Method for controlling a hybrid powertrain, a hybrid powertrain, and a vehicle comprising such a hybrid powertrain

Abstract

The present invention relates to a method to control a hybrid powertrain, comprising a combustion engine, an electric machine, a gearbox with input shaft and output shaft, wherein the combustion engine and the electric machine are connected to the input shaft. The method comprises the following steps: a) disconnecting the combustion engine from the input shaft with a coupling device, b) engaging a starting gear in the gearbox, which starting gear is higher than the gear at which the combustion engine's torque at idling speed is able to operate the input shaft, c) generating a torque in the input shaft with the electric machine, d) accelerating the electric machine, and e) connecting the combustion engine to the input shaft with the coupling device when the electric machine has reached substantially the same rotational speed as the combustion engine. The invention also relates to a hybrid powertrain and a vehicle.

Claims

1. A method to control a hybrid powertrain, comprising a combustion engine, an electric machine, a gearbox with an input shaft and an output shaft, wherein the combustion engine and the electric machine are connectable to the input shaft of the gearbox, and a coupling device configured for connecting and disconnecting the combustion engine from the input shaft of the gearbox, wherein the method comprises: a) disconnecting the combustion engine from the input shaft of the gearbox via the coupling device; b) selecting a starting gear in the gearbox, where the starting gear is a gear having a lower gear ratio than a gear ratio at which the combustion engine's torque at idling speed is able to sufficiently rotate the input shaft of the gearbox; c) engaging the selected starting gear in the gearbox; d) while the combustion engine is idling and not connected to the input shaft of the gearbox, connecting or ensuring that the electric machine is connected to the input shaft of the gearbox and thereafter control the electric machine to generate a torque in the input shaft of the gearbox using the electric machine; e) accelerating the electric machine, thereby accelerating rotation of the input shaft of the gearbox; and f) when the input shaft of the gearbox, in the selected starting gear, is rotating at substantially the same speed as a rotational speed of the combustion engine, connecting the combustion engine to the input shaft of the gearbox using the coupling device to thereafter drive the input shaft of the gearbox with torque from the combustion engine, whereby using the electric machine to drive the input shaft of the gearbox at the selected starting gear with the lower gear ratio up to a rotating speed of the combustion engine prior to connecting the combustion engine to the input shaft of the gear box thereby reduces a number of gear shifts required to bring the vehicle up to a selected speed.

2. A method according to claim 1, wherein the coupling device is a friction clutch, and wherein said method comprises between steps d) and e): step g) connecting the coupling device, so that at least a part of the available torque from the combustion engine is supplied to the input shaft.

3. A method according to claim 1, wherein, after step f): h) stop generating a torque with the electric machine.

4. A method according to claim 1, wherein said method comprises between steps a) and b): step i) determining an amount of energy available in an energy storage device for the electric machine.

5. A method according to claim 4, wherein step b) further comprises selection of which gear ratio to use as the starting gear based on the amount of energy available in the energy storage device.

6. A method according to claim 1, wherein a rotational speed of the input shaft is detected with a first speed sensor arranged at the input shaft, and a rotational speed of the output shaft is detected with a second speed sensor arranged at the output shaft.

7. A hybrid powertrain comprising: a combustion engine; an electric machine; a gearbox with an input shaft and an output shaft, wherein the combustion engine and the electric machine are connectable to the input shaft of the gearbox; a coupling device configured for connecting and disconnecting the combustion engine from the input shaft of the gearbox; and a control device configured to: disconnect the combustion engine from the input shaft of the gearbox via the coupling device; select a starting gear in the gearbox, wherein the starting gear is a gear having a lower gear ratio than a gear ratio at which the combustion engine's torque at idling speed is able to sufficiently rotate the input shaft of the gearbox; control the gearbox to engage the selected starting gear in the gearbox; while the combustion engine is idling and not connected to the input shaft of the gearbox, connect or ensure that the electric machine is connected to the input shaft of the gearbox and thereafter control the electric machine to generate a torque in the input shaft of the gearbox using the electric machine; control the electric machine to accelerate thereby accelerating rotation of the input shaft of the gearbox; and when the input shaft of the gearbox, in the selected starting gear, is rotating at substantially the same speed as a rotational speed of the combustion engine, control the coupling device to connect the combustion engine to the input shaft of the gearbox to thereafter drive the input shaft of the gearbox with torque from the combustion engine, whereby using the electric machine to drive the input shaft of the gearbox at the selected starting gear with the lower gear ratio up to a rotating speed of the combustion engine prior to connecting the combustion engine to the input shaft of the gear box thereby reduces a number of gear shifts required to bring the vehicle up to a selected speed.

8. A vehicle comprising a hybrid powertrain comprising: a combustion engine; an electric machine; a gearbox with an input shaft and an output shaft, wherein the combustion engine and the electric machine are connectable to the input shaft of the gearbox; a coupling device configured for connecting and disconnecting the combustion engine from the input shaft of the gearbox; and a control device configured to: disconnect the combustion engine from the input shaft of the gearbox via the coupling device; select a starting gear in the gearbox, wherein the starting gear is a gear having a lower gear ratio than a gear ratio at which the combustion engine's torque at idling speed is able to sufficiently rotate the input shaft of the gearbox; control the gearbox to engage the selected starting gear in the gearbox; while the combustion engine is idling and not connected to the input shaft of the gearbox, connect or ensure that the electric machine is connected to the input shaft of the gearbox and thereafter control the electric machine to generate a torque in the input shaft of the gearbox using the electric machine; control the electric machine to accelerate thereby accelerating rotation of the input shaft of the gearbox; and when the input shaft of the gearbox, in the selected starting gear, is rotating at substantially the same speed as a rotational speed of the combustion engine, control the coupling device to connect the combustion engine to the input shaft of the gearbox to thereafter drive the input shaft of the gearbox with torque from the combustion engine, whereby using the electric machine to drive the input shaft of the gearbox at the selected starting gear with the lower gear ratio up to a rotating speed of the combustion engine prior to connecting the combustion engine to the input shaft of the gear box thereby reduces a number of gear shifts required to bring the vehicle up to a selected speed.

9. A computer program product comprising computer program code stored on a non-transitory computer-readable medium, said computer program product for controlling a hybrid powertrain, comprising a combustion engine, an electric machine, a gearbox with an input shaft and an output shaft, wherein the combustion engine and the electric machine are connectable to the input shaft of the gearbox, and a coupling device configured for connecting and disconnecting the combustion engine from the input shaft of the gearbox, said computer program product comprising computer instructions to cause said at least one control unit to perform the following operations: a) disconnect the combustion engine from the input shaft of the gearbox via the coupling device; b) select a starting gear in the gearbox, wherein the starting gear is a gear that comprises a lower gear ratio than a gear ratio at which the combustion engine's torque at idling speed is able to sufficiently rotate the input shaft of the gearbox; c) control the gearbox to engage the selected starting gear in the gearbox; d) while the combustion engine is idling and not connected to the input shaft of the gearbox, connect or ensure that the electric machine is connected to the input shaft of the gearbox and thereafter control the electric machine to generate a torque in the input shaft of the gearbox using the electric machine; e) control the electric machine to accelerate, thereby accelerating rotation of the input shaft of the gearbox; and f) when the input shaft of the gearbox, in the selected starting gear, is rotating at substantially the same speed as a rotational speed of the combustion engine, control the coupling device to connect the combustion engine to the input shaft of the gearbox to thereafter drive the input shaft of the gearbox with torque from the combustion engine, whereby using the electric machine to drive the input shaft of the gearbox at the selected starting gear with the lower gear ratio up to a rotating speed of the combustion engine prior to connecting the combustion engine to the input shaft of the gear box thereby reduces a number of gear shifts required to bring the vehicle up to a selected speed.

10. A computer program product according to claim 9, wherein the coupling device is a friction clutch, and wherein said computer program product further comprises computer instructions to cause said at least one control unit to, between operations d) and e), the operation g) connect the coupling device, so that at least a part of the available torque from the combustion engine is supplied to the input shaft.

11. A computer program product according to claim 9, wherein said computer program product further comprises computer instructions to cause said at least one control unit to, after operation f), operation h) stop generating a torque with the electric machine.

12. A computer program product according to claim 9, wherein said computer program product further comprises computer instructions to cause said at least one control unit to, between operations a) and b), operation i) determining an amount of energy available in an energy storage device for the electric machine.

13. A computer program product according to claim 12, wherein operation b) further comprises selection of which gear ratio to use as the starting gear based on the amount of energy available in the energy storage device.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Below is a description, as an example, of preferred embodiments, with reference to the enclosed drawings, in which:

(2) FIG. 1 shows a schematic side view of a vehicle with a hybrid powertrain according to one embodiment,

(3) FIG. 2 shows a schematic side view of a hybrid powertrain according to one embodiment,

(4) FIG. 3 shows a diagram of torque in relation to engine speed for a hybrid powertrain in a vehicle according to one embodiment,

(5) FIG. 4 shows a diagram of engine speed in relation to time lapsed for a hybrid powertrain in a vehicle according to one embodiment,

(6) FIG. 5a shows a diagram of engine speed in relation to time lapsed for a hybrid powertrain in a vehicle according to one embodiment,

(7) FIG. 5b shows a diagram of torque in relation to lapsed time for a hybrid powertrain in a vehicle according to one embodiment,

(8) FIG. 5c shows a diagram of torque in relation to time lapsed for a hybrid powertrain in a vehicle according to one embodiment, and

(9) FIG. 6 shows a flow chart of a method to control a hybrid powertrain according to one embodiment.

DETAILED DESCRIPTION OF THE INVENTION

(10) FIG. 1 shows a schematic side view of a vehicle 1, comprising a hybrid powertrain 2 with a combustion engine 3 and an electric machine 4, which are connected to a gearbox 6. The gearbox 6 is also connected to the driving wheels 8 of the vehicle 1 via a propeller shaft 7.

(11) FIG. 2 shows a schematic view of a hybrid powertrain 2, comprising a combustion engine 3 and an electric machine 4, which are connected to an input shaft 10 of the gearbox 6. The combustion engine 3 may be connected to and disconnected from the input shaft 10 via a coupling device 12, which may be manually and/or automatically manoeuvrable. The gearbox 6 may be an automated manual transmission (AMT) of a split type and comprises a split gear unit 13 and a main gear unit 15. The split gear unit 13 connects an input shaft 10 with a countershaft 16. The main gear unit 15 connects the countershaft 16 with a main shaft 14, which is connected with an output shaft 18 from the gearbox. On the input shaft 10, the countershaft 16 and the main shaft 14, one or several transmission elements 20 in the form of cogwheels and pinions are arranged, connecting the respective shafts 10, 16, 14. In this context, it should be noted that the gearbox may be another type of gearbox. A first speed sensor 42 may be arranged at the input shaft 10 to detect the rotational speed of the input shaft 10 and a second speed sensor 44 may be arranged at the output shaft 18 to detect the rotational speed of the output shaft 18. The output shaft 18 is connected to the propeller shaft 7, which is connected to a final gear 24, which in turn is connected to the driving wheels 8 of the vehicle 1 via a driving shaft 48. An electronic control device 26 is connected to at least one of the combustion engine 3, the coupling device 12, the electric machine 4, the gearbox 6 and/or the speed sensors 42, 44 via electrical conductors 28. An energy storage device 46 for the electric machine 4 may be connected, via conductors, to the electric machine 4, and connected to the electronic control device 26. The energy storage device 46 may consist of an electric accumulator. Instead of transmitting signals through the electrical conductors 28, signals may be transmitted wirelessly between the electronic control device 26 and the combustion engine 3, the coupling device 12, the electric machine 4, the gearbox 6, and the speed sensors.

(12) The electronic control device 26 may comprise a memory M and a computer program P. It is also possible to connect a computer 30 to the control device 26.

(13) FIG. 3 shows a diagram of torque T in relation to engine speed n in a vehicle 1 with a hybrid powertrain 2 according to one embodiment. The dashed graph 50 in FIG. 3 illustrates that the electric machine 4 is able to generate its maximum torque T.sub.em already at a low rotational speed n. The solid graph 52 represents the driving torque of the combustion engine 3, which, at low engine speeds, may generate a significantly lower torque T.sub.c compared to the electric machine 4. The difference between the electric machine's 4 maximum available torque T.sub.em and the combustion engine's 3 maximum available torque T.sub.c at low engine speeds is indicated with ΔT in FIG. 3. When the combustion engine's 3 rotational speed increases, the available torque from the combustion engine 3 increases. FIG. 3 shows how the combustion engine's 3 torque increases substantially linearly in the speed range area A, achieving the maximum available torque at the end of the speed range area A. The greater the reaction torque met by the combustion engine 3, the longer it takes for the combustion engine to achieve its maximum torque while the speed range area A remains constant.

(14) FIG. 4 shows a diagram of rotational speed n of the input shaft 10 to the gearbox 6 in relation to time lapsed t, for a hybrid powertrain 2 in a vehicle 1 according to one embodiment. The dashed graph 54 shows a number of shift operations being carried out in the gearbox 6 with a starting gear engaged. This means that the rotational speed n will vary during the start process. The solid graph 56 shows how the rotational speed n of the input shaft 10 according to one embodiment carries substantially linearly during the start process when the vehicle 1 is started with a higher gear engaged in the gearbox. This means that the hybrid powertrain 2 may allow for a reduced fuel consumption, less wear on the clutch and an improved ride comfort for the driver and the passengers.

(15) FIG. 5a shows a diagram of rotational speed n of the input shaft 10 to the gearbox 6 in relation to time lapsed t, for a hybrid powertrain 2 in a vehicle 1 according to one embodiment. The graph with the solid line 58 shows the rotational speed of the combustion engine 3 during a start process. Before the vehicle 1 is set into motion, the combustion engine 1 is preferably operated at idling speed and the clutch 12 is open, so that the combustion engine 1 does not exert a torque on the input shaft 10 of the gearbox 6. To set the vehicle 1 into motion, energy E is supplied from the energy storage device 46 to the electric machine 4, which entails that the electric machine 4 will exert a torque on the input shaft 10. The vehicle 1 then starts to roll. The rotational speed of the electric machine 4, which has increased substantially linearly, is illustrated with a dashed line 60 in FIG. 5a. When the rotational speed of the electric machine 4 substantially coincides with the rotational speed of the combustion engine 3, the clutch 12 is closed, wherein the rotational speed of the combustion engine 3 increases to make the vehicle 1 travel at the desired speed. Since the electric machine 4 is connected in series with the combustion engine 3, the electric machine's 4 rotational speed will be equivalent to the combustion engine's 3 rotational speed. Depending on the operating conditions, the supply of energy to the electric machine 4 will cease, however, when the combustion engine 3 is connected, entailing that the electric machine 4 no longer exerts a torque on the input shaft 10. During the start, in a speed range area where the combustion engine 3 has a low available torque, the electric machine's 4 torque may however need to be available throughout the entire start process, that is to say until the combustion engine 3 delivers the maximum available torque.

(16) To be able to complete an electric start with the electric machine 4 and with a high gear engaged, there is a control function to determine how much energy E.sub.el is available in the energy storage device 46. This means it is possible to ensure that the start is carried out solely with the electric machine 4. The determination is carried out by way of estimating the energy E.sub.k required to set the vehicle 1 into motion with a certain acceleration, to reach the speed where the combustion engine 3 takes over the operation of the vehicle 1 from the electric machine 4. To make the start gear selection more robust, an estimated energy amount E.sub.m is added to the energy E.sub.k, which addition corresponds to the amount of energy required by the vehicle 1 before actually moving off, which may involve start-up of the combustion engine 3 and the case where the vehicle 1 is driven solely by the electrical machine 4 at a low speed.

(17) The energy E.sub.el that must be available in the energy storage device 46 to complete an electric start with a high gear must thus fulfil the condition:
E.sub.el>E.sub.k+E.sub.m  [1]

(18) If the energy E.sub.el in the energy storage device 46 does not fulfil the condition, a lower starting gear is selected. This ensures that as high a starting gear as possible, allowing for a full electric start with the electric machine 4, may be used.

(19) The start process described in connection with FIG. 5a is carried out with a starting gear in the gearbox 6, which starting gear is higher than the gear at which the combustion engine's torque at idling speed is able to operate the input shaft 10. The line D, consisting of dots in FIG. 5a represents the rotational speed increase that would arise with the lowest gear engaged. Thus, the electric machine 4 would achieve the same rotational speed as the combustion engine 3 at an earlier point in time compared to if a higher gear were engaged, which would entail a larger number of shift operations in the gearbox 6 to achieve the requested target engine speed and speed of the vehicle 1.

(20) FIG. 5b shows a diagram of the torque T in the combustion engine 3, illustrated with a solid line 62, and the electric machine 4, with a dashed line 64, in relation to time lapsed t, in a vehicle 1 with a hybrid powertrain 2 according to a first operating condition. If the electric machine's 4 maximum available torque exceeds a requested torque from the vehicle driver, the torque required to set the vehicle 1 in motion may be supplied in full by the electric machine 4. To set the vehicle 1 into motion, only the torque from the electric machine 4 acts on the input shaft 10 to the gearbox 6. When the clutch 12 is closed, which occurs at a point in time indicated by the vertical dotted line L1 in FIG. 5b, the combustion engine's 3 torque acts on the input shaft 10. At the point in time t for the connection of the combustion engine 3, the electric machine 4 ceases to exert a torque on the input shaft 10. The combustion engine 3 is then controlled to a torque requested by the vehicle driver, which corresponds to the torque indicated by the horizontal dotted line L2 in FIG. 5b. It is also apparent that the electric machine's 4 and the combustion engine's 3 torque during the start process will jointly display substantially plane torque curve, which coincides with the horizontal dotted line L2.

(21) FIG. 5c shows a diagram of the torque T in the combustion engine 3, illustrated with a solid line 66, and the electric machine 4, with a dashed line 68, in relation to time lapsed t, for a hybrid powertrain 2 in a vehicle according to a second operating condition. If the electric machine's 4 maximum available torque is below a requested torque from the vehicle driver, the electric machine 1 alone cannot provide the torque required to set the vehicle 1 into motion. Instead, the combustion engine 3 must assist in setting the vehicle 1 into motion, by way of the clutch 12 partly closing and supplying torque to the input shaft 10 with a sliding clutch 12. The torque requested by the driver is indicated with the horizontal dotted line L3 in FIG. 5c. The torque supplied by the combustion engine 3 with a sliding clutch 12 is indicated with the horizontal dotted line L4 in FIG. 5c. The electric machine's 4 and the combustion engine's 3 total torque will therefore be equivalent to the torque requested by the driver. When the combustion engine 3 is connected, the electric machine 4 ceases to exert a torque on the input shaft 10, wherein the combustion engine 3 instead takes over the task of exerting torque on the input shaft 10. The combustion engine 3 is then controlled to a torque requested by the vehicle driver, which is equivalent to the torque indicated by the horizontal dotted line L3 in FIG. 5b.

(22) FIG. 6 shows a flow chart of a method to control a hybrid powertrain. The method comprises the following steps:

(23) a) disconnecting the combustion engine 3 from the input shaft 10 via a coupling device 12,

(24) b) engaging a starting gear in the gearbox 6, which starting gear is higher than the gear at which the combustion engine's 3 torque at idling speed is able to operate the input shaft 10,

(25) c) generating a torque in the input shaft 10 with the electric machine 4,

(26) d) accelerating the electric machine 4, and

(27) e) connecting the combustion engine 3 to the input shaft 10 with the coupling device 12 when the electric machine 4 has reached substantially the same rotational speed as the combustion engine 3.

(28) According to one embodiment of the invention, the coupling device 12 is a friction clutch, and between steps c) and d) the coupling device 12 is partly engaged at a step f), so that at least a certain part of available torque from the combustion engine 3 is supplied to the input shaft 10.

(29) The method also comprises the additional step, after step e):

(30) g) stop generating a torque with the electric machine 4.

(31) Between the steps a) and b), at step h), it is determined how much energy E.sub.el is available in the energy storage device 46 for the electric machine 4.

(32) At step b) the gear selection may be determined by the amount of energy E.sub.el available in the energy storage device 46.

(33) The rotational speed of the respective shafts 10, 18 may be detected with a first speed sensor 42 arranged at the input shaft 10, and a second speed sensor 44 arranged at the second shaft 18.

(34) According to the invention, a computer program P is provided, which may comprise procedures to control a hybrid powertrain 2 according to the present invention.

(35) The computer program P may comprise procedures for control of a hybrid powertrain 2 according to the method steps specified above.

(36) The program P may be stored in an executable manner, or in a compressed manner, in a memory M and/or a read/write memory R.

(37) The invention also relates to a computer program product, comprising program code stored in a medium readable by a computer 30, to perform the method steps specified above, when said program code is executed in the electronic control device 26, or in another computer 30 connected to the control device 26. Said program code may be stored in a non-volatile manner on said computer-readable medium.

(38) The components and features specified above may, within the framework of the invention, be combined between different embodiments specified.