同轴并联混合动力系统模式切换控制研究  

Research on mode transition control for single-shaft parallel hybrid powertrain

作　　者：杨超[1,2] 李亮[2] 焦晓红[1] 张渊博[1,2] 陈征[2] 宋健[2] 

机构地区：[1]燕山大学电气工程学院,秦皇岛066004 [2]清华大学汽车安全与节能国家重点实验室,北京100084

出　　处：《中国科学：技术科学》2016年第1期91-100,共10页Scientia Sinica(Technologica)

基　　金：国家自然科学基金优秀青年基金(批准号:51422505);国家科技支撑计划(批准号:2013BAG14B01)资助项目

摘　　要：同轴并联混合动力系统在低速运行工况下发动机怠速停机对于提升整车节油率有显著的作用,然而由于同轴并联混合动力系统的自身结构特性,当系统由纯电模式切换至混合动力模式过程中,发动机需要开启并通过离合器的接合介入动力系统,这一过程中存在的电机起动发动机及离合器接合控制问题一直是混合动力控制领域研究的热点问题.针对上述模式切换控制问题,本文建立了同轴并联混合动力系统传动系模型及干式离合器及其执行机构的数学模型,考虑模式切换过程的平顺性与混合动力系统的传动效率,并结合发动机起动阻力矩及系统负载转矩的瞬态不确定性,提出了一种同轴并联混合动力系统模式切换控制方法:首先采用H∞鲁棒控制理论设计出满足约束条件且性能指标较优的离合器接合速度轨迹,然后将离合器接合速度轨迹转化成执行电机转速期望曲线,设计直流电机转速跟踪PID控制器实现离合器的快速平滑接合,然后对所提出控制方法在急加速、缓加速、不同发动机内阻以及不同车辆负载工况下的离合接合过程的仿真对比,最后利用控制器自动代码生成技术对所提出方法进行了试验验证.结果表明,所提出的控制方法可以实现混合动力系统平滑快速的模式切换过程,且整车的纵向冲击度控制在一定约束范围内,使得系统模式切换平顺性得到了保障,从而为整车模式切换控制策略设计提供理论基础.During the low vehicle speed condition, engine idling stop plays a remarkable role for single-shaft parallel hybrid powertrain. Due to the structure characteristics of this powertrain, when the powertrain system is working during the switching process from pure electrical driving mode to hybrid mode, the engine needs to be started and engaged into driveline via the clutch. The electric machine（EM） starting engine mode and the clutch engagement control problem might always be a hot issue in the area of hybrid powertrain control. Motivated by this issue, the driveline model and the model of dry clutch with its actuating mechanism are built. Considering the trade-off between the smoothness of mode transition process and the system transmission efficiency, and also combined with the uncertainties of engine resisting torque and load torque, a novel mode transition control method for single-shaft parallel hybrid powertrain is presented. Firstly, robust control theory is used to find a near optimal clutch engaging speed trajectory subject to the above performance index. Secondly, a PID controller is designed to implement the accurate speed tracking of clutch actuating mechanism, which ensures the fast and smooth process of clutch engagement. And then, the simulation works are performed under the conditions of urgent accelerating, slow accelerating, different engine resisting torques, and different vehicle load torques, respectively. Finally, the proposed method is verified in real vehicle test by the automatic code generation technique of vehicle controller. The results show that, the hybrid powertrain can implement fast and smooth mode transition process via the proposed control method, and the vehicle longitudinal jerk can be controller within the given reasonable range, which might ensure the mode transition smoothness. The proposed method might provide the theoretical basis for the control strategy design of real vehicle controller.

关 键 词：混合动力系统 模式切换 离合器接合控制 离合器执行机构 鲁棒控制 

分 类 号：U469.7[机械工程—车辆工程]