Engine output torque correction method and related device

Abstract

The invention discloses an engine output torque correction method and a related device, and relates to the field of engines, and the method comprises the following steps: determining a target feed-forward torque corresponding to an engine speed at the moment when a clutch is completely disengaged from a flywheel in the driving process, and correcting an original output torque; the rotating speed impulse between the moment when a clutch is completely disengaged from a flywheel and the starting moment of gear shifting and speed regulation of an engine in the driving process is obtained, PID closed-loop control is conducted with the rotating speed impulse as deviation to obtain PID control torque, and the target feed-forward torque and the PID control torque are added to obtain an output torque correction value; and stopping correcting the original output torque based on the target feed-forward torque, and correcting the original output torque based on the output torque correction value. Feedforward control and feedback control are combined, fast response is provided through the feedforward control, meanwhile, residual deviation is eliminated through the feedback control, the torque precision is improved, and the situation that the whole vehicle rushes in the gear shifting process is effectively avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of engines, and more specifically, to a method for correcting the output torque of an engine and related devices. Background Art

[0002] After the engine has been used for a long time, due to reasons such as production consistency, ambient temperature, ambient pressure, wear and aging, etc., the output torque of the engine will deviate. Therefore, the engine has the problem of low torque accuracy. In this way, when the clutch disengages from the flywheel during the engine shift speed regulation process, the engine speed is likely to rise rapidly (i.e., speed overshoot) or fall rapidly (i.e., speed undershoot) in a short time, resulting in the whole vehicle jerking, thus affecting the user driving experience. Summary of the Invention

[0003] In view of this, the present invention discloses a method for correcting the output torque of an engine and related devices, so as to realize the correction of the output torque of the engine, improve the output torque accuracy, effectively avoid the occurrence of the whole vehicle jerking during the shifting process, and improve the user driving experience.

[0004] A method for correcting the output torque of an engine includes:

[0005] Determine a target feedforward torque corresponding to the engine speed at the moment when the clutch completely disengages from the flywheel during the current driving process;

[0006] Correct the original output torque based on the target feedforward torque;

[0007] Obtain the speed impulse during the current driving process from the moment when the clutch completely disengages from the flywheel to the moment when the engine shift speed regulation starts, and use the speed impulse as a deviation for PID closed-loop control to obtain a PID control torque;

[0008] Add the target feedforward torque and the PID control torque to obtain an output torque correction value;

[0009] Stop correcting the original output torque based on the target feedforward torque, and correct the original output torque based on the output torque correction value.

[0010] Optionally, the determining the target feedforward torque corresponding to the engine speed at the moment when the clutch completely disengages from the flywheel during the current driving process includes:

[0011] Determine the target feedforward torque corresponding to the engine speed at the moment when the clutch completely disengages from the flywheel during the current driving process from the corresponding relationship between the engine speed and the feedforward torque.

[0012] Optionally, the determining process of the corresponding relationship between the engine speed and the feedforward torque includes:

[0013] Obtain the rotational speed impulse between the moment when the clutch completely disengages from the flywheel and the moment when the engine starts to shift gears and adjust speed;

[0014] Determine the angular acceleration based on the rotational speed impulse;

[0015] Calculate the feedforward torque corresponding to the engine speed at the moment when the clutch completely disengages from the flywheel based on the angular acceleration and the moment of inertia at the flywheel;

[0016] Update the corresponding relationship between the engine speed and the feedforward torque by using the engine speed at the moment when the clutch completely disengages from the flywheel and the feedforward torque obtained in this calculation.

[0017] Optionally, determining the angular acceleration based on the rotational speed impulse includes:

[0018] Judge whether the feedforward torque corresponding to the engine speed at the moment when the clutch completely disengages from the flywheel has been determined within the current driving cycle;

[0019] If not, determine the angular acceleration based on the rotational speed impulse.

[0020] Optionally, determining the angular acceleration based on the rotational speed impulse includes:

[0021] Obtain the rotational speed impulse between the moment when the clutch completely disengages from the flywheel and the moment when the engine starts to shift gears and adjust speed;

[0022] Determine the flywheel angular velocity impulse based on the rotational speed impulse;

[0023] Obtain the angular acceleration based on the flywheel angular velocity impulse and the time from the moment when the clutch completely disengages from the flywheel to the moment when the engine starts to shift gears and adjust speed.

[0024] Optionally, the obtaining the rotational speed impulse between the moment when the clutch completely disengages from the flywheel and the moment when the engine starts to shift gears and adjust speed in this driving process includes:

[0025] Obtain the engine speed at the moment when the clutch completely disengages from the flywheel;

[0026] Obtain the target engine speed at the moment when the engine starts to shift gears and adjust speed;

[0027] Determine the rotational speed difference between the target engine speed and the engine speed as the rotational speed impulse.

[0028] An engine output torque correction device includes:

[0029] A feedforward torque determination unit for determining the target feedforward torque corresponding to the engine speed at the moment when the clutch completely disengages from the flywheel in this driving process;

[0030] A first correction unit for correcting the original output torque based on the target feedforward torque;

[0031] A PID control torque determination unit for obtaining the rotational speed impulse between the moment when the clutch is fully disengaged from the flywheel and the moment when the engine starts to shift gears and adjust speed during the current driving process, and performing PID closed-loop control using the rotational speed impulse as the deviation to obtain the PID control torque;

[0032] A correction value determination unit for adding the target feedforward torque and the PID control torque to obtain an output torque correction value;

[0033] A second correction unit for stopping correcting the original output torque based on the target feedforward torque and correcting the original output torque based on the output torque correction value.

[0034] A computer program product including computer-readable instructions that, when running on an engine controller, cause the engine controller to implement any method for correcting the engine output torque.

[0035] A computer storage medium storing at least one instruction that, when executed by a processor, implements any method for correcting the engine output torque.

[0036] An engine controller including a memory and a processor;

[0037] The memory is used for storing at least one instruction;

[0038] The processor is used for executing the at least one instruction to implement any method for correcting the engine output torque.

[0039] As can be seen from the above technical solutions, the present invention discloses a method for correcting the output torque of an engine and related devices. The target feedforward torque corresponding to the engine speed at the moment when the clutch is completely disengaged from the flywheel during the current driving process is determined. The original output torque is corrected based on the target feedforward torque. The rotational speed impulse between the moment when the clutch is completely disengaged from the flywheel and the moment when the engine starts shifting and speed regulating during the current driving process is obtained, and the rotational speed impulse is used as a deviation for PID closed-loop control to obtain the PID control torque. The target feedforward torque and the PID control torque are added to obtain the output torque correction value. The correction of the original output torque based on the target feedforward torque is stopped, and the original output torque is corrected based on the output torque correction value. The present application first performs feedforward control on the original output torque using the target feedforward torque to correct the original output torque in advance and quickly reduce the output torque deviation. When the PID control torque is calculated, the original output torque is corrected using the output torque correction value obtained by adding the target feedforward torque and the PID control torque, realizing the combination of feedforward control and feedback control. This makes the correction process of the original output torque have both the advantages of fast response of feedforward control and the advantages of real-time adjustment of feedback control to continuously correct the residual deviation, achieving precise adjustment, thereby improving the output torque accuracy and effectively avoiding the occurrence of vehicle jerks during gear shifting, improving the user driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the disclosed drawings without creative efforts.

[0041] Figure 1 It is a flowchart of a method for correcting the output torque of an engine disclosed in an embodiment of the present invention;

[0042] Figure 2 It is a schematic structural diagram of a device for correcting the output torque of an engine disclosed in an embodiment of the present invention;

[0043] Figure 3 It is a schematic structural diagram of an engine controller disclosed in an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] The method for correcting the output torque of the engine disclosed in the present application is not only applicable to traditional fuel engines but also applicable to other fuel engines, such as methanol engines. A methanol engine is an internal combustion engine that uses methanol as the main fuel and belongs to a type of alternative fuel engine, aiming to reduce dependence on traditional petroleum fuels and reduce environmental pollution.

[0045] The output torque of the engine = the in - engine torque - the friction torque - the accessory torque. Among them, the in - engine torque is the torque after the driver's demand torque is restricted by various factors.

[0046] After the engine has been used for a long time, the in - engine torque and the accessory torque usually do not change much. However, due to reasons such as production consistency, ambient temperature, ambient pressure, wear and aging, the friction torque is prone to deviation, which leads to deviation in the output torque of the engine.

[0047] The torque accuracy is the accuracy of the output torque sent out by the engine controller. Generally, it is determined based on the absolute value of the ratio of the output torque of the engine to the reference torque during the engine speed control when the clutch is disengaged from the flywheel, that is, torque accuracy = |output torque / reference torque|. Among them, the output torque is the output torque sent out by the engine controller, and the reference torque is the maximum torque of the engine.

[0048] When the output torque of the engine is 0, the corresponding torque accuracy is 0%. If the torque accuracy calculated by the engine controller is not 0% at this time, the larger the absolute value of the torque accuracy, the lower the torque accuracy; the smaller the absolute value of the torque accuracy, the higher the torque accuracy.

[0049] Engine speed regulation is a step in the shift process of an AMT (Automated Mechanical Transmission, electronically controlled mechanical automatic transmission) automatic transmission. The shift process is divided into torque clearing, speed regulation, and torque restoration. Torque clearing is the process of gradually reducing the engine torque output to near zero through a control strategy; speed regulation is to control the engine speed to the target speed to synchronize the engine and the transmission, reducing the speed when upshifting and increasing the speed when downshifting; torque restoration is to gradually release the torque limit to prevent shock and protect the transmission.

[0050] In the transmission control system, when the engine output torque is cleared (i.e., the torque drops to zero or near zero), and the clutch is controlled to disengage from the flywheel, cutting off the power transmission between the engine and the transmission, that is, when the clutch is completely disengaged from the flywheel during the engine shift speed regulation process, a low torque accuracy will cause a temporary separation of the power connection between the engine and the transmission (i.e., the clutch disengages from the flywheel) during the transmission shift process. This will cause the load of the engine to suddenly decrease, and the sudden change in the load will cause the engine speed to change rapidly, easily resulting in a situation where the engine speed rapidly rises (i.e., speed overshoot) or rapidly drops (i.e., speed undershoot) in a short time, leading to vehicle jerking and affecting the user's driving experience.

[0051] To solve this problem, the present application discloses a method for correcting the engine output torque and related devices. The target feedforward torque corresponding to the engine speed at the moment when the clutch is completely disengaged from the flywheel during the current driving process is determined, and the original output torque is corrected based on the target feedforward torque. The rotational speed impulse during the current driving process from the moment when the clutch is completely disengaged from the flywheel to the moment when the engine starts shifting and speed regulating is obtained, and the rotational speed impulse is used as a deviation for PID closed-loop control to obtain the PID control torque. The target feedforward torque and the PID control torque are added together to obtain the output torque correction value. The correction of the original output torque based on the target feedforward torque is stopped, and the original output torque is corrected based on the output torque correction value. The present application first performs feedforward control on the original output torque using the target feedforward torque to correct the original output torque in advance and quickly reduce the output torque deviation. When the PID control torque is calculated, the original output torque is corrected using the output torque correction value obtained by adding the target feedforward torque and the PID control torque, realizing the combination of feedforward control and feedback control. This makes the correction process of the original output torque have both the advantages of fast response of feedforward control and the advantage of real-time adjustment of feedback control to continuously correct the residual deviation and achieve precise adjustment, thereby improving the output torque accuracy and effectively avoiding the occurrence of vehicle jerks during gear shifting, improving the user driving experience.

[0052] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0053] See Figure 1 , the flowchart of a method for correcting the engine output torque disclosed in the embodiments of the present application, the method includes:

[0054] Step S101: Determine the target feedforward torque corresponding to the engine speed at the moment when the clutch is completely disengaged from the flywheel during the current driving process.

[0055] During the current driving process, when it is detected that the clutch is completely disengaged from the flywheel, the engine speed at the moment when the clutch is completely disengaged from the flywheel can be collected by a rotational speed sensor.

[0056] In practical applications, the target feedforward torque corresponding to the engine speed at the moment when the clutch is completely disengaged from the flywheel during the current driving process can be determined from the stored corresponding relationship between the engine speed and the feedforward torque.

[0057] Step S102: Correct the original output torque based on the target feedforward torque.

[0058] Feedforward control can intervene in advance against predictable disturbances, achieve a quick response, and reduce the initial deviation of the system.

[0059] This application uses the target feedforward torque to perform feedforward control on the original output torque, so as to correct the original output torque in advance and quickly reduce the output torque deviation.

[0060] By compensating for the change of the original output torque in advance, feedforward control reduces the system response time and improves the control accuracy.

[0061] Step S103: Obtain the rotational speed impulse during this driving process from the moment when the clutch is completely disengaged from the flywheel to the moment when the engine starts to shift gears and adjust the speed, and use the rotational speed impulse as the deviation for PID closed-loop control to obtain the PID control torque.

[0062] Among them, the determination process of the rotational speed impulse is as follows:

[0063] Obtain the engine speed at the moment when the clutch is completely disengaged from the flywheel;

[0064] Obtain the target engine speed at the moment when the engine starts to shift gears and adjust the speed;

[0065] Determine the rotational speed difference between the target engine speed and the engine speed as the rotational speed impulse.

[0066] In practical applications, the target engine speed at the moment when the engine starts to shift gears and adjust the speed can also be obtained through a rotational speed sensor.

[0067] When the rotational speed difference between the target engine speed and the engine speed is positive, it indicates that the engine speed rises rapidly in a short time. At this time, the rotational speed impulse is the upward impulse △n.

[0068] When the rotational speed difference between the target engine speed and the engine speed is negative, it indicates that the engine speed drops rapidly in a short time. At this time, the rotational speed impulse is the downward impulse -△n.

[0069] The core principle of PID (Proportional-Integral-Derivative Control) closed-loop control is "feedback control based on error". Through the coordinated action of the three links of proportional (P), integral (I), and derivative (D), the system output can quickly and stably track the set value.

[0070] The process of using the rotational speed impulse as the deviation for PID closed-loop control to obtain the PID control torque is actually taking the dynamic characteristics of the rotational speed change as the feedback signal and calculating the PID control torque through the PID algorithm.

[0071] Feedback control is based on the deviation between the system output and the expected value, and eliminates errors through real-time adjustment. The real-time adjustment of feedback control can continuously correct the residual error to ensure that the output is stabilized at the target value.

[0072] By using PID control torque to perform feedback control on the original output torque, real-time adjustment can be achieved to correct the residual deviation, so as to achieve the purpose of precise adjustment.

[0073] Step S104: Add the target feedforward torque and the PID control torque to obtain an output torque correction value.

[0074] Assume that the target feedforward torque is represented by Trq 输出目标前馈 and the PID control torque is represented by Trq PID控制扭矩 , and the output torque correction value is represented by Trq 输出修正 .

[0075] Then Trq 输出修正 = Trq 输出目标前馈 + Trq PID控制扭矩 .

[0076] Step S105: Stop correcting the original output torque based on the target feedforward torque, and correct the original output torque based on the output torque correction value.

[0077] Before calculating the PID control torque in this application, the target feedforward torque is used to perform feedforward control on the original output torque to correct the original output torque in advance and quickly reduce the output torque deviation; after calculating the PID control torque, stop correcting the original output torque based on the target feedforward torque, and instead correct the original output torque based on the output torque correction value obtained by adding the target feedforward torque and the PID control torque, so as to realize the combination of feedforward control and feedback control, that is, use the composite control obtained by combining feedforward control and feedback control to correct the original output torque, so as to provide a quick response through feedforward control, and at the same time use feedback control to eliminate the residual deviation, so that the corrected final output torque approaches the target value. For example, when the final output torque is 0, the actual output torque is close to 0, thus effectively avoiding the overshoot or undershoot of the speed after the clutch is completely disengaged from the flywheel.

[0078] In summary, the present application discloses a method for correcting the engine output torque. The target feedforward torque corresponding to the engine speed at the moment when the clutch is completely disengaged from the flywheel during the current driving process is determined, and the original output torque is corrected based on the target feedforward torque. The rotational speed impulse between the moment when the clutch is completely disengaged from the flywheel and the moment when the engine starts shifting and speed regulating during the current driving process is obtained, and the rotational speed impulse is used as a deviation for PID closed-loop control to obtain the PID control torque. The target feedforward torque and the PID control torque are added to obtain the output torque correction value. The correction of the original output torque based on the target feedforward torque is stopped, and the original output torque is corrected based on the output torque correction value. The present application first performs feedforward control on the original output torque using the target feedforward torque to correct the original output torque in advance and quickly reduce the output torque deviation. When the PID control torque is calculated, the original output torque is corrected using the output torque correction value obtained by adding the target feedforward torque and the PID control torque, realizing the combination of feedforward control and feedback control, so that the correction process of the original output torque has both the advantages of fast response of feedforward control and the advantages of real-time adjustment of feedback control to continuously correct the residual deviation and achieve precise adjustment, thereby improving the output torque accuracy and effectively avoiding the occurrence of vehicle jerks during gear shifting, improving the user driving experience.

[0079] In one embodiment, the determination process of the correspondence between the engine speed and the feedforward torque includes the following (1) to (4):

[0080] (1) Obtain the rotational speed impulse between the moment when the clutch is completely disengaged from the flywheel and the moment when the engine starts shifting and speed regulating.

[0081] (2) Determine the angular acceleration based on the rotational speed impulse.

[0082] A driving cycle refers to the repeated process of a series of driving operations completed by a driver within a certain period of time, including operations such as starting, accelerating, decelerating, turning, lane changing, and stopping.

[0083] Within one driving cycle, if the angular acceleration has been determined based on the rotational speed impulse, there is no need to execute the process of determining the angular acceleration based on the rotational speed impulse and determining the feedforward torque based on the angular acceleration again. Similarly, within one driving cycle, if the PID control torque has been determined based on the rotational speed impulse between the moment when the clutch is completely disengaged from the flywheel and the moment when the engine starts shifting and speed regulating during the current driving process, the engine speed at the moment when the clutch is completely disengaged from the flywheel and the PID control torque can be stored in the form of a correspondence, so that within the same driving cycle, based on the feedforward torque and the PID control torque corresponding to the same engine speed, the original output torque is corrected.

[0084] Therefore, before determining the angular acceleration based on the rotational speed impulse, first determine whether the feedforward torque corresponding to the engine speed at the moment when the clutch is completely disengaged from the flywheel has been determined within the current driving cycle. If not, determine the angular acceleration based on the rotational speed impulse; if so, do not perform the operations of determining the angular acceleration based on the rotational speed impulse and determining the feedforward torque based on the angular acceleration.

[0085] It should be noted that the feedforward torque corresponding to each engine speed only needs to be calculated once within one driving cycle.

[0086] (3) Calculate the feedforward torque corresponding to the engine speed at the moment when the clutch is completely disengaged from the flywheel based on the angular acceleration and the moment of inertia at the flywheel.

[0087] Apply Newton's second law of rotational motion to the angular acceleration and the moment of inertia at the flywheel to obtain the theoretical output torque. The formula is as follows:

[0088] Trq 理论输出 = J × α;

[0089] In the formula, Trq 理论输出扭矩 is the theoretical output torque, J is the moment of inertia at the flywheel, and α is the angular acceleration.

[0090] Calculate the difference between the theoretical output torque and the original output torque to obtain the feedforward torque Trq 输出前馈 , and the expression is as follows:

[0091] Trq 输出前馈 = Trq 理论输出 - Trq 原输出扭矩 ;

[0092] In the formula, Trq 原输出扭矩 is the original output torque.

[0093] (4) Use the engine speed at the moment when the clutch is completely disengaged from the flywheel and the feedforward torque calculated this time to update the corresponding relationship between the engine speed and the feedforward torque.

[0094] In practical applications, when first determining the feedforward torque corresponding to the engine speed at the moment when the clutch is completely disengaged from the flywheel, the feedforward torque can be determined by using the rotational speed impulse from the moment when the clutch is completely disengaged from the flywheel to the moment when the engine starts shifting and adjusting speed disclosed in this embodiment, and the feedforward torque and the engine speed at the moment when the clutch is completely disengaged from the flywheel are stored in the form of a corresponding relationship for subsequent use.

[0095] Under different driving cycles, the feedforward torques calculated based on the engine speed at the moment when the same clutch completely disengages from the flywheel may vary. Based on this, the engine speed can be used as a matching condition, and the feedforward torque obtained from this calculation can be used to replace the corresponding feedforward torque in the correspondence between the engine speed and the feedforward torque, thus completing the update of the correspondence between the engine speed and the feedforward torque.

[0096] When the correspondence between the engine speed and the feedforward torque does not record the engine speed corresponding to the feedforward torque obtained from this calculation, the engine speed at the moment when the clutch completely disengages from the flywheel and the feedforward torque obtained from this calculation can be added to the correspondence between the engine speed and the feedforward torque, thus completing the update of the correspondence between the engine speed and the feedforward torque.

[0097] It should be particularly noted that after obtaining the rotational speed impulse from the moment when the clutch completely disengages from the flywheel to the moment when the engine shifts gears and adjusts the speed during this driving process, in the process of using the rotational speed impulse as a deviation for PID closed-loop control to obtain the PID control torque, the feedforward torque can be calculated based on the rotational speed impulse at the same time, and the correspondence between the engine speed and the feedforward torque can be updated using the feedforward torque obtained from this calculation.

[0098] In practical applications, in addition to storing the correspondence between the engine speed and the feedforward torque, the engine speed, water temperature, and feedforward torque can also be stored in the form of a correspondence, so as to determine the target feedforward torque based on the two parameters of the engine speed and the water temperature at the same time, further improving the accuracy of determining the target feedforward torque.

[0099] In one embodiment, the process of determining the angular acceleration based on the rotational speed impulse may include the following (1) to (3):

[0100] (1) Obtain the rotational speed impulse from the moment when the clutch completely disengages from the flywheel to the moment when the engine shifts gears and adjusts the speed.

[0101] Among them, for obtaining the rotational speed impulse from the moment when the clutch completely disengages from the flywheel to the moment when the engine shifts gears and adjusts the speed, reference can be made to the corresponding part of the above embodiment, which will not be elaborated here.

[0102] (2) Determine the flywheel angular velocity impulse based on the rotational speed impulse.

[0103] Taking the rotational speed impulse as the upward impulse △n and the flywheel angular velocity impulse as the flywheel angular velocity upward impulse △w as an example, the relationship between the upward impulse △n and the flywheel angular velocity upward impulse △w is as follows:

[0104] △n = 30 / π × △w.

[0105] Among them, when the rotational speed impulse is the downward impulse -△n, the corresponding flywheel angular velocity impulse is the flywheel angular velocity downward impulse -△w.

[0106] (3) Based on the flywheel angular velocity impulse and the time from the moment when the clutch is completely disengaged from the flywheel to the moment when the engine shifts gears and adjusts the speed, the angular acceleration is obtained.

[0107] Taking the flywheel angular velocity impulse as the flywheel angular velocity upward impulse △w as an example, the relationship among the flywheel angular velocity upward impulse △w, the angular acceleration α, and the time t from the moment when the clutch is completely disengaged from the flywheel to the moment when the engine shifts gears and adjusts the speed is as follows:

[0108] △w = α × t.

[0109] Corresponding to the above method embodiments, the present invention also discloses a correction device for the engine output torque.

[0110] See Figure 2 , a schematic structural diagram of a correction device for the engine output torque disclosed by the present invention. The device includes:

[0111] A feedforward torque determination unit 201, configured to determine a target feedforward torque corresponding to the engine speed at the moment when the clutch is completely disengaged from the flywheel during the current driving process.

[0112] During the current driving process, when it is detected that the clutch is completely disengaged from the flywheel, the engine speed at the moment when the clutch is completely disengaged from the flywheel can be collected by a speed sensor.

[0113] In practical applications, the feedforward torque determination unit 201 can specifically be used for:

[0114] Determining the target feedforward torque corresponding to the engine speed at the moment when the clutch is completely disengaged from the flywheel during the current driving process from the stored corresponding relationship between the engine speed and the feedforward torque.

[0115] A first correction unit 202, configured to correct the original output torque based on the target feedforward torque.

[0116] Feedforward control can intervene in advance for predictable disturbances, achieve rapid response, and reduce the initial deviation of the system.

[0117] This application uses the target feedforward torque to perform feedforward control on the original output torque, so as to correct the original output torque in advance and quickly reduce the output torque deviation.

[0118] A PID control torque determination unit 203, configured to obtain the rotational speed impulse during the current driving process from the moment when the clutch is completely disengaged from the flywheel to the moment when the engine shifts gears and adjusts the speed, and perform PID closed-loop control using the rotational speed impulse as the deviation to obtain the PID control torque.

[0119] A correction value determination unit 204 is configured to add the target feedforward torque and the PID control torque to obtain an output torque correction value.

[0120] A second correction unit 205 is configured to stop correcting the original output torque based on the target feedforward torque and correct the original output torque based on the output torque correction value.

[0121] Before calculating the PID control torque, the present application uses the target feedforward torque to perform feedforward control on the original output torque to correct the original output torque in advance and quickly reduce the output torque deviation; after calculating the PID control torque, it stops correcting the original output torque based on the target feedforward torque and instead corrects the original output torque based on the output torque correction value obtained by adding the target feedforward torque and the PID control torque, realizing the combination of feedforward control and feedback control, that is, using the composite control obtained by combining feedforward control and feedback control to correct the original output torque, achieving fast response through feedforward control, and at the same time using feedback control to eliminate the residual deviation, so that the corrected final output torque approaches the target value. For example, when the final output torque is 0, the actual output torque is close to 0, effectively avoiding the overshoot or undershoot of the rotational speed after the clutch completely disengages from the flywheel.

[0122] In summary, the present application discloses a correction device for the engine output torque, which determines the target feedforward torque corresponding to the engine speed at the moment when the clutch completely disengages from the flywheel during the current driving process, corrects the original output torque based on the target feedforward torque, obtains the rotational speed impulse between the moment when the clutch completely disengages from the flywheel and the moment when the engine starts shifting and adjusting speed during the current driving process, and uses the rotational speed impulse as a deviation to perform PID closed-loop control to obtain the PID control torque, adds the target feedforward torque and the PID control torque to obtain the output torque correction value, stops correcting the original output torque based on the target feedforward torque, and corrects the original output torque based on the output torque correction value. The present application first uses the target feedforward torque to perform feedforward control on the original output torque to correct the original output torque in advance and quickly reduce the output torque deviation; after calculating the PID control torque, it changes to using the output torque correction value obtained by adding the target feedforward torque and the PID control torque to correct the original output torque, realizing the combination of feedforward control and feedback control, making the correction process of the original output torque have both the advantages of fast response of feedforward control and the advantages of real-time adjustment of feedback control to continuously correct the residual deviation and achieve precise adjustment, thereby improving the output torque accuracy, effectively avoiding the occurrence of vehicle jerks during the shifting process, and improving the user driving experience.

[0123] In one embodiment, the correction device may further include:

[0124] A corresponding relationship determination unit, configured to determine the corresponding relationship between the engine speed and the feedforward torque.

[0125] Specifically, the corresponding relationship determination unit may be configured to:

[0126] Obtain the rotational speed impulse between the moment when the clutch is completely disengaged from the flywheel and the moment when the engine starts shifting and speed regulating;

[0127] Determine the angular acceleration based on the rotational speed impulse;

[0128] Calculate the feedforward torque corresponding to the engine speed at the moment when the clutch is completely disengaged from the flywheel based on the angular acceleration and the moment of inertia at the flywheel;

[0129] Update the corresponding relationship between the engine speed and the feedforward torque by using the engine speed at the moment when the clutch is completely disengaged from the flywheel and the feedforward torque obtained in this calculation.

[0130] Specifically, the corresponding relationship determination unit may also be configured to:

[0131] Determine whether the feedforward torque corresponding to the engine speed at the moment when the clutch is completely disengaged from the flywheel has been determined within the current driving cycle;

[0132] If not, determine the angular acceleration based on the rotational speed impulse.

[0133] Specifically, the corresponding relationship determination unit may also be configured to:

[0134] Obtain the rotational speed impulse between the moment when the clutch is completely disengaged from the flywheel and the moment when the engine starts shifting and speed regulating;

[0135] Determine the angular velocity impulse of the flywheel based on the rotational speed impulse;

[0136] Obtain the angular acceleration based on the angular velocity impulse of the flywheel and the time from the moment when the clutch is completely disengaged from the flywheel to the moment when the engine starts shifting and speed regulating.

[0137] Specifically, the PID control torque determination unit 203 may be configured to:

[0138] Obtain the engine speed at the moment when the clutch is completely disengaged from the flywheel;

[0139] Obtain the target engine speed at the moment when the engine starts shifting and speed regulating;

[0140] Determine the rotational speed impulse by taking the rotational speed difference between the target engine speed and the engine speed.

[0141] It should be noted that for the specific working principles of the components in the device embodiments, please refer to the corresponding parts of the method embodiments, which will not be elaborated here.

[0142] Corresponding to the above embodiments, the present application discloses a computer program product, including computer-readable instructions, which when running on an engine controller, cause the engine controller to implement the steps shown in the embodiment of the method for correcting the engine output torque.

[0143] Corresponding to the above embodiments, the present application discloses a computer storage medium storing at least one instruction, and when the at least one instruction is executed by a processor, the steps shown in the embodiment of the method for correcting the engine output torque are implemented.

[0144] The computer storage medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. The computer storage medium can be a machine-readable signal medium or a machine-readable storage medium. The computer storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0145] Corresponding to the above embodiments, as Figure 3 shown, the present invention also discloses an engine controller, which may include: a processor 1 and a memory 2;

[0146] Wherein, the processor 1 and the memory 2 complete mutual communication through a communication bus 3;

[0147] The processor 1 is configured to execute at least one instruction;

[0148] The memory 2 is configured to store at least one instruction;

[0149] The processor 1 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0150] The memory 2 may include high-speed RAM memory and may also include non-volatile memory, such as at least one disk memory.

[0151] Wherein, the processor executes at least one instruction to implement the steps shown in the embodiment of the method for correcting the engine output torque.

[0152] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.

[0153] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other.

[0154] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for correcting engine output torque, characterized in that: include: Determine the target feed-forward torque corresponding to the engine speed at the moment when the clutch is completely disengaged from the flywheel during this driving process; Correcting the original output torque based on the target feed-forward torque; Obtain the speed impulse from the moment when the clutch is completely disengaged from the flywheel to the moment when the engine gear shifting and speed regulation starts during this driving process, and use the speed impulse as a deviation to perform PID closed-loop control to obtain the PID control torque; Adding the target feedforward torque and the PID control torque to obtain an output torque correction value; The correction of the original output torque based on the target feed-forward torque is stopped, and the original output torque is corrected based on the output torque correction value.

2. The correction method according to claim 1, characterized in that: Determining the target feedforward torque corresponding to the engine speed at the moment when the clutch is completely disengaged from the flywheel during the current driving process includes: The target feedforward torque corresponding to the engine speed at the moment when the clutch is completely disengaged from the flywheel during the current driving process is determined from the corresponding relationship between the engine speed and the feedforward torque.

3. The correction method according to claim 2, characterized in that: The process of determining the corresponding relationship between the engine speed and the feedforward torque includes: Obtaining the speed impulse from the moment when the clutch is completely disengaged from the flywheel to the moment when the engine starts to shift and speed regulate; determining an angular acceleration based on the speed impulse; Based on the angular acceleration and the moment of inertia at the flywheel, a feedforward torque corresponding to the engine speed at the moment when the clutch is completely disengaged from the flywheel is calculated; The corresponding relationship between the engine speed and the feedforward torque is updated by using the engine speed at the moment when the clutch is completely disengaged from the flywheel and the feedforward torque obtained by this calculation.

4. The correction method according to claim 3, characterized in that: Determining the angular acceleration based on the rotational speed impulse includes: Determining whether the feedforward torque corresponding to the engine speed at the moment when the clutch is completely disengaged from the flywheel has been determined in the current driving cycle; If not, the angular acceleration is determined based on the rotational speed impulse.

5. The correction method according to claim 3, characterized in that: Determining the angular acceleration based on the speed impulse includes: Obtaining the speed impulse from the moment when the clutch is completely disengaged from the flywheel to the moment when the engine gear shifting and speed regulation begins; determining a flywheel angular velocity impulse based on the rotational speed impulse; The angular acceleration is obtained based on the flywheel angular velocity impulse and the time from the moment when the clutch is completely disengaged from the flywheel to the moment when the engine gear shifting and speed regulation begins.

6. The correction method according to any one of claims 1 to 5, characterized in that: The step of obtaining the speed impulse from the moment when the clutch is completely disengaged from the flywheel to the moment when the engine gear shifting and speed regulation starts during the current driving process includes: Obtain the engine speed when the clutch is completely disengaged from the flywheel; Obtaining the target engine speed at the start time of engine gear shifting and speed regulation; A speed difference between the target engine speed and the engine speed is determined as the speed impulse.

7. A correction device for engine output torque, characterized in that: include: A feedforward torque determination unit, used to determine a target feedforward torque corresponding to the engine speed at the moment when the clutch is completely disengaged from the flywheel during this driving process; A first correction unit, configured to correct the original output torque based on the target feed-forward torque; The PID control torque determination unit is used to obtain the speed impulse from the moment when the clutch is completely disengaged from the flywheel to the moment when the engine gear shifting and speed regulation starts during this driving process, and use the speed impulse as a deviation to perform PID closed-loop control to obtain the PID control torque; a correction value determination unit, configured to add the target feedforward torque and the PID control torque to obtain an output torque correction value; The second correction unit is used to stop correcting the original output torque based on the target feed-forward torque, and correct the original output torque based on the output torque correction value.

8. A computer program product, characterized in that The method comprises computer-readable instructions, which, when executed on an engine controller, enable the engine controller to implement the method for correcting the engine output torque as claimed in any one of claims 1 to 6.

9. A computer storage medium, characterized in that The computer storage medium stores at least one instruction, and when the at least one instruction is executed by the processor, the method for correcting the engine output torque as described in any one of claims 1 to 6 is implemented.

10. An engine controller, characterized in that: The engine controller includes a memory and a processor; The memory is used to store at least one instruction; The processor is used to execute the at least one instruction to implement the method for correcting the engine output torque according to any one of claims 1 to 6.

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