System, method, and apparatus for controlling power output distribution in a hybrid power train

• US 8,965,613 B2
• Filed: 09/24/2012
• Issued: 02/24/2015
• Est. Priority Date: 01/13/2011
• Status: Active Grant

• Current Assignee: Cummins Incorporated
• Original Assignee: Cummins Incorporated
• Inventors: Sujan, Vivek Anand, Books, Martin T., Djan-Sampson, Patrick O., Muralidhar, Praveen
• Primary Examiner(s): Olszewski, John R
• Assistant Examiner(s): Foster, Gerrad A
• Application Number:
  US13/625,291
• Publication Number:
  US 20130184908A1
• Time in Patent Office: 883 Days
• Field of Search: None
• US Class Current: 701/22
• CPC Class Codes: B60K 6/387 Actuated clutches, i.e. clutches engaged or disengaged by electric, hydraulic or mechanical actuating means
• CPC Class Codes: B60K 6/442 Series-parallel switching type
• 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 10/26 for electrical energy, e.g. batteries or capacitors
• CPC Class Codes: B60W 20/10 Controlling the power contribution of each of the prime movers to meet required power demand
• CPC Class Codes: B60W 20/14 in conjunction with braking regeneration
• 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 20/40 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 2050/0008 Feedback, closed loop systems or details of feedback error signal
• CPC Class Codes: B60W 2050/001 Proportional integral [PI] controller
• CPC Class Codes: B60W 2050/0056 Low-pass filters
• CPC Class Codes: B60W 2510/0633 Turbocharger state
• CPC Class Codes: B60W 2510/0638 Engine speed
• CPC Class Codes: B60W 2510/0657 Engine torque
• CPC Class Codes: B60W 2510/068 Engine exhaust temperature
• CPC Class Codes: B60W 2510/081 Speed
• CPC Class Codes: B60W 2510/083 Torque
• CPC Class Codes: B60W 2510/1005 Transmission ratio engaged
• CPC Class Codes: B60W 2510/244 : Charge state
• CPC Class Codes: B60W 2510/246 : Temperature
• CPC Class Codes: B60W 2510/248 : Age of storage means
• CPC Class Codes: B60W 2510/305 : Power absorbed by auxiliaries
• CPC Class Codes: B60W 2520/10 : Longitudinal speed
• CPC Class Codes: B60W 2530/00 : Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
• CPC Class Codes: B60W 2530/10 : Weight
• CPC Class Codes: B60W 2540/12 : Brake pedal position
• CPC Class Codes: B60W 2710/021 : Clutch engagement state
• CPC Class Codes: B60W 2710/0677 : Engine power
• CPC Class Codes: B60W 2710/086 : Power
• CPC Class Codes: B60W 2710/244 : Charge state
• CPC Class Codes: B60W 2710/248 : Current for loading or unloading
• CPC Class Codes: B60W 30/18127 : Regenerative braking
• CPC Class Codes: B60W 30/18136 : Engine braking
• CPC Class Codes: B60W 30/188 : Controlling power parameters of the driveline, e.g. determining the required power
• CPC Class Codes: B60W 30/1882 : characterised by the working point of the engine, e.g. by using engine output chart
• CPC Class Codes: B60W 30/192 : Mitigating problems related to power-up or power-down of the driveline, e.g. start-up of a cold engine
• CPC Class Codes: Y02T 10/40 : Engine management systems
• CPC Class Codes: Y02T 10/62 : Hybrid vehicles
• CPC Class Codes: Y02T 10/84 : Data processing systems or methods, management, administration
• CPC Class Codes: Y10S 903/93 : Conjoint control of different elements

Abstract

A system includes a hybrid power train comprising an internal combustion engine and electrical system, which includes a first and second electrical torque provider, and an electrical energy storage device electrically coupled to first and second electrical torque provider. The system further includes a controller structured to perform operations including determining a power surplus value of the electrical system; determining a machine power demand change value; in response to the power surplus value of the electrical system being greater than or equal to the machine power demand change value, operating an optimum cost controller to determine a power division for the engine, first electrical torque provider, and second electrical torque provider; and in response to the power surplus value of the electrical system being less than the machine power demand change value, operating a rule-based controller to determine the power division for the engine, first, and second electrical torque provider.

Claims

1. A system, comprising:

a hybrid power train comprising an internal combustion engine and an electrical system, the electrical system including a first electrical torque provider, a second electrical torque provider, and an electrical energy storage device electrically coupled to the first electrical torque provider and the second electrical torque provider;

a clutch positioned with the first electrical torque provider and a load on a first side of the clutch and with the internal combustion engine and the second electrical torque provider on a second side of the clutch, wherein the clutch in a closed position provides the hybrid power train in a parallel configuration and wherein the clutch in an open position provides the hybrid power train in a series configuration;

a controller structured to perform operations including;

determining a power surplus value of the electrical system;

determining a machine power demand change value;

in response to the power surplus value of the electrical system being greater than or equal to the machine power demand change value, operating the hybrid power train in the series configuration and operating an optimum cost controller to determine a power division description for the internal combustion engine, the first electrical torque provider, and the second electrical torque provider, wherein the controller is configured to operate the optimum cost controller to;

incrementally change in a first direction a power provided by the engine in a first execution cycle in response to the power division description;

determining whether the power incrementally changed in the first execution cycle improved a power cost value;

in response to an improved power cost value, continue incrementing the power division description in the first direction in a next execution cycle;

in response to a degrading power cost value, switching a direction of the increment of the power division description in the next execution cycle; and

in response to the power surplus value of the electrical system being less than the machine power demand change value, operating the hybrid power train in the parallel configuration and operating a rule-based controller to determine the power division for the internal combustion engine, the first electrical torque provider, and the second electrical torque provider.

2. The system of claim 1, wherein the controller is further structured to determine the power surplus value of the first electrical torque provider in response to the electrical system having a power delivery availability to meet the machine power demand change value.

3. The system of claim 1, wherein further in response to the machine power demand change value exceeding a threshold, the controller is further structured to operate the rule-based controller.

4. The system of claim 1, wherein the controller is further structured to determine the power surplus value in response to at least one parameter selected from the parameters consisting of:

a torque rating of the first electrical torque provider, a torque rating of the second electrical torque provider, an accessory load, a throughput rating of the electrical energy storage device, a state-of-charge (SOC) of the electrical energy storage device, a throughput rating of a first power electronics interposed between the electrical energy storage device and the first electrical torque provider, and a throughput rating of a second power electronics interposed between the electrical energy storage device and the second electrical torque provider.

5. The system of claim 1, wherein the controller is further structured to operate the optimum cost controller as a closed loop controller having an error value determined in response to a slope of the power cost value with time.

6. The system of claim 5, wherein the optimum cost controller is a proportional-integral controller.

7. The system of claim 1, wherein the controller is further structured to apply a random noise value to the incrementally changing power provided by the engine.

8. The system of claim 7, wherein the random noise value comprises an amplitude selected in response to an expected local minima depth property of a response surface of the hybrid power train.

9. The system of claim 1, wherein the controller is further structured to increase an amplitude of the incremental change in response to an increasing rate of change of the power cost value.

10. The system of claim 1, wherein the controller is further structured to operate the rule-based controller to respond to a power demand increase by, operated in the following order and until the power demand increase is achieved, increasing first a power output of the first electrical torque provider, increasing second a power output of the second electrical torque provider, and increasing third an output of the engine.

11. The system of claim 1, wherein the controller is further structured to operate the rule-based controller to respond to a power demand decrease by, operated in the following order and until the power demand decrease is achieved, decreasing first a power output of the first electrical torque provider, decreasing second a power output of the second electrical torque provider, and decreasing third an output of the engine.

12. The system of claim 11, further comprising limiting the first electrical torque provider and the second electrical torque provider to a minimum zero torque until the engine reaches a minimum torque value.

13. The system of claim 1, further comprising, in response to determining the clutch is open and the power surplus value being less than the machine power demand change value, and further in response to determining the clutch is disallowed from closing, the controller further structured to command the first electrical torque provider to one of a maximum or minimum torque position.

14. The system of claim 1, wherein the controller is further structured to command the first electrical torque provider to meet the machine power demand change value.

15. A method, comprising:

operating a hybrid power train including an engine, a first electrical torque provider, a second electrical torque provider, and an electrical system comprising a portion of the hybrid power train, and further comprising a clutch positioned with the first electrical torque provider and a load on a first side of the clutch and with the internal combustion engine and the second electrical torque provider on a second side of the clutch, wherein the clutch in a closed position provides the hybrid power train in a parallel configuration and wherein the clutch in an open position provides the hybrid power train in a series configuration;

determining a power surplus value of the electrical system;

determining a machine power demand change value of the hybrid power train;

in response to the power surplus value being greater than or equal to the machine power demand change value, operating the hybrid power train in the series configuration and operating an optimum cost controller to determine a power division description for the hybrid power train in the series configuration, wherein operating the optimum cost controller includes;

incrementally changing in a first direction reaction a power provided by the engine in a first execution cycle in response to the power division description;

determining whether the power incrementally changed in the first execution cycle improved a power cost value;

in response to an improved power cost value, continue incrementing the power division description in the first direction in a next execution cycle;

in response to a degrading power cost value, switching a direction of the increment of the power division description in the next execution cycle; and

in response to the power surplus value of the electrical system being less than the machine power demand change value, operating the hybrid powertrain in a parallel configuration and operating a rule-based controller to determine the power division for the hybrid power train in the parallel configuration.

16. The method of claim 15, further comprising determining the power surplus value of the first electrical torque provider in response to the electrical system having a power delivery availability to meet the machine power demand change value.

17. The method of claim 15, further comprising operating a rule-based controller in response to the machine power demand change value exceeding a threshold.

18. The method of claim 15, further comprising determining the power surplus value in response to a torque rating of at least one of the first electrical torque provider and the second electrical torque provider.

19. The method of claim 15, further comprising determining the power surplus value in response to an accessory load.

20. The method of claim 15, further comprising determining the power surplus value in response to a throughput rating of an electrical energy storage device electrically coupled to the first electrical torque provider and the second electrical torque provider.

21. The method of claim 15, further comprising determining the power surplus value in response to a state-of-charge (SOC) of an electrical energy storage device electrically coupled to the first electrical torque provider and the second electrical torque provider.

22. The method of claim 15, further comprising determining the power surplus value in response to at least one of a throughput rating of a first power electronics interposed between an electrical energy storage device and the first electrical torque provider, and a throughput rating of a second power electronics interposed between the electrical energy storage device and the second electrical torque provider, the electrical energy storage device electrically coupled to the first electrical torque provider and the second electrical torque provider.

23. The method of claim 15, further comprising operating the optimum cost controller as a closed loop controller having an error value determined in response to a slope of the power cost value with time.

24. The method of claim 15, further comprising applying a random noise value to the incrementally changing power provided by the engine.

25. The method of claim 24, further comprising selecting an amplitude for the random noise value in response to an expected local minima depth property of a response surface of the hybrid power train.

26. The method of claim 15, further comprising increasing an amplitude of the incremental change in response to an increasing rate of change of the power cost value.

27. The method of claim 15, further comprising operating the rule-based controller to respond to a power demand increase by, operated in the following order and until the power demand increase is achieved, increasing first a power output of the first electrical torque provider, increasing second a power output of the second electrical torque provider, and increasing third an output of the engine.

28. The method of claim 15, further comprising operating the rule-based controller to response to a power demand decrease by, operated in the following order and until the power demand decrease is achieved, decreasing first a power output of the first electrical torque provider, decreasing second a power output of the second electrical torque provider, and decreasing third an output of the engine.

29. The method of claim 28, further comprising limiting the first electrical torque provider and the second electrical torque provider to a minimum zero torque until the engine reaches a minimum torque value.

30. The method of claim 15, further comprising, in response to determining the clutch is open and the power surplus value is less than the machine power demand change value, and further in response to determining the clutch is disallowed from closing, commanding the first electrical torque provider to one of a maximum or minimum torque position.