Vehicle and shifting control method and power transmission system thereof

• US 10,166,973 B2
• Filed: 08/08/2016
• Issued: 01/01/2019
• Est. Priority Date: 10/20/2014
• Status: Active Grant

• Current Assignee: BYD Company Limited
• Original Assignee: BYD Company Limited
• Inventors: Yang, Dongsheng, Lian, Yubo, Zhang, Jintao, Luo, Hongbin
• Primary Examiner(s): Alharbi, Adam M
• Application Number:
  US15/230,992
• Publication Number:
  US 20160339907A1
• Time in Patent Office: 876 Days
• CPC Class Codes: B60K 2006/4808 Electric machine connected or connectable to gearbox output shaft
• CPC Class Codes: B60K 6/547 the transmission being a stepped gearing
• CPC Class Codes: B60W 10/02 including control of driveline clutches
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/08 including control of electric propulsion units, e.g. motors or generators
• CPC Class Codes: B60W 10/11 Stepped gearings
• CPC Class Codes: B60W 10/113 with two input flow paths, e.g. double clutch transmission selection of one of the torque flow paths by the corresponding input clutch
• CPC Class Codes: B60W 20/20 Control strategies involving selection of hybrid configuration, e.g. selection between series or parallel configuration
• CPC Class Codes: B60W 20/30 Control strategies involving selection of transmission gear ratio control of change speed gearings, together with other vehicle sub-units B60W10/10; HEV transmission gearing B60K6/36; gearings and control thereof F16H
• CPC Class Codes: B60W 20/40 Controlling the engagement or disengagement of prime movers, e.g. for transition between prime movers power-up or power-down of the driveline B60W30/192
• CPC Class Codes: B60W 2050/0011 Proportional Integral Differential [PID] controller
• CPC Class Codes: B60W 2510/081 Speed
• CPC Class Codes: B60W 2510/1005 Transmission ratio engaged
• CPC Class Codes: B60W 2520/04 Vehicle stop
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2540/16 Ratio selector position
• CPC Class Codes: B60W 2710/021 Clutch engagement state
• CPC Class Codes: B60W 2710/0644 : Engine speed
• CPC Class Codes: B60W 2710/081 : Speed
• CPC Class Codes: B60W 2710/083 : Torque
• CPC Class Codes: B60W 2710/1005 : Transmission ratio engaged
• CPC Class Codes: B60W 2720/10 : Longitudinal speed
• CPC Class Codes: B60W 2720/106 : Longitudinal acceleration
• CPC Class Codes: B60W 30/19 : Improvement of gear change, e.g. by synchronisation or smoothing gear shift
• CPC Class Codes: F16H 3/006 : power being selectively transmitted by either one of the parallel flow paths
• CPC Class Codes: Y02T 10/62 : Hybrid vehicles
• CPC Class Codes: Y10S 903/902 : Prime movers comprising electrical and internal combustion motors

Abstract

The present disclosure discloses a shifting control method for a hybrid vehicle. The shifting control method includes: detecting operating parameters of the hybrid vehicle, where the operating parameters of the hybrid vehicle includes vehicle speed, vehicle acceleration as reflected from an accelerator-pedal signal and a current gear of the hybrid vehicle; determining a work mode of the hybrid vehicle; performing speed adjustment and shifting control to the first motor-generator according to a work mode and the operating parameters of the hybrid vehicle to implement shifting control of the hybrid vehicle, where the work mode includes an electric-vehicle mode and a hybrid-electric-vehicle mode. The method considers performing speed adjustment and shifting control under various working conditions. This improves smoothness and comfort of the vehicle and enlarges the use scope. The present disclosure further discloses a power transmission system of a hybrid vehicle and a hybrid vehicle.

Claims

1. A shifting control method for a vehicle comprising:

detecting operating parameters of the vehicle, wherein the operating parameters of the vehicle comprises vehicle speed, vehicle acceleration as reflected from an accelerator-pedal signal, and a current gear of the vehicle;

determining a work mode of the vehicle; and

performing speed adjustment and shifting control to a first motor-generator of the vehicle configured to rotate together with a motor shaft of the vehicle according to the operating parameters of the vehicle and work modes to implement shifting control of the vehicle, wherein the motor shaft of the vehicle is configured to rotate together with one of input shafts, wherein the work modes comprises an electric-vehicle mode and a hybrid-electric-vehicle mode, and wherein when the work mode of the vehicle is the electric-vehicle mode, performing speed adjustment and shifting control to the first motor-generator comprises;

controlling, by an electromotor controller, to perform a first unloading of torque to the first motor-generator, after determining that a request gear sent by the electromotor controller is the same as a target gear sent by a transmission control unit;

after the first unloading of torque of the first motor-generator is finished, controlling, by the transmission control unit, a motor shaft synchronizer of the power transmission system to disconnect according to a motor speed adjustment request sent by the electromotor controller, and when the first motor-generator is at neutral, calculating, by the electromotor controller, a target shifting rotational speed of the first motor-generator and controlling, by the electromotor controller, to perform loading of torque to the first motor-generator to perform speed adjustment until a rotational speed of the first motor-generator reaches a preset rotational speed range;

controlling, by the electromotor controller, to perform a second unloading of torque to the first motor-generator until the second unloading of torque of the first motor-generator is finished, controlling, by the transmission control unit, the motor shaft synchronizer to start connecting according to the request gear sent by the electromotor controller and feeding back, by the transmission control unit, whether the request gear of the electromotor controller is shifted successfully; and

determining, by the electromotor controller, that the current gear of the first motor-generator sent by the transmission control unit is the request gear, and determining, by the electromotor controller, that the first motor-generator is shifted successfully.

2. The method of claim 1, wherein the preset rotational speed range is in a preset motor shifting target rotational speed range, and the preset motor shifting target rotational speed range is obtained according to the target shifting rotational speed of the first motor-generator.

3. The method of claim 1, wherein when the electromotor controller determines that the first motor-generator needs to be performed upshifting control, the preset rotational speed range is greater than an upper limit of a target shifting rotational speed range of the first motor-generator;

and

when the electromotor controller determines that the first motor-generator needs to be performed downshifting control, the preset rotational speed range is smaller than a lower limit of the target shifting rotational speed range of the first motor-generator.

4. The method of claim 1, when performing speed adjustment and shifting control to the first motor-generator, further comprising:

performing, by the electromotor controller, PID adjustment to the first motor-generator to reduce speed-adjustment time of the first motor-generator.

5. The method of claim 4, wherein performing, by the electromotor controller, PID adjustment to the first motor-generator comprises:

obtaining a proportional coefficient, an integral time constant and a differential time constant of the first motor-generator when the first motor-generator outputs without load;

controlling the first motor generator to increase an output load, adjusting the proportional coefficient, the integral time constant and the differential time constant when outputting without load until oscillation which the first motor-generator outputs disappears and recording a current proportional coefficient, a current integral time constant and a current differential time constant; and

calculating an integral coefficient and a differential coefficient according the current proportional coefficient, the current integral time constant and the current differential time constant.

6. The method of claim 1, wherein, when the work mode of the vehicle is the hybrid-electric-vehicle mode, if the transmission control unit determines that an engine needs an upshifting control according to the vehicle speed and the vehicle acceleration of the vehicle, performing speed adjustment and shifting control to the first motor-generator comprises:

if the current gear of the first motor-generator is a first gear, controlling a gear of the first motor-generator to adjust from the first gear to a second gear;

controlling, by the electromotor controller, to perform the first unloading of torque to the first motor-generator, after determining that the request gear sent by the electromotor controller is the same as the target gear sent by the transmission control unit;

after the first unloading of torque of the first motor-generator is finished, controlling, by the transmission control unit, the motor shaft synchronizer of the power transmission system to disconnect according to the motor speed adjustment request sent by the electromotor controller, and when the first motor-generator is at neutral, calculating, by the electromotor controller, the target shifting rotational speed of the first motor-generator and controlling, by the electromotor controller, to perform loading of torque to the first motor-generator to perform speed adjustment until the rotational speed of the first motor-generator reaches the preset rotational speed range;

controlling, by the electromotor controller, to perform the second unloading of torque to the first motor-generator until the second unloading of torque of the first motor-generator is finished, controlling, by the transmission control unit, the motor shaft synchronizer to start connecting according to the request gear sent by the electromotor controller and feeding back, by the transmission control unit, whether the request gear of the electromotor controller is shifted successfully; and

determining, by the electromotor controller, that the current gear of the first motor-generator sent by the transmission control unit is the request gear, and determining, by the electromotor controller, that the first motor-generator is shifted successfully.

7. The method of claim 1, wherein, when the hybrid vehicle is switched from the electric-vehicle mode to the hybrid-electric-vehicle mode, the electromotor controller determines whether an engine needs to be started;

if no, the electromotor controller further determines whether the first motor-generator needs to be performed speed adjustment and shifting control;

if the electromotor controller determines that the first motor-generator needs to be performed speed adjustment and shifting control, controlling, by the electromotor controller, to perform the first unloading of torque to the first motor-generator, after determining that the request gear sent by the electromotor controller is the same as the target gear sent by the transmission control unit;

after the first unloading of torque of the first motor-generator is finished, controlling, by the transmission control unit, the motor shaft synchronizer of the power transmission system to disconnect according to the motor speed adjustment request sent by the electromotor controller, and when the first motor-generator is at neutral, calculating, by the electromotor controller, the target shifting rotational speed of the first motor-generator and controlling, by the electromotor controller, to perform loading of torque to the first motor-generator to perform speed adjustment until the rotational speed of the first motor-generator reaches the preset rotational speed range;

controlling, by the electromotor controller, to perform the second unloading of torque to the first motor-generator until the second unloading of torque of the first motor-generator is finished, controlling, by the transmission control unit, the motor shaft synchronizer to start connecting according to the request gear sent by the electromotor controller and feeding back, by the transmission control unit, whether the request gear of the electromotor controller is shifted successfully; and

determining, by the electromotor controller, that the current gear of the first motor-generator sent by the transmission control unit is the request gear, and determining, by the electromotor controller, that the first motor-generator is shifted successfully.

8. The method of claim 7, wherein if the electromotor controller determines that the engine needs to be started, and the transmission control unit determines that the engine needs to be performed upshifting control according to the vehicle speed and the vehicle acceleration of the vehicle, before controlling, by the electromotor controller, to perform the first unloading of torque to the first motor-generator and after determining that the request gear sent by the electromotor controller is the same as the target gear sent by the transmission control unit, performing speed adjustment and shifting control to the first motor-generator comprises:

starting the engine by the first motor-generator anti-dragging the engine or directly by a starter; and

after the engine is started successfully, if the current gear of the first motor-generator is a first gear, controlling a gear of the first motor-generator to adjust from the first gear to a second gear.

9. The method of claim 1, wherein, when the work mode of the vehicle is the hybrid-electric-vehicle mode, if the transmission control unit determines that the engine needs to be performed downshifting control according to the vehicle speed and the vehicle acceleration of the vehicle, performing speed adjustment and shifting control to the first motor-generator comprises:

controlling a gear of the first motor-generator to adjust from a second gear to a first gear;

controlling, by the electromotor controller, to perform the first unloading of torque to the first motor-generator, after determining that the request gear sent by the electromotor controller is the same as the target gear sent by the transmission control unit;

after the first unloading of torque of the first motor-generator is finished, controlling, by the transmission control unit, the motor shaft synchronizer of the power transmission system to disconnect according to the motor speed adjustment request sent by the electromotor controller, and when the first motor-generator is at neutral, calculating, by the electromotor controller, the target shifting rotational speed of the first motor-generator and controlling, by the electromotor controller, to perform loading of torque to the first motor-generator to perform speed adjustment until the rotational speed of the first motor-generator reaches the preset rotational speed range;

controlling, by the electromotor controller, to perform the second unloading of torque to the first motor-generator until the second unloading of torque of the first motor-generator is finished, controlling, by the transmission control unit, the motor shaft synchronizer to start connecting according to the request gear sent by the electromotor controller and feeding back, by the transmission control unit, whether the request gear of the electromotor controller is shifted successfully; and

determining, by the electromotor controller, that the current gear of the first motor-generator sent by the transmission control unit is the request gear, and determining, by the electromotor controller, that the first motor-generator is shifted successfully.

10. The method of claim 6, wherein, if the electromotor controller determines that the engine needs to be started, and the transmission control unit determines that the engine needs to be performed downshifting control according to the vehicle speed and the vehicle acceleration of the vehicle, before controlling, by the electromotor controller, to perform the first unloading of torque to the first motor-generator and after determining that the request gear sent by the electromotor controller is the same as the target gear sent by the transmission control unit, performing speed adjustment and shifting control to the first motor-generator comprises:

starting the engine by the first motor-generator anti-dragging the engine or directly by a starter; and

after the engine is started successfully, if the current gear of the first motor-generator is the second gear, controlling the gear of the first motor-generator to adjust from the second gear to the first gear.

11. The method of claim 10, wherein the power transmission system further comprises a dual clutch transmission, and after determining the first motor-generator is shifted successfully, the transmission control unit controls a first clutch of the dual clutch transmission to disengage and a second clutch of the dual clutch transmission to engage, and determines that the engine is downshifted successfully.

12. The method of claim 1, wherein, when the vehicle stays in place and an engine drives the first motor-generator to generate electric power, if the current gear of the vehicle is gear D, the transmission control unit controls the engine to be pre-shifted to gear one and controls a gear-one-three synchronizer in the power transmission system to move towards a first direction, after a brake pedal of the vehicle is released and the electromotor controller cancels generating electric power in place of the vehicle and the transmission control unit controls a first clutch to engage, performing speed adjustment and shifting control to the first motor-generator comprises:

controlling, by the electromotor controller, to perform unloading of generating-electric-power torque to the first motor-generator and the engine, and controlling, by an engine controller, the engine to keep at a running state;

after the unloading of generating-electric-power torque of the first motor-generator and the engine is finished, controlling, by the transmission control unit, a second clutch to disengage, controlling, by the electromotor controller, to perform loading of torque to the first motor-generator to perform speed adjustment until the rotational speed of the first motor-generator reaches the target rotational speed of the first motor-generator; and

when the rotational speed of the first motor-generator reaches the target rotational speed of the first motor-generator, controlling, by the electromotor controller, to perform unloading of torque to the first motor-generator until the unloading of torque of the first motor-generator is finished, controlling, by the transmission control unit, a gear-two-four synchronizer in the power transmission system to engage with the motor shaft synchronizer, determining, by the transmission control unit, that the first motor-generator is shifted successfully.

13. A power transmission system of a vehicle, comprising:

a plurality of input shafts, a gear driving gear being set on each of the input shafts;

a plurality of output shafts, a gear driven gear being set on each of the output shafts, the gear driven gear meshing with the gear driving gear correspondingly;

a motor shaft, the motor shaft being configured to rotate together with one of the input shafts;

a first motor-generator, the first motor-generator being configured to rotate together with the motor shaft;

a detecting module configured to detect operating parameters of the vehicle, wherein the operating parameters of the vehicle comprises a vehicle speed, vehicle acceleration as reflected from an accelerator-pedal signal and a current gear of the vehicle;

an electromotor controller configured to perform speed adjustment and shifting control to the first motor-generator according to work mode and the operating parameters of the vehicle to implement shifting control of the vehicle, wherein the work modes comprises an electric-vehicle mode and a hybrid-electric-vehicle mode; and

a transmission control unit, the transmission control unit communicating with the electromotor controller by a communication network of the vehicle, wherein when the work mode of the vehicle is the electric-vehicle mode, if the electromotor controller determines that the first motor-generator needs to be performed the shifting control according to the vehicle speed, the vehicle acceleration and the current gear of the hybrid vehicle, the electromotor controller performing speed adjustment and shifting control to the first motor-generator comprises;

when a request gear sent by the electromotor controller is the same as a target gear sent by the transmission control unit, the electromotor controller controlling to perform a first unloading of torque to the first motor-generator;

after the first unloading of torque of the first motor-generator is finished, the transmission control unit controlling a motor shaft synchronizer of the power transmission system to disconnect according to a motor speed adjustment request sent by the electromotor controller, and when the first motor-generator is at neutral, the electromotor controller calculating a target shifting rotational speed of the first motor-generator and controlling to perform loading of torque to the first motor-generator to perform speed adjustment until a rotational speed of the first motor-generator reaches a preset rotational speed range;

the electromotor controller controlling to perform a second unloading of torque to the first motor-generator until the second unloading of torque of the first motor-generator is finished, the transmission control unit controlling the motor shaft synchronizer to start connecting according to the request gear sent by the electromotor controller and feeding back whether the request gear of the electromotor controller is shifted successfully; and

the electromotor controller determining that the current gear of the first motor-generator sent by the transmission control unit is the request gear, the electromotor controller determining that the first motor-generator is shifted successfully.

14. The system of claim 13, wherein the preset rotational speed range is in a preset motor shifting target rotational speed range, and the preset motor shifting target rotational speed range is obtained according to the target shifting rotational speed of the first motor-generator;

and wherein;

when the electromotor controller determines that the first motor-generator needs to be performed upshifting control, the preset rotational speed range is greater than an upper limit of a target shifting rotational speed range of the first motor-generator; and

when the electromotor controller determines that the first motor-generator needs to be performed downshifting control, the preset rotational speed range is smaller than a lower limit of the target shifting rotational speed range of the first motor-generator.

15. The system of claim 13, wherein when performing speed adjustment and shifting control to the first motor-generator, the electromotor controller further performs PID adjustment to the first motor-generator to reduce speed-adjustment time of the first motor-generator;

wherein the electromotor controller performing PID adjustment to the first motor-generator comprises;

obtaining a proportional coefficient, an integral time constant and a differential time constant of the first motor-generator when the first motor-generator outputs without load;

controlling the first motor generator to increase an output load, adjusting the proportional coefficient, the integral time constant and the differential time constant when outputting without load until oscillation which the first motor-generator outputs disappears and recording a current proportional coefficient, a current integral time constant and a current differential time constant; and

calculating an integral coefficient and a differential coefficient according the current proportional coefficient, the current integral time constant and the current differential time constant.

16. A hybrid vehicle, comprising the power transmission system of the hybrid vehicle of claim 13.