CN110203056B - Energy management control method for multi-mode four-wheel drive hybrid electric vehicle - Google Patents

Energy management control method for multi-mode four-wheel drive hybrid electric vehicle Download PDF

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CN110203056B
CN110203056B CN201910480905.6A CN201910480905A CN110203056B CN 110203056 B CN110203056 B CN 110203056B CN 201910480905 A CN201910480905 A CN 201910480905A CN 110203056 B CN110203056 B CN 110203056B
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motor
vehicle
mode
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engine
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CN110203056A (en
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曾小华
吴梓乔
宋大凤
王新明
李量宇
宋美洁
梁伟智
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Jilin University
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Jilin University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/36—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings
    • B60K6/365—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings with the gears having orbital motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/54—Transmission for changing ratio
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/15—Control strategies specially adapted for achieving a particular effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/20—Control strategies involving selection of hybrid configuration, e.g. selection between series or parallel configuration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/24—Energy storage means
    • B60W2510/242—Energy storage means for electrical energy
    • B60W2510/244—Charge state
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0666—Engine torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/92—Energy efficient charging or discharging systems for batteries, ultracapacitors, supercapacitors or double-layer capacitors specially adapted for vehicles

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)
  • Hybrid Electric Vehicles (AREA)

Abstract

The invention discloses an energy management control method for a multi-mode four-wheel drive hybrid electric vehicle. The method comprises the steps of dividing each working mode and distributing energy under each mode, and the four-wheel drive hybrid electric vehicle has good economy and exerts the energy-saving advantage of the hybrid electric vehicle by controlling multiple power sources such as an engine, a motor and the like.

Description

Energy management control method for multi-mode four-wheel drive hybrid electric vehicle
Technical Field
The invention relates to the technical field of hybrid vehicles, in particular to an energy management control method of a multi-mode four-wheel drive hybrid electric vehicle.
Background
With the development of hybrid technology, more and more automobile manufacturers begin to provide four-wheel drive hybrid products, which makes certain contribution to the improvement of the trip quality of people. Compared with a two-drive hybrid electric vehicle, the four-drive hybrid electric vehicle has more working modes, and reasonable energy distribution on the four-drive hybrid electric vehicle is favorable for better economy of the vehicle under the condition of ensuring the dynamic property.
Disclosure of Invention
The invention aims to provide an energy management control method of a multi-mode four-wheel drive hybrid electric vehicle, which exerts the energy-saving advantage of the four-wheel drive hybrid electric vehicle.
In order to achieve the purpose, the technical scheme for realizing the energy management control method of the multi-mode four-wheel drive hybrid electric vehicle provided by the invention is as follows: the multi-mode four-wheel drive hybrid electric vehicle comprises an engine (1), a torsional damper (2), a brake (3), a front axle differential (4), a second motor and a controller thereof (5), a whole vehicle control unit (6), a planet row (7), a first motor and a controller thereof (8), a rear axle differential (9), a third motor and a controller thereof (10), and a power battery and a management system thereof (11);
the engine (1) is connected with a planet carrier of the planet row (7) through a torsional damper (2) and a brake (3), the first motor (8) is connected with a sun gear of the planet row (7), the second motor (5) is connected with the planet row (7) through a gear pair, the third motor (10) is connected with a rear axle differential (9) through a gear pair, and the front axle differential (4) is connected with the planet row (7) through a gear pair;
the brake (3) is arranged on a shaft connected with the torsional damper (2) and can lock a planet carrier of the planet row (7);
the whole vehicle control unit (6) collects vehicle running state signals, brake signals, accelerator pedal signals, brake pedal signals and the like, wherein the vehicle running state signals at least comprise vehicle speed signals, a first motor and a controller (8) thereof, a second motor and a controller (5) thereof, a power battery and a management system (11) thereof, an engine (1) and the like; the whole vehicle control unit is communicated with the engine (1), the first motor and a controller (8) thereof, the second motor and a controller (5) thereof, and the power battery and a management system (11) thereof through the CAN;
the energy management control method of the multi-mode four-wheel drive hybrid electric vehicle specifically comprises the following steps:
(1) judging whether the vehicle is in a driving mode or a braking mode according to the accelerator pedal signal, the brake pedal signal and the vehicle speed;
(2) if the vehicle is in the braking mode, when the vehicle speed is greater than the threshold value vregWhen the vehicle is running, the second motor (5) is controlled to recover the braking energy, and the vehicle speed is less than the threshold value vregMechanical braking is adopted;
(3) if the vehicle is in the driving mode, calculating the required power P of the whole vehicle according to the vehicle speed, the charge state of an accelerator pedal and a power batteryreqAnd the required torque TreqAccording to the required power PreqJudging the working mode of the vehicle by the SOC of the power battery, wherein the working mode comprises a front-driving single-motor pure electric mode, a front-driving double-motor pure electric mode, a front-driving hybrid mode and a four-wheel-driving hybrid mode;
(4) the engine (1), the first motor (8), the second motor (5), the third motor (10) and the like are coordinately controlled to work in each driving mode.
Further, in the step (1), the vehicle enters a braking mode when the brake pedal is pressed, and enters a driving mode when the accelerator pedal is pressed but the brake pedal is not pressed.
Further, in the step (3), when the SOC is greater than the set threshold value SOCL and the required power PreqLess than a set threshold P1And the required torque TreqLess than a set threshold ThWhen the vehicle is in a front-drive single-motor pure electric mode;
when the SOC is greater than the set threshold value SOCL and the required power PreqLess than a set threshold P1And the required torque TreqGreater than a set threshold ThWhen the vehicle is in a front-drive double-motor pure electric mode;
when the SOC is less than the set threshold value SOCL or the required power PreqAt a set threshold value P1And P2In between, the vehicle is in a forward-drive hybrid mode;
when power P is requiredreqGreater than threshold value P2The vehicle is in a four-wheel drive hybrid mode.
Further, the air conditioner is provided with a fan,
in the step (4), when the vehicle is in the forward-drive single-motor pure electric mode, all the required torque T isreqProvided by a second motor (5), namely satisfying the formula (1), Tm2_ctrlIs a torque control signal of a second motor (5), im2The transmission ratio between a second motor (5) and a front shaft is set;
Tm2_ctrl＝Treq/im2 (1)
when the vehicle is in a front-drive double-motor pure electric mode, the brake (3) is controlled to be locked, and the required torque T isreqIs provided by a first motor (8) and a second motor (5) together, and satisfies the relation of formula (2), Tm2maxIs the maximum torque, T, of the second motor (5)m1_ctrlIs a torque control signal of a first motor (8);
Figure GDA0002930589170000021
when the vehicle is in a front-drive hybrid power mode, the required torque is provided by the engine (1) and the second motor (5) together, and the formula (3) and T are satisfiede_ctrlIs an engine (1) torque control signal, Te_optAccording to the required power PreqThe optimal working torque of the engine is obtained by searching the optimal working curve of the engine, and k is the ratio of the tooth number of the planet gear ring to the tooth number of the sun gear;
Figure GDA0002930589170000022
when the vehicle is in a four-wheel drive hybrid power mode, the required torque is provided by the engine (1), the second motor (5) and the third motor (10) together, and the formula (4) and the T are metm3_ctrlIs a torque control signal of a third motor (10), im3The transmission ratio between the third motor (10) and the rear shaft.
Figure GDA0002930589170000031
Compared with the prior art, the invention has the beneficial effects that: aiming at a multi-mode four-wheel drive hybrid electric vehicle in a planetary series-parallel mode, the energy-saving effect of the whole vehicle is improved through the coordination and the coordination of an engine and a motor.
Drawings
The invention is further described with reference to the accompanying drawings in which:
FIG. 1 is a schematic view of a multi-mode four-wheel drive hybrid vehicle configuration;
FIG. 2 is a flow chart of a method for controlling energy management of a multi-mode four-wheel-drive hybrid electric vehicle;
in the figure: 1-engine 2-torsional damper 3-brake 4-front axle differential 5-motor and controller 6-vehicle control unit 7-planet row 8-motor and controller 9-rear axle differential 10-motor 11-power battery and management system thereof
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. It should be noted that the embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
Fig. 1 shows a schematic configuration diagram of a multimode four-wheel drive hybrid electric vehicle, which comprises an engine (1), a torsional damper (2), a brake (3), a front axle differential (4), a second motor and a controller thereof (5), a vehicle control unit (6), a planetary row (7), a first motor and a controller thereof (8), a rear axle differential (9), a third motor and a controller thereof (10), and a power battery and a management system thereof (11);
the engine (1) is connected with a planet carrier of the planet row (7) through a torsional damper (2) and a brake (3), the first motor (8) is connected with a sun gear of the planet row (7), the second motor (5) is connected with the planet row (7) through a gear pair, the third motor (10) is connected with a rear axle differential (9) through a gear pair, and the front axle differential (4) is connected with the planet row (7) through a gear pair;
the brake (3) is arranged on a shaft connected with the torsional damper (2) and can lock a planet carrier of the planet row (7);
the whole vehicle control unit (6) collects vehicle running state signals, braking signals, accelerator pedal signals, brake pedal signals and the like, and the vehicle running state signals at least comprise vehicle speed signals, a first motor and a controller (8) thereof, a second motor and a controller (5) thereof, a power battery and a management system (11) thereof, an engine (1) and the like. The whole vehicle control unit is communicated with the engine (1), the first motor and the controller (8) thereof, the second motor and the controller (5) thereof, the power battery and the management system (11) thereof through the CAN.
Fig. 2 depicts a flow of a method for controlling energy management of a multi-mode four-wheel drive hybrid vehicle, where the method specifically includes the following steps:
(1) judging whether the vehicle is in a driving mode or a braking mode according to the accelerator pedal signal, the brake pedal signal and the vehicle speed;
(2) if the vehicle is in the braking mode, when the vehicle speed is greater than the threshold value vregWhen the vehicle is running, the second motor (5) is controlled to recover the braking energy, and the vehicle speed is less than the threshold value vregMechanical braking is adopted;
(3) if the vehicle is in the driving mode, calculating the required power P of the whole vehicle according to the vehicle speed, the charge state of an accelerator pedal and a power batteryreqAnd the required torque TreqAccording to the required power PreqJudging the working mode of the vehicle by the SOC of the power battery, wherein the working mode comprises a front-driving single-motor pure electric mode, a front-driving double-motor pure electric mode, a front-driving hybrid mode and a four-wheel-driving hybrid mode;
(4) the engine (1), the first motor (8), the second motor (5), the third motor (10) and the like are coordinately controlled to work in each driving mode.
Further, in the step (1), the vehicle enters a braking mode when the brake pedal is pressed, and enters a driving mode when the accelerator pedal is pressed but the brake pedal is not pressed.
Further, in the step (3), when the SOC is greater than the set threshold value SOCL and the required power PreqLess than a set threshold P1And the required torque TreqLess than a set threshold ThWhen the vehicle is in a front-drive single-motor pure electric mode;
when the SOC is greater than the set threshold value SOCL and the required power PreqLess than a set threshold P1And the required torque TreqGreater than a set threshold ThWhen the vehicle is in a front-drive double-motor pure electric mode;
when the SOC is less than the set threshold value SOCL or the required power PreqAt a set threshold value P1And P2In between, the vehicle is in a forward-drive hybrid mode;
when power P is requiredreqGreater than threshold value P2The vehicle is in a four-wheel drive hybrid mode.
Further, the air conditioner is provided with a fan,
in the step (4), when the vehicle is in the forward-drive single-motor pure electric mode, all the required torque T isreqProvided by a second motor (5), namely satisfying the formula (1), Tm2_ctrlIs a torque control signal of a second motor (5), im2The transmission ratio between a second motor (5) and a front shaft is set;
Tm2_ctrl＝Treq/im2 (1)
when the vehicle is in a front-drive double-motor pure electric mode, the brake (3) is controlled to be locked, and the required torque T isreqIs provided by a first motor (8) and a second motor (5) together, and satisfies the relation of formula (2), Tm2maxIs the maximum torque, T, of the second motor (5)m1_ctrlIs a torque control signal of a first motor (8);
Figure GDA0002930589170000041
when the vehicle is in a front-drive hybrid power mode, the required torque is provided by the engine (1) and the second motor (5) together, and the formula (3) and T are satisfiede_ctrlIs an engine (1) torque control signal, Te_optAccording to the required power PreqThe optimal working torque of the engine is obtained by searching the optimal working curve of the engine, and k is the ratio of the tooth number of the planet gear ring to the tooth number of the sun gear;
Figure GDA0002930589170000051
when the vehicle is in a four-wheel drive hybrid power mode, the required torque is provided by the engine (1), the second motor (5) and the third motor (10) together, and the formula (4) and the T are metm3_ctrlIs a torque control signal of a third motor (10), im3Transmission ratio between the third motor (10) and the rear axle。
Figure GDA0002930589170000052
Parts which are not described in the invention can be realized by adopting or referring to the prior art.
The above description is only an example of the present invention and should not be taken as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (1)

1. A multi-mode four-wheel drive hybrid electric vehicle energy management control method is characterized by comprising the following steps:
the multi-mode four-wheel drive hybrid electric vehicle comprises an engine (1), a torsional damper (2), a brake (3), a front axle differential (4), a second motor and a controller thereof (5), a whole vehicle control unit (6), a planet row (7), a first motor and a controller thereof (8), a rear axle differential (9), a third motor and a controller thereof (10), and a power battery and a management system thereof (11);
the engine (1) is connected with a planet carrier of the planet row (7) through a torsional damper (2) and a brake (3), the first motor (8) is connected with a sun gear of the planet row (7), the second motor (5) is connected with the planet row (7) through a gear pair, the third motor (10) is connected with a rear axle differential (9) through a gear pair, and the front axle differential (4) is connected with the planet row (7) through a gear pair;
the brake (3) is arranged on a shaft connected with the torsional damper (2) and can lock a planet carrier of the planet row (7);
the whole vehicle control unit (6) collects vehicle running state signals, brake signals, accelerator pedal signals, brake pedal signals and the like, wherein the vehicle running state signals at least comprise vehicle speed signals, a first motor and a controller (8) thereof, a second motor and a controller (5) thereof, a power battery and a management system (11) thereof, an engine (1) and the like; the whole vehicle control unit is communicated with the engine (1), the first motor and a controller (8) thereof, the second motor and a controller (5) thereof, and the power battery and a management system (11) thereof through the CAN;
the energy management control method of the multi-mode four-wheel drive hybrid electric vehicle specifically comprises the following steps:
(1) judging whether the vehicle is in a driving mode or a braking mode according to the accelerator pedal signal, the brake pedal signal and the vehicle speed;
(2) if the vehicle is in the braking mode, when the vehicle speed is greater than the threshold value vregWhen the vehicle is running, the second motor (5) is controlled to recover the braking energy, and the vehicle speed is less than the threshold value vregMechanical braking is adopted;
(3) if the vehicle is in the driving mode, calculating the required power P of the whole vehicle according to the vehicle speed, the charge state of an accelerator pedal and a power batteryreqAnd the required torque TreqAccording to the required power PreqJudging the working mode of the vehicle by the SOC of the power battery, wherein the working mode comprises a front-driving single-motor pure electric mode, a front-driving double-motor pure electric mode, a front-driving hybrid mode and a four-wheel-driving hybrid mode;
(4) the engine (1), the first motor (8), the second motor (5), the third motor (10) and the like are coordinately controlled to work in each driving mode;
in the step (1), the vehicle enters a braking mode when a brake pedal is stepped on, and enters a driving mode when an accelerator pedal is stepped on but the brake pedal is not stepped on;
in the step (3), when the SOC is greater than the set threshold value SOCL and the required power PreqLess than a set threshold P1And the required torque TreqLess than a set threshold ThWhen the vehicle is in a front-drive single-motor pure electric mode;
when the SOC is greater than the set threshold value SOCL and the required power PreqLess than a set threshold P1And the required torque TreqGreater than a set threshold ThWhen the vehicle is in a front-drive double-motor pure electric mode;
when the SOC is less than the set threshold value SOCL or the required power PreqAt a set threshold value P1And P2In between, the vehicle is in a forward-drive hybrid mode;
when power P is requiredreqGreater than threshold value P2The vehicle is in a four-wheel drive hybrid mode;
in the step (4), when the vehicle is in the forward-drive single-motor pure electric mode, all the required torque T isreqProvided by a second motor (5), namely satisfying the formula (1), Tm2_ctrlIs a torque control signal of a second motor (5), im2The transmission ratio between a second motor (5) and a front shaft is set;
Tm2_ctrl＝Treq/im2 (1)
when the vehicle is in a front-drive double-motor pure electric mode, the brake (3) is controlled to be locked, and the required torque T isreqIs provided by a first motor (8) and a second motor (5) together, and satisfies the relation of formula (2), Tm2maxIs the maximum torque, T, of the second motor (5)m1_ctrlIs a torque control signal of a first motor (8);
Figure FDA0003069840060000021
when the vehicle is in a front-drive hybrid power mode, the required torque is provided by the engine (1) and the second motor (5) together, and the formula (3) and T are satisfiede_ctrlIs an engine (1) torque control signal, Te_optAccording to the required power PreqThe optimal working torque of the engine is obtained by searching the optimal working curve of the engine, and k is the ratio of the tooth number of the planet gear ring to the tooth number of the sun gear;
Figure FDA0003069840060000022
when the vehicle is in a four-wheel drive hybrid power mode, the required torque is provided by the engine (1), the second motor (5) and the third motor (10) together, and the formula (4) and the T are metm3_ctrlIs a torque control signal of a third motor (10), im3The transmission ratio between the third motor (10) and the rear shaft;
Figure FDA0003069840060000023
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