Method for controlling a hybrid vehicle

Abstract

A method for controlling a hybrid vehicle (100, 200), comprising: Determining, by a controller (135, 225), an operating mode of the hybrid vehicle (100, 200) based on operating state information of the hybrid vehicle (100, 200); and Controlling, by the controller (135, 225), a first drive motor (110, 210) included in the hybrid vehicle (100, 200) based on angle information of the second drive motor (120, 220) of the hybrid vehicle (100, 200) provided by an angle sensor (122, 222) of the second drive motor (120, 220) when the operating mode of the hybrid vehicle (100, 200) is a hybrid electric vehicle mode, wherein the hybrid electric vehicle mode is an operating mode in which an engine (105, 230) of the hybrid vehicle (100, 200), the first drive motor (110, 210) and the second drive motor (120, 220) drive the hybrid vehicle (100, 200), wherein controlling the first drive motor (110, 210) further comprises: Setting, by the controller (135, 225), an initial angle of the first drive motor (110, 210); Calculating, by the controller (135, 225), an angle of the first drive motor (110, 210) based on the initial angle of the first drive motor (110, 210) and the angle information of the second drive motor (120, 220); and Controlling, by the controller (135, 225), the first drive motor (110, 210) based on the angle of the first drive motor (110, 210), and wherein adjusting the initial angle of the first drive motor (110, 210) further comprises: Calculating, by the controller (135, 225), a minimum value of an angle difference value between an electrical angle of the first drive motor (110, 210) corresponding to a peak value of a sixth harmonic of a D-axis voltage or a q-axis voltage for controlling the first drive motor (110, 210) and an electrical angle of the first drive motor (110, 210) corresponding to a peak value of a sixth reference harmonic of the D-axis voltage or the Q-axis voltage; Calculating, by the controller (135, 225), an average value of the sixth harmonic and an average value of the sixth reference harmonic; Calculating, by the controller (135, 225), an average difference value between the average value of the sixth harmonic and the average value of the sixth reference harmonic; Selecting, by the controller (135, 225), an angle correction value based on a table according to the average difference value; and Calculating, by the controller (135, 225), the initial angle of the first drive motor (110, 210) based on the minimum value of the angle difference value and the angle correction value, wherein the sixth reference harmonic is a harmonic generated when the initial angle of the first drive motor (110, 210) does not need to be corrected.