output speed of the motor is performed again until the clutch is controlled to disconnect the power transmission path.

[0091] Among them, reference Fig.10 FIG. 1 is another diagram showing the changing trend of various operating parameters of another power system during the mode switching process. Under the control of the power system control method described in the present application, the changing trend of various operating parameters during the mode switching of the power system is as follows: Fig.10 shown.

[0092] Based on the same inventive concept, the present application also provides a control system for a power system, such as Fig.11 As shown in the structural schematic diagram of a control system of a power system, the power system includes a motor and an engine, the motor and the engine are connected through a clutch, and the clutch is used to connect or disconnect the power transmission path between the motor and the engine. The control system includes: an acquisition module, configured to acquire a current expected output speed of the motor in response to a torque reduction phase start signal of the power system during a working mode switching process; A control module, used to control the actual output speed of the motor with the current expected output speed as the control target; The control module is used to control the clutch to maintain the state of connecting the power transmission path or switch to the state of disconnecting the power transmission path based on the magnitude relationship between the actual output torque of the engine and the preset torque during the regulation process.

[0093] In some exemplary embodiments, the control module is also used to determine whether to interrupt the regulation based on the relationship between the actual output torque of the engine and the preset torque; when the regulation is interrupted or completed, control the clutch to switch to a state of disconnecting the power transmission path; when the regulation is not interrupted and not completed, control the clutch to maintain a state of connecting the power transmission path.

[0094] In some exemplary embodiments, the control module is also used to determine whether the time spent on the regulation is greater than a preset time; when the time spent on the regulation is less than or equal to the preset time, determine whether to interrupt the regulation based on the relationship between the actual output torque of the engine and the preset torque; when the time spent on the regulation is greater than the preset time, control the clutch to switch to a state of disconnecting the power transmission path.

[0095] In some exemplary embodiments, the regulation module is also used to obtain a feedback control algorithm, the input of the feedback control algorithm is the speed deviation between the expected output speed of the motor and the actual output speed, and the output of the feedback control algorithm is the torque deviation between the expected output torque of the motor and the actual output torque; the speed deviation between the current expected output speed of the motor and the current actual output speed is input into the feedback control algorithm to obtain the torque deviation output by the feedback control algorithm; based on the torque deviation output by the feedback control algorithm, the actual output speed of the motor is regulated.

[0096] In some exemplary embodiments, the regulation module is also used to constrain the torque deviation output by the feedback control algorithm based on a preset constraint set to obtain a constrained torque deviation; and regulate the actual output speed of the motor based on the constrained torque deviation.

[0097] In some exemplary embodiments, the control module is also used to obtain the maximum output torque of the motor and the maximum torque that can be transmitted by the clutch; based on the maximum output torque of the motor and the maximum torque that can be transmitted by the clutch, determine the preset constraint set.

[0098] In some exemplary embodiments, the control module is also used to obtain the actual output speed of the motor after the clutch disconnects the power transmission path when the working state of the clutch is to disconnect the power transmission path; when the difference between the actual output speed after the clutch disconnects the power transmission path and the current expected output speed is greater than a preset difference, control the motor to output the current expected output speed so that the power system switches to the direct drive mode.

[0099] An embodiment of the present application also provides a computer-readable storage medium on which a computer program / instruction is stored. When the computer program / instruction is executed by a processor, a control method for a power system as disclosed in an embodiment of the present application is implemented.

[0100] An embodiment of the present application also provides a vehicle, including a control system of a power system provided in the present application, or including a control module, wherein the control module is used to implement the steps of the power system control method described in the embodiment of the present application.

[0101] The present application provides a control method, system, storage medium and vehicle for a power system, the method comprising: obtaining a current desired output speed of the motor in response to a start signal of a torque reduction phase during a working mode switching process of the power system; regulating the actual output speed of the motor with the current desired output speed as a control target; during the regulation process, based on the relationship between the actual output torque of the engine and a preset torque, controlling the clutch to maintain a state of being connected to the power transmission path, or switching to a state of being disconnected from the power transmission path.

[0102] The present application responds to the start signal of the torque reduction phase during the working mode switching process of the power system, and first uses the current expected output speed of the motor as the control target to control the actual output speed of the motor. Afterwards, during the control process, the working state of the clutch is controlled based on the size relationship between the actual output torque of the engine and the preset torque. On the one hand, the present application makes the actual output speed of the motor approach the current expected output speed through the advancement of control. On the other hand, during the control process, the working state of the clutch is controlled by the actual output torque of the engine monitored in real time, so as to realize the control of the motor speed in the torque reduction phase of the motor, merge the torque reduction phase of the motor with the speed regulation phase, and then make the actual output speed and output torque of the motor reach their respective corresponding expected values ​​after the clutch is disconnected, so as to shorten the time spent by the motor in the speed regulation phase, and finally achieve the technical effect of shortening the time spent by the hybrid vehicle switching working mode.

[0103] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0104] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, systems, electronic devices, and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1A device that provides the functions specified in a block or multiple blocks.

[0105] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0106] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0107] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.

[0108] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0109] The control method, system, storage medium and vehicle of a power system provided by the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A control method for a power system, characterized in that: The power system includes a motor and an engine, the motor and the engine are connected via a clutch, and the clutch is used to connect or disconnect a power transmission path between the motor and the engine. The method includes: In response to a torque reduction phase start signal of the power system during the working mode switching process, obtaining a current expected output speed of the motor; Taking the current expected output speed as the control target, the actual output speed of the motor is controlled; During the regulation process, based on the magnitude relationship between the actual output torque of the engine and the preset torque, the clutch is controlled to maintain a state of connecting the power transmission path, or to switch to a state of disconnecting the power transmission path.

2. The control method of the power system according to claim 1, characterized in that: The controlling the working state of the clutch based on the magnitude relationship between the actual output torque of the engine and the preset torque includes: Determining whether to interrupt the regulation based on the magnitude relationship between the actual output torque of the engine and the preset torque; When the regulation is interrupted or completed, controlling the clutch to switch to a state of disconnecting the power transmission path; When the regulation is not interrupted and completed, the clutch is controlled to maintain the state of connecting the power transmission path.

3. The control method of the power system according to claim 2, characterized in that: Before determining whether to interrupt the regulation based on the magnitude relationship between the actual output torque of the engine and the preset torque, the method further includes: Determine whether the time spent on the control is greater than a preset time; The determining whether to interrupt the regulation based on the magnitude relationship between the actual output torque of the engine and the preset torque includes: When the time duration of the regulation is less than or equal to the preset time duration, determining whether to interrupt the regulation based on the magnitude relationship between the actual output torque of the engine and the preset torque; The method further comprises: When the time taken for the regulation is longer than the preset time, the clutch is controlled to switch to a state of disconnecting the power transmission path.

4. The control method of the power system according to claim 1, characterized in that: The controlling the actual output speed of the motor by taking the current expected output speed as the control target includes: Acquire a feedback control algorithm, wherein the input of the feedback control algorithm is a speed deviation between a desired output speed of the motor and an actual output speed, and the output of the feedback control algorithm is a torque deviation between a desired output torque of the motor and an actual output torque; Inputting the speed deviation between the current expected output speed of the motor and the current actual output speed into the feedback control algorithm to obtain the torque deviation output by the feedback control algorithm; Based on the torque deviation output by the feedback control algorithm, the actual output speed of the motor is regulated.

5. The control method of the power system according to claim 4, characterized in that: The step of regulating the actual output speed of the motor based on the torque deviation output by the feedback control algorithm includes: Based on a preset constraint set, constraining the torque deviation output by the feedback control algorithm to obtain a constrained torque deviation; Based on the constrained torque deviation, the actual output speed of the motor is regulated.

6. The control method of the power system according to claim 5, characterized in that: The step of determining the preset constraint set comprises: Obtaining the maximum output torque of the motor and the maximum torque that can be transmitted by the clutch; The preset constraint set is determined based on the maximum output torque of the motor and the maximum torque transmittable by the clutch.

7. The control method of the power system according to claim 1, characterized in that: The mode switching signal is used to instruct the power system to switch to the direct drive mode. After controlling the working state of the clutch, the method further includes: When the working state of the clutch is to disconnect the power transmission path, obtaining the actual output speed of the motor after the clutch disconnects the power transmission path; When the difference between the actual output speed after the clutch disconnects the power transmission path and the current desired output speed is greater than a preset difference, the motor is controlled to output the current desired output speed so that the power system switches to the direct drive mode.

8. A control system for a power system, characterized in that: The power system includes a motor and an engine, wherein the motor and the engine are connected via a clutch, and the clutch is used to connect or disconnect the power transmission path between the motor and the engine. The control system includes: an acquisition module, configured to acquire a current expected output speed of the motor in response to a torque reduction phase start signal of the power system during a working mode switching process; A control module, used to control the actual output speed of the motor with the current expected output speed as the control target; The control module is used to control the clutch to maintain the state of connecting the power transmission path or switch to the state of disconnecting the power transmission path based on the magnitude relationship between the actual output torque of the engine and the preset torque during the regulation process.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the control method of the power system described in any one of claims 1 to 7 are implemented.

10. A vehicle, characterized in that: A control system comprising the power system described in claim 8, or a control module, wherein the control module is used to implement the steps of the power system control method described in any one of claims 1-7.

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