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Engine Net Torque Compensation Through Driveline Torque Estimation in a Parallel Hybrid Vehicle

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Abstract

In recent years, interest in smart and green vehicles has increased. There are many cases where engine net torque related control is performed when building smart and green car systems. Speed tracking control in autonomous driving, or optimal transmission shift control is an example. The engine net torque is the sum of the engine indicated torque, accessory load torque, and fictional torque, and the starter motor torque in the case of a parallel hybrid vehicle. However, the estimation error of these torque items can cause the estimation error of the engine net torque. In this paper, a compensation method for the slowly varying uncertainty of the engine net torque in a parallel hybrid vehicle using a multiplicative constant is proposed. The adaptation of the multiplicative constant is conducted using the amount of change in the engine net torque estimated in the backward direction of the driveline. The proposed algorithm is verified based on production vehicle data.

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Abbreviations

T e :

engine net torque, N·m

T e,n :

nominal engine net torque, N·m

T ec :

engine clutch torque, N·m

T m :

motor torque, N·m

T c :

transmission clutch torque, N·m

T o :

output shaft torque, N·m

T L :

load resistance torque, N·m

J e :

engine inertia, kg·m2

J m :

motor inertia, kg·m2

J e :

clutch inertia, kg·m

J v :

vehicle inertia, kg·m

J me :

motor and clutch inertia, kg·m

i t :

transmission gear ratio, -

i f :

final gear ratio, -

l :

torque constant, -

L 1 :

lower bound of actuator displacement, mm

L 2 :

upper bound of actuator displacement, mm

d a :

actuator displacement, mm

ω e :

engine angular speed, rad/s

ω m :

motor angular speed, rad/s

ω c :

clutch angular speed, rad/s

ω w :

wheel angular speed, rad/s

θ c :

rotational angle of the transmission shaft, rad

θ W :

rotational angle of the wheel, rad

m v :

vehicle mass, kg

g :

gravitational acceleration, m/s2

Φ road :

road grade, °

K rr :

rolling resistance coefficient, -

ρ :

air density, kg/m3

V air :

relative speed of a vehicle to the air, m/s

C d :

air drag coefficient, -

A :

vehicle frontal area, m2

r w :

wheel radius, m

λ :

adaptation gain, -

ε :

adaptation error, N·m

Δ:

amount of variation, -

t s :

gear holding time, s

α :

lower bound of engine torque mm

β :

lower bound of wheel angular speed, rad/s

γ :

lower bound of gear holding time, mm

δ :

upper bound of gear holding time, mm

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Acknowledgement

This research was partly supported by Hyundai Motor Company, a National Research Foundation of Korea (NRF) grant funded by the Korean government (MSIP) (No. 2017R1A2B4004116), and the BK21+ program through the NRF funded by the Ministry of Education of Korea.

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Authors and Affiliations

  1. Department of Mechanical Engineering, KAIST, Daejeon, 34141, Korea

    Jinrak Park & Seibum Choi

  2. Research and Development Division, Hyundai Motor Group, 150 Hyundaiyeonguso-ro, Namyang-eup, Hwaseong-si, Gyeonggi, 18280, Korea

    Jiwon Oh & Jeongsoo Eo

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  1. Jinrak Park
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  2. Seibum Choi
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  4. Jeongsoo Eo
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Correspondence to Seibum Choi.

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Park, J., Choi, S., Oh, J. et al. Engine Net Torque Compensation Through Driveline Torque Estimation in a Parallel Hybrid Vehicle. Int.J Automot. Technol. 20, 619–627 (2019). https://doi.org/10.1007/s12239-019-0059-y

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