System constraints method of determining minimum and maximum torque limits for an electro-mechanical powertrain system
View Patent ↗A powertrain including an electro-mechanical transmission mechanically-operatively coupled to an internal combustion engine and first and second electric machines to transmit power to an output member is disclosed. A method for controlling the electro-mechanical transmission includes determining minimum and maximum motor torque constraints for the first and second electric machines, and determining available battery power in terms of battery power constraints. One of a first, a second and a third case is determined based upon the motor torque constraints and the battery power constraints. A preferred output torque is determined for transmitting to the output member of the electro-mechanical transmission.
1. A method for controlling an electro-mechanical transmission coupled to first and second electric machines to transmit mechanical power to an output member, wherein a control module performs the following steps comprising:
determining minimum and maximum motor torque constraints for the first and second electric machines;
determining battery power constraints;
identifying one of a first, a second and a third case based upon the minimum and maximum motor torque constraints for the first and second electric machines relative to the battery power constraints, wherein the first, second and third cases are each associated with a relationship between the minimum and maximum motor torque constraints for the first and second electric machines and the battery power constraints;
selecting one of a plurality of zones associated with the identified one of the first, second and third case;
determining at least one output torque for the selected zone based upon the minimum and maximum motor torque constraints and the battery power constraints;
selecting a preferred output torque for the selected zone comprising one of the output torques for the selected zone determined based upon the minimum and maximum motor torque constraints and the battery power constraints; and
controlling operation of the electro-mechanical transmission and the first and second electric machines to transmit the preferred output torque to the output member of the electro-mechanical transmission.
2. The method of claim 1 , wherein identifying one of the first, second and third case based upon the minimum and maximum motor torque constraints for the first and second electric machines relative to the battery power constraints comprises identifying one of the first, second and third case based upon a minimum motor torque for the first electric machine and a maximum motor torque for the second electric machine relative to the battery power constraints.
3. The method of claim 2 , wherein the battery power constraints comprise a maximum allowable battery charging power and maximum allowable battery discharging power.
4. The method of claim 2 , wherein identifying one of the first, second and third case based upon the minimum motor torque for the first electric machine and the maximum motor torque for the second electric machine relative to the battery power constraints comprises identifying the first case when the available battery power is sufficient to meet a required battery power to achieve the minimum motor torque for the first electric machine and the maximum motor torque for the second electric machine.
5. The method of claim 4 , wherein the preferred output torque comprises a maximum output torque achievable based upon the motor torque constraints.
6. The method of claim 2 , wherein identifying one of the first, second and third case based upon the minimum motor torque for the first electric machine and the maximum motor torque for the second electric machine relative to the battery power constraints comprises identifying the second case when the maximum allowable battery discharging power is less than sufficient to meet a required battery power to achieve the minimum motor torque for the first electric machine and the maximum motor torque for the second electric machine.
7. The method of claim 6 , comprising:
selecting one of the plurality of zones associated with the second case; and
determining at least one achievable maximum output torque for the selected zone based upon the motor torque constraints and the battery power constraints.
8. The method of claim 2 , wherein identifying one of the first, second and third case based upon the minimum motor torque for the first electric machine and the maximum motor torque for the second electric machine relative to the battery power constraints comprises identifying the third case when the maximum allowable battery charging power exceeds a required battery power to achieve the minimum motor torque for the first electric machine and the maximum motor torque for the second electric machine.
9. The method of claim 8 , comprising:
selecting one of a plurality of zones associated with the third case; and
determining at least one achievable maximum output torque for the selected zone based upon the motor torque constraints and the battery power constraints.
10. The method of claim 1 , further comprising:
formulating mathematical equations representing the maximum and minimum motor torque constraints for the first and second electric machines and representing the battery power constraints;
formulating a mathematical equation representing the output torque;
transforming the mathematical equations representing the battery power constraints to equations consisting of concentric circles having corresponding radii;
transforming the mathematical equations representing the motor torque constraints for the first and second electric machines to equations consisting of lines; and,
transforming the mathematical equation representing the output torque to an equation consisting of a line.
11. The method of claim 10 , further comprising:
determining a transformed achievable output torque for the selected zone of the identified one of the first, second and third cases based upon the transformed motor torque constraints for the first and second electric machines and the transformed battery power constraints; and,
retransforming the transformed achievable maximum output torque for the selected zone to determine the preferred output torque for the selected zone for transmitting to the output member of the electro-mechanical transmission.
12. The method of claim 11 , wherein the preferred output torque for the selected zone for transmitting to the output member of the electro-mechanical transmission comprises a maximum transformed achievable output torque for the selected zone.
13. The method of claim 11 , wherein selecting one of the plurality of zones associated with the second case comprises selecting one of the plurality of zones associated with the second case based upon a locus of a center point of the transformed battery power constraints relative to the transformed maximum and minimum motor torque constraints for the first and second electric machines.
14. The method of claim 13 , wherein selecting one of the plurality of zones associated with the second case comprises selecting a first zone whereat the locus of the center point is outside the transformed maximum and minimum motor torque constraints for the first and second electric machines and the transformed achievable maximum torque output comprises the transformed minimum motor torque constraint for the first electric machine and the transformed maximum motor torque constraint for the second electric machine.
15. The method of claim 13 , wherein selecting one of the plurality of zones associated with the second case comprises selecting a second zone whereat the locus of the center point is less than the transformed minimum motor torque constraint for the first electric machine and less than the transformed maximum motor torque constraint for the second electric machine and the transformed achievable maximum torque output comprises the transformed minimum motor torque constraint for the first electric machine.
16. The method of claim 13 , wherein selecting one of the plurality of zones associated with the second case comprises selecting a third zone whereat the locus of the center point is greater than the transformed minimum motor torque constraint for the first electric machine and greater than the transformed maximum motor torque constraint for the second electric machine and the transformed achievable maximum torque output comprises the transformed maximum motor torque constraint for the second electric machine.
17. The method of claim 13 , wherein selecting one of the plurality of zones associated with the second case comprises selecting a fourth zone whereat the locus of the center point is within the transformed motor torque constraints for the first and second electric machines and the transformed maximum torque output includes one of the transformed maximum motor torque constraint for the second electric machine, the transformed minimum motor torque constraint for the first electric machine, and a tangential intersection of the transformed output torque and the transformed maximum battery power.
18. The method of claim 13 , wherein selecting one of the plurality of zones associated with the second case comprises selecting a fifth zone whereat the locus of the center point is within the transformed motor torque constraints for the first electric machine and less than the transformed maximum motor torque constraint for the second electric machine and the transformed achievable maximum torque output includes one of the transformed maximum motor torque constraint for the second electric machine, the transformed minimum motor torque constraint for the second electric machine, the transformed maximum motor torque constraint for the first electric machine, and a tangential intersection of the transformed output torque and the transformed maximum battery power.
19. The method of claim 13 , wherein selecting one of the plurality of zones associated with the second case comprises selecting a sixth zone whereat the locus of the center point is greater than the transformed maximum motor torque constraint for the first electric machine and within the transformed motor torque constraints for the second electric machine and the transformed achievable maximum torque output includes one of the transformed maximum motor torque constraint for the first electric machine, the transformed minimum motor torque constraint for the first electric machine, the transformed maximum motor torque constraint for the second electric machine, and a tangential intersection of the transformed output torque and the transformed maximum battery power.
20. The method of claim 13 , wherein selecting one of the plurality of zones associated with the second case comprises selecting a seventh zone whereat the locus of the center point is greater than the transformed motor torque constraint for the first electric machine and less than the transformed minimum motor torque constraint for the second electric machine and the transformed achievable maximum torque output includes one of the transformed maximum motor torque constraint for the first electric machine, the transformed minimum motor torque constraint for the first electric machine, the transformed minimum motor torque constraint for the second electric machine, the transformed maximum motor torque constraint for the second electric machine, and a tangential intersection of the transformed output torque and the transformed maximum battery power.
21. The method of claim 11 , wherein selecting one of the plurality of zones associated with the third case comprises selecting one of the plurality of zones associated with the third case based upon a locus of a center point of the transformed battery power constraints relative to transformed averages of the maximum and minimum motor torque constraints for the first and second electric machines.
22. The method of claim 21 , wherein selecting one of the plurality of zones associated with the third case comprises selecting a first zone whereat the locus of the center point is greater that the transformed average of the motor torque constraints for the first electric machine and less than the transformed average of the motor torque constraints for the second electric machine, and the transformed achievable maximum torque output includes the transformed minimum motor torque constraint for the first electric machine and the transformed maximum motor torque constraint for the second electric machine.
23. The method of claim 21 , wherein selecting one of the plurality of zones associated with the third case comprises selecting a second zone whereat the locus of the center point is greater that the transformed average of the motor torque constraints for the first electric machine and greater than the transformed average of the motor torque constraints for the second electric machine, and the transformed achievable maximum torque output includes the transformed minimum motor torque constraint for the first electric machine.
24. The method of claim 21 , wherein selecting one of the plurality of zones associated with the third case comprises selecting a third zone whereat the locus of the center point is less that the transformed average of the motor torque constraints for the first electric machine and less than the transformed average of the motor torque constraints for the second electric machine, and the transformed achievable maximum torque output includes one of the transformed maximum motor torque constraint for the second electric machine.
25. The method of claim 21 , wherein selecting one of the plurality of zones associated with the third case comprises selecting a fourth zone whereat the locus of the center point is less that the transformed average of the motor torque constraints for the first electric machine and greater than the transformed average of the motor torque constraints for the second electric machine, and the transformed achievable maximum torque output includes one of the transformed maximum motor torque constraint for the first electric machine, the transformed minimum motor torque constraint for the first electric machine, the transformed minimum motor torque constraint for the second electric machine, and the transformed maximum motor torque constraint for the second electric machine.
26. The method of claim 10 , wherein determining at least one output torque for the selected zone based upon the motor torque constraints and the battery power constraints comprises calculating a transformed maximum torque output comprising an intersection of the transformed mathematical equations representing the battery power constraints, the transformed mathematical equations representing the maximum and minimum motor torque constraints for the first and second electric machines and the transformed mathematical equation representing the output torque.
27. The method of claim 26 , wherein the transformed maximum torque output comprises a transformed achievable maximum torque output when the transformed mathematical equations representing the battery power constraints fail to intersect with the transformed mathematical equations representing the maximum and minimum motor torque constraints for the first and second electric machines.