Method and related device for correcting engine output torque

Abstract

The present invention discloses a method and related device for correcting engine output torque, relating to the field of engines. The method comprises determining 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, correcting the original output torque, obtaining the speed impulse between the moment when the clutch is completely disengaged from the flywheel and the moment when the engine gear shifting and speed regulation begins during the current driving process, performing PID closed-loop control using the speed impulse as a deviation to obtain a PID control torque, adding the target feedforward torque and the PID control torque to obtain an output torque correction value, ceasing to correct the original output torque based on the target feedforward torque, and correcting the original output torque based on the output torque correction value. By combining feedforward control and feedback control, a rapid response is achieved through feedforward control while residual deviation is eliminated through feedback control, thereby improving torque accuracy and effectively preventing the occurrence of vehicle jerking during gear shifting.

Description

Technical Field

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

[0002] After long-term engine use, variations in engine output torque can occur due to factors such as production consistency, ambient temperature, pressure, and wear and aging. Consequently, the engine suffers from low torque accuracy. Consequently, when the clutch disengages the flywheel during gear shifting, the engine speed can easily rise (a speed surge) or fall (a speed undershoot) in a short period of time, causing the vehicle to jerk and negatively impact the user's driving experience. Summary of the Invention

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

[0004] A method for correcting engine output torque, comprising:

[0005] Determine the target feedforward torque corresponding to the engine speed at the moment when the clutch is completely disengaged from the flywheel during this driving process;

[0006] Correcting the original output torque based on the target feed-forward torque;

[0007] Obtain the speed impulse from the moment the clutch completely disengages the flywheel to the moment the engine shifting and speed regulation begins during this driving process, and use the speed impulse as a deviation to perform PID closed-loop control to obtain the PID control torque;

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

[0009] 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.

[0010] Optionally, 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:

[0011] 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.

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

[0013] Obtaining the speed impulse from the moment the clutch is completely disengaged from the flywheel to the moment the engine shifting and speed regulation begins;

[0014] determining an angular acceleration based on the speed impulse;

[0015] Based on the angular acceleration and the moment of inertia of the flywheel, a feedforward torque corresponding to the engine speed when the clutch is completely disengaged from the flywheel is calculated;

[0016] 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.

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

[0018] determining whether a 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;

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

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

[0021] Obtaining the speed impulse from the moment the clutch is completely disengaged from the flywheel to the moment the engine shifting and speed regulation begins;

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

[0023] The angular acceleration is obtained based on the flywheel angular velocity impulse and the time from the moment the clutch is completely disengaged from the flywheel to the moment the engine gear shifting and speed regulation begins.

[0024] Optionally, obtaining the speed impulse from the moment the clutch is completely disengaged from the flywheel to the moment the engine shifting and speed regulation begins during the current driving process includes:

[0025] Obtain the engine speed when the clutch is completely disengaged from the flywheel;

[0026] Obtaining the target engine speed at the start time of engine gear shifting and speed regulation;

[0027] A speed difference between the target engine speed and the engine speed is determined as the speed impulse.

[0028] A device for correcting engine output torque, comprising:

[0029] a feedforward torque determination unit, for determining 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;

[0030] a first correction unit, configured to correct the original output torque based on the target feed-forward torque;

[0031] A PID control torque determination unit is used to obtain a speed impulse from the moment the clutch completely disengages the flywheel to the moment the engine shifting and speed regulation begins during the current driving process, and to perform PID closed-loop control using the speed impulse as a deviation to obtain a PID control torque;

[0032] a correction value determining unit, configured to add the target feedforward torque and the PID control torque to obtain an output torque correction value;

[0033] The second correction unit is configured 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.

[0034] A computer program product includes computer-readable instructions. When the computer-readable instructions are executed on an engine controller, the engine controller is caused to implement any method for correcting the engine output torque.

[0035] A computer storage medium stores at least one instruction, wherein the at least one instruction is executed by a processor to implement any method for correcting the output torque of an engine.

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

[0037] The memory is used to store at least one instruction;

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

[0039] As can be seen from the above technical solution, the present invention discloses a method for correcting the output torque of an engine and a related device, which determines the target feedforward torque corresponding to the engine speed at the moment when the clutch is completely disengaged from the flywheel during this driving process, corrects the original output torque based on the target feedforward torque, obtains the speed impulse between the moment when the clutch is completely disengaged from the flywheel and the moment when the engine shifting and speed regulation starts during this driving process, and uses the 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. This application first uses the target feedforward torque to perform feedforward control on the original output torque, so as to make advance corrections to the original output torque and quickly reduce the output torque deviation; after the PID control torque is calculated, the output torque correction value obtained by adding the target feedforward torque and the PID control torque is used to correct the original output torque, thereby realizing the combination of feedforward control and feedback control, so that the correction process of the original output torque has the advantages of fast response of feedforward control and real-time adjustment of feedback control to continuously correct residual deviations and achieve precise adjustment, thereby improving the output torque accuracy, effectively avoiding the occurrence of vehicle jerking during gear shifting, and improving the user's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the disclosed drawings without any creative work.

[0041] Figure 1 A flow chart of a method for correcting engine output torque disclosed in an embodiment of the present invention;

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

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

[0044] The engine output torque correction method disclosed in this application is applicable not only to traditional fuel engines, but also to other fuel engines, such as methanol engines. Methanol engines are internal combustion engines that use methanol as their primary fuel. They are a type of alternative fuel engine designed to reduce dependence on traditional petroleum fuels and reduce environmental pollution.

[0045] The output torque of the engine = internal torque of the engine - friction torque - accessory torque, where the internal torque of the engine is the torque after the driver's demand torque is subject to various restrictions.

[0046] After long-term use of the engine, the internal torque and accessory torque of the engine usually do not change much, but the friction torque is prone to deviation due to production consistency, ambient temperature, ambient pressure, wear and aging, etc., which leads to deviation in the output torque of the engine.

[0047] Torque accuracy refers to the accuracy of the output torque sent by the engine controller. It is generally determined based on the absolute value of the ratio of the engine's output torque to the reference torque during speed control when the clutch is disengaged from the flywheel, that is, torque accuracy = |output torque / reference torque|, where the output torque is the output torque sent by the engine controller and the reference torque is the maximum torque of the engine.

[0048] When the engine's output torque 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 shifting process of an AMT (Automated Mechanical Transmission). The shifting process is divided into torque clearing, speed regulation, and torque return. Torque clearing is the process of gradually reducing the engine torque output to near zero through a control strategy; speed regulation is the process of controlling the engine speed to the target speed to synchronize the engine and transmission, and upshifting reduces the speed, while downshifting increases the speed; torque return is the process of gradually releasing the torque limit to prevent impact and protect the transmission.

[0050] In the transmission control system, when the engine output torque is cleared (that is, the torque drops to zero or close to zero), the clutch is controlled to disengage 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 shifting and speed regulation process, the low torque accuracy will cause the power connection between the engine and the transmission to be temporarily separated during the transmission shifting process (that is, the clutch disengages the flywheel), which will cause the engine load to suddenly decrease. The sudden change in load will cause the engine speed to change rapidly, and the engine speed may easily rise rapidly (that is, speed surge) or fall rapidly (that is, speed undershoot) in a short period of time, causing the entire vehicle to shake 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 a related device, which determines the target feedforward torque corresponding to the engine speed at the moment when the clutch is completely disengaged from the flywheel during this driving process, corrects the original output torque based on the target feedforward torque, obtains the speed impulse between the moment when the clutch is completely disengaged from the flywheel and the moment when the engine shifting and speed regulation starts during this driving process, and uses the 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. This application first uses the target feedforward torque to perform feedforward control on the original output torque, so as to make advance corrections to the original output torque and quickly reduce the output torque deviation; after the PID control torque is calculated, the output torque correction value obtained by adding the target feedforward torque and the PID control torque is used to correct the original output torque, thereby realizing the combination of feedforward control and feedback control, so that the correction process of the original output torque has the advantages of fast response of feedforward control and real-time adjustment of feedback control to continuously correct residual deviations and achieve precise adjustment, thereby improving the output torque accuracy, effectively avoiding the occurrence of vehicle jerking during gear shifting, and improving the user's driving experience.

[0052] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0053] See also Figure 1 , a flow chart of a method for correcting engine output torque disclosed in an embodiment of the present application, the method comprising:

[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 this 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 through the 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 correspondence between the engine speed and the feedforward torque.

[0057] Step S102: Correcting the original output torque based on the target feed-forward torque.

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

[0059] The present application utilizes 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] Feedforward control reduces system response time and improves control accuracy by compensating for changes in the original output torque in advance.

[0061] Step S103: Obtain the speed impulse from the moment the clutch is completely disengaged from the flywheel to the moment the engine 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.

[0062] The process of determining the speed impulse is:

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

[0064] Obtaining the target engine speed at the start time of engine gear shifting and speed regulation;

[0065] The speed difference between the target engine speed and the engine speed is determined as a speed impulse.

[0066] In practical applications, the target engine speed at the start of engine gear shifting and speed regulation may also be acquired through a speed sensor.

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

[0068] When the speed difference between the target engine speed and the engine speed is a negative value, it indicates that the engine speed drops rapidly in a short period of time, and the speed impulse at this time is the downstroke -△n.

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

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

[0071] Feedback control eliminates errors by making real-time adjustments based on the deviation of the system output from the desired value. This real-time feedback control adjustment continuously corrects residual errors, ensuring that the output remains stable 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 and 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 Trq 输出目标前馈 Indicates that PID control torque is expressed as Trq PID控制扭矩 Trq is used for output torque correction value 输出修正 .

[0075] 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 feed-forward torque, and correct the original output torque based on the output torque correction value.

[0077] Before calculating the PID control torque, the present 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; after the PID control torque is calculated, the original output torque is stopped being corrected based on the target feedforward torque, and the original output torque is corrected based on the output torque correction value obtained by adding the target feedforward torque and the PID control torque, thereby realizing the combination of feedforward control and feedback control, that is, the original output torque is corrected by the composite control obtained by combining feedforward control and feedback control, thereby providing a fast response through feedforward control, and at the same time using feedback control to eliminate residual deviations, 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, thereby effectively avoiding the speed from rising or falling after the clutch is completely disengaged from the flywheel.

[0078] In summary, the present application discloses a method for correcting the output torque of an engine, which determines the target feedforward torque corresponding to the engine speed at the moment when the clutch is completely disengaged from the flywheel during this driving process, corrects the original output torque based on the target feedforward torque, obtains the speed impulse between the moment when the clutch is completely disengaged from the flywheel and the moment when the engine gear shifting and speed regulation starts during this driving process, and uses the 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. This application first uses the target feedforward torque to perform feedforward control on the original output torque, so as to make advance corrections to the original output torque and quickly reduce the output torque deviation; after the PID control torque is calculated, the output torque correction value obtained by adding the target feedforward torque and the PID control torque is used to correct the original output torque, thereby realizing the combination of feedforward control and feedback control, so that the correction process of the original output torque has the advantages of fast response of feedforward control and real-time adjustment of feedback control to continuously correct residual deviations and achieve precise adjustment, thereby improving the output torque accuracy, effectively avoiding the occurrence of vehicle jerking during gear shifting, and improving the user's driving experience.

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

[0080] (1) Obtain the speed impulse from the moment the clutch is completely disengaged from the flywheel to the moment the engine shift speed regulation begins.

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

[0082] A driving cycle refers to a series of repetitive driving operations completed by a driver within a certain period of time, including starting, accelerating, decelerating, turning, changing lanes, and stopping.

[0083] If angular acceleration has already been determined based on speed impulse within a driving cycle, there is no need to repeat the process of determining angular acceleration based on speed impulse and determining feedforward torque based on angular acceleration. Similarly, if the PID control torque has already been determined based on the speed impulse from the moment the clutch is fully disengaged from the flywheel to the moment the engine shifting and speed regulation begins within a driving cycle, the engine speed at the moment of full clutch disengagement and the PID control torque can be stored as a corresponding relationship. This allows the original output torque to be corrected within the same driving cycle based on the feedforward torque and PID control torque corresponding to the same engine speed.

[0084] Therefore, before determining the angular acceleration based on the speed impulse, it is first determined 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, the angular acceleration is determined based on the speed impulse. If so, the operations of determining the angular acceleration based on the speed impulse and determining the feedforward torque based on the angular acceleration are not performed.

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

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

[0087] Applying Newton's second law of rotational motion to the angular acceleration and the moment of inertia at the flywheel yields the theoretical output torque as follows:

[0088] Trq 理论输出 =J×α;

[0089] Where 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 , the expression is as follows:

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

[0092] Where Trq 原输出扭矩 is the original output torque.

[0093] (4) Using the engine speed at the moment when the clutch is completely disengaged from the flywheel and the feedforward torque obtained in this calculation, the corresponding relationship between the engine speed and the feedforward torque is updated.

[0094] In actual applications, when determining the feedforward torque corresponding to the engine speed at the moment when the clutch is completely disengaged from the flywheel for the first time, the speed impulse between the moment when the clutch is completely disengaged from the flywheel and the moment when the engine gear shifting and speed regulation starts as disclosed in this embodiment can be used to determine the feedforward torque, and the feedforward torque and the engine speed at the moment when the clutch is completely disengaged from the flywheel can be stored in the form of a corresponding relationship for subsequent use.

[0095] Under different driving cycles, the feedforward torque calculated from the engine speed at the moment when the same clutch is completely disengaged from the flywheel may be different. 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 corresponding relationship between engine speed and feedforward torque, completing the update of the corresponding relationship between engine speed and feedforward torque.

[0096] When the correspondence between the engine speed and the feed-forward torque does not record the engine speed corresponding to the feed-forward torque calculated this time, the engine speed at the moment when the clutch is completely disengaged from the flywheel and the feed-forward torque calculated this time can be added to the correspondence between the engine speed and the feed-forward torque to complete the update of the correspondence between the engine speed and the feed-forward torque.

[0097] It should be noted that after obtaining the speed impulse from the moment the clutch completely disengages the flywheel to the moment the engine gear shifting and speed regulation begins during this driving process, the speed impulse is used as a deviation for PID closed-loop control to obtain the PID control torque. At the same time, the feedforward torque can be calculated based on the speed impulse, and the feedforward torque obtained by this calculation is used to update the corresponding relationship between the engine speed and the feedforward torque.

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

[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 speed impulse from the moment the clutch is completely disengaged from the flywheel to the moment the engine shift speed regulation begins.

[0101] Wherein, the speed impulse between the moment when the clutch is completely disengaged from the flywheel and the moment when the engine shifting and speed regulation starts can be obtained by referring to the corresponding part of the above embodiment, which will not be repeated here.

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

[0103] Taking the 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 speed impulse is the underimpulse -△n, the corresponding flywheel angular velocity impulse is the flywheel angular velocity underimpulse -△w.

[0106] (3) Based on the flywheel angular velocity impulse and the time from the moment the clutch completely disengages the flywheel to the moment the engine shifting and speed regulation begins, the angular acceleration is obtained.

[0107] Taking the flywheel angular velocity impulse as the flywheel angular velocity upstroke △w as an example, the relationship between the flywheel angular velocity upstroke △w, the angular acceleration α, and the time t from the moment the clutch completely disengages the flywheel to the moment the engine shifting and speed regulation begins is as follows:

[0108] △w=α×t.

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

[0110] See also Figure 2 , a schematic structural diagram of a device for correcting engine output torque disclosed in the present invention, the device comprising:

[0111] The feedforward torque determination unit 201 is used to 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.

[0112] During this 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 through the speed sensor.

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

[0114] 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 stored correspondence between the engine speed and the feedforward torque.

[0115] The first correction unit 202 is configured to correct the original output torque based on the target feed-forward torque.

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

[0117] The present application utilizes 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] The PID control torque determination unit 203 is used to obtain the speed impulse from the moment the clutch completely disengages the flywheel to the moment the engine 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.

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

[0120] The second correcting unit 205 is configured 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.

[0121] Before calculating the PID control torque, the present 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; after the PID control torque is calculated, the original output torque is stopped being corrected based on the target feedforward torque, and the original output torque is corrected based on the output torque correction value obtained by adding the target feedforward torque and the PID control torque, thereby realizing the combination of feedforward control and feedback control, that is, the original output torque is corrected by the composite control obtained by combining feedforward control and feedback control, thereby providing a fast response through feedforward control, and at the same time using feedback control to eliminate residual deviations, 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, thereby effectively avoiding the speed from rising or falling after the clutch is completely disengaged from the flywheel.

[0122] In summary, the present application discloses a device for correcting the output torque of an engine, which determines the target feedforward torque corresponding to the engine speed at the moment when the clutch is completely disengaged from the flywheel during this driving process, corrects the original output torque based on the target feedforward torque, obtains the speed impulse between the moment when the clutch is completely disengaged from the flywheel and the moment when the engine gear shifting and speed regulation starts during this driving process, and uses the 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. This application first uses the target feedforward torque to perform feedforward control on the original output torque, so as to make advance corrections to the original output torque and quickly reduce the output torque deviation; after the PID control torque is calculated, the output torque correction value obtained by adding the target feedforward torque and the PID control torque is used to correct the original output torque, thereby realizing the combination of feedforward control and feedback control, so that the correction process of the original output torque has the advantages of fast response of feedforward control and real-time adjustment of feedback control to continuously correct residual deviations and achieve precise adjustment, thereby improving the output torque accuracy, effectively avoiding the occurrence of vehicle jerking during gear shifting, and improving the user's driving experience.

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

[0124] The corresponding relationship determining unit is used to determine the corresponding relationship between the engine speed and the feedforward torque.

[0125] The corresponding relationship determination unit can be specifically used to:

[0126] Obtaining the speed impulse from the moment the clutch is completely disengaged from the flywheel to the moment the engine shifting and speed regulation begins;

[0127] determining an angular acceleration based on the speed impulse;

[0128] Based on the angular acceleration and the moment of inertia of the flywheel, a feedforward torque corresponding to the engine speed when the clutch is completely disengaged from the flywheel is calculated;

[0129] 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.

[0130] The corresponding relationship determination unit may also be specifically used for:

[0131] determining whether a 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;

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

[0133] The corresponding relationship determination unit may also be specifically used for:

[0134] Obtaining the speed impulse from the moment the clutch is completely disengaged from the flywheel to the moment the engine shifting and speed regulation begins;

[0135] determining a flywheel angular velocity impulse based on the rotational speed impulse;

[0136] The angular acceleration is obtained based on the flywheel angular velocity impulse and the time from the moment the clutch is completely disengaged from the flywheel to the moment the engine gear shifting and speed regulation begins.

[0137] The PID control torque determination unit 203 can be specifically used to:

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

[0139] Obtaining the target engine speed at the start time of engine gear shifting and speed regulation;

[0140] A speed difference between the target engine speed and the engine speed is determined as the speed impulse.

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

[0142] Corresponding to the above embodiment, the present application discloses a computer program product, including computer-readable instructions. When the computer-readable instructions are executed on an engine controller, the engine controller implements the steps shown in the embodiment of the method for correcting the engine output torque.

[0143] Corresponding to the above embodiment, the present application discloses a computer storage medium, which stores at least one instruction. 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] A computer storage medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer storage medium may be a machine-readable signal medium or a machine-readable storage medium. A computer storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of machine-readable storage media may include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk 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 embodiment, Figure 3 As shown, the present invention also discloses an engine controller, which may include: a processor 1 and a memory 2;

[0146] The processor 1 and the memory 2 communicate with each other via a communication bus 3.

[0147] Processor 1, configured to execute at least one instruction;

[0148] Memory 2, used to store at least one instruction;

[0149] The processor 1 may be a central processing unit (CPU), 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 a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0151] 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 be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence 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, 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.

[0154] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for correcting engine output torque, characterized in that: include: Determine the target feedforward 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; Obtaining a speed impulse from the moment the clutch completely disengages the flywheel to the moment the engine shifting and speed regulation begins during the current driving process, and using the speed impulse as a deviation for PID closed-loop control to obtain a PID control torque. The speed impulse is the speed difference between the target engine speed at the moment the engine shifting and speed regulation begins and the engine speed at the moment the clutch completely disengages the flywheel. Adding the target feedforward torque and the PID control torque to obtain an output torque correction value; 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, wherein: 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 engine speed and feedforward torque includes: Obtaining the speed impulse from the moment the clutch is completely disengaged from the flywheel to the moment the engine shifting and speed regulation begins; determining an angular acceleration based on the speed impulse; Based on the angular acceleration and the moment of inertia of the flywheel, a feedforward torque corresponding to the engine speed 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 a 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 rotational speed impulse includes: Obtaining the speed impulse from the moment the clutch is completely disengaged from the flywheel to the moment the engine 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 the clutch is completely disengaged from the flywheel to the moment the engine gear shifting and speed regulation begins.

6. A device for correcting engine output torque, characterized in that: include: a feedforward torque determination unit, for determining 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; a first correction unit, configured to correct the original output torque based on the target feed-forward torque; a PID control torque determination unit for obtaining a speed impulse between the moment the clutch completely disengages the flywheel and the moment the engine gear shifting and speed regulation begins during the current driving process, and performing PID closed-loop control using the speed impulse as a deviation to obtain a PID control torque, wherein the speed impulse is the speed difference between the target engine speed at the moment the engine gear shifting and speed regulation begins and the engine speed at the moment the clutch completely disengages the flywheel; a correction value determining 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 configured 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.

7. 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 according to any one of claims 1 to 5.

8. 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 according to any one of claims 1 to 5 is implemented.

9. 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 configured 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 5.

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